CN209830704U

CN209830704U - Be used for welded upset supporting mechanism of robot

Info

Publication number: CN209830704U
Application number: CN201822190641.4U
Authority: CN
Inventors: 邱甜; 刘泽裕; 胡国强
Original assignee: Hangzhou Construction Robot Technology Co Ltd
Current assignee: Hangzhou Construction Robot Technology Co Ltd
Priority date: 2018-12-25
Filing date: 2018-12-25
Publication date: 2019-12-24
Anticipated expiration: 2028-12-25

Abstract

The utility model relates to a turnover supporting mechanism for robot welding, which comprises a support and a flexible clamping assembly for mounting a section to be welded, wherein the flexible clamping assembly is mounted on the support and comprises a frame, a plurality of beams arranged on the frame and a clamp for clamping the section to be welded, the frame is provided with second slide rails symmetrical along the rotating shaft of the frame, the two end parts of the beams are connected on the second slide rails at the two sides of the beams in a sliding way, and a locking assembly is arranged for locking the relative positions of the beams and the second slide rails; the clamp is slidably connected to the cross beam and is provided with a locking member to lock the position of the clamp on the cross beam. The utility model discloses well be used for the fixed flexible clamping assembly of treating welding material can freely adjust the position of anchor clamps on it, reinforcing means's commonality as required welded flat frame section bar's shape.

Description

Be used for welded upset supporting mechanism of robot

Technical Field

The utility model relates to an automatic change welding equipment, especially, relate to a be used for robot welded upset supporting mechanism.

Background

For the welding of the plane frame, the front and the back of the splicing part of a plurality of sectional materials need to be welded and fixed. In the prior art, the welding of the planar frame is generally divided into the following steps according to the production process: 1. feeding, namely feeding a plurality of sectional materials onto an operation platform, and splicing the sectional materials into a prototype of the planar frame for preliminary fixing; 2. welding and fixing all welding points on one surface of the assembled planar frame; 3. turning over the plane frame with one welded surface for the next welding; 4. and (6) blanking.

In the process, the steps are generally operated manually, and the manual operation has the problems of low efficiency, poor welding quality and the like. In order to make up for the defects of manual operation and reduce the influence of the technical level and the operating specification of an operator on the product quality, the prior art discloses some automatic welding production lines, a feeding station, a welding station and a discharging station are sequentially arranged according to the production process, a conveying mechanism is arranged to transfer a plane frame among the stations, the conveying mechanism generally adopts a conveyor belt, a material processing table is formed above the conveyor belt, the feeding station is used for feeding the material processing table, a plurality of positioning fixtures are arranged on the material processing table, the positioning fixtures are used for primarily positioning the material, then the material processing table and the material on the material processing table are conveyed to the welding station for welding processing, the welding station is provided with an automatic welding mechanism, a lifting mechanism and a turnover mechanism, the plane frame conveyed to the welding station is welded through the automatic welding mechanism, after welding of one side is completed, the lifting mechanism lifts the planar frame to a position away from the material processing table board, then the turnover mechanism works to turn over the planar frame, the lifting mechanism moves the turned planar frame to the material processing table board again, welding of the other side is carried out, and after all welding spots are completed, the conveying mechanism conveys the material processing table board together with materials on the material processing table board to a blanking station for blanking. Above-mentioned automatic weld production line exists following not enough:

1. the position of the clamp on the material processing table-board is fixed, and a welding production line can only process a welding workpiece with a specific standard, so that the universality is poor;

2. the steps are complicated, in the batch processing process of the welded workpieces, according to the automatic welding production line with the structure, the welding processing of the next workpiece can be carried out only after all the steps of the previous workpiece are finished, and the work period of the batch processing of the workpieces is long.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, an object of the present invention is to provide a turnover supporting mechanism, wherein a flexible clamping assembly for fixing a to-be-welded section bar can freely adjust the position of a clamp thereon according to the shape of the to-be-welded flat frame section bar, so as to enhance the universality of the device.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a turnover supporting mechanism for robot welding comprises a support and a flexible clamping assembly for mounting a section to be welded, wherein the flexible clamping assembly is mounted on the support and comprises a frame (221), a plurality of cross beams (222) arranged on the frame (221) and a clamp for clamping the section to be welded, second slide rails (2212) symmetrical along a rotating shaft of the frame (221) are arranged on the frame (221), two end parts of each cross beam (222) are slidably connected to the second slide rails (2212) on two sides of the cross beam, and a locking assembly is arranged for locking the relative positions of the cross beam (222) and the second slide rails (2212); the clamp is slidably connected to the beam (222) and is provided with a locking member to lock the position of the clamp on the beam (222).

As the preferred technical scheme, the end parts of the two sides of the cross beam (222) are detachably connected with a sliding block A (223), and a second sliding groove in sliding fit with the second sliding rail (2212) is formed in the sliding block A (223). Set up the second spout through the form that can dismantle the slider, compare in direct at crossbeam tip shaping spout, process more easily.

As a preferred technical scheme, a plurality of connecting holes B are formed in one side of the frame (221) corresponding to the second slide rail (2212), the bottom of the second slide groove is arranged towards the second slide rail (2212), a plurality of connecting holes a are formed in the bottom of the second slide groove, and the connecting holes a can move along with the cross beam (222) to be aligned with the connecting holes B; the locking assembly includes a connecting hole A, a connecting hole B, and a fastener penetrating the connecting hole A and the connecting hole B to lock or unlock the beam (222) and the frame (221). The relative position of the cross beam and the frame is locked in a mode of arranging the fastener, the structure is simple, and the implementation is easy.

Preferably, the clamp comprises a sliding seat, the locking pieces are threaded rods, and threaded rods are respectively connected to the sliding seat to press or release the cross beam so as to lock the position of the clamp on the cross beam (222). Because the clamp is small as a whole, the relative position of the clamp relative to the cross beam can be reliably locked through the mode that the screw presses the cross beam.

As a preferred technical scheme, a displacement device (213) for driving the flexible clamping assembly to rotate (22) is arranged on the support, and the displacement device (213) comprises a driving component (2131) for providing power and a first connecting piece (2132) for connecting the flexible clamping assembly (22). The flexible clamping assembly which is provided with the displacement device and used for clamping the section bar to be welded is turned over within a certain angle range, the front and back sides of the section bar to be welded can be conveniently turned over, welding processing can be simultaneously performed on the front and back sides of the section bar by the aid of the two welding mechanisms through reasonable setting, and welding processing efficiency is improved.

As a preferable technical scheme, a first sensor (213) for detecting the position or the state of the flexible clamping assembly (22) is arranged on the support (21), and the first sensor (213) is used for detecting whether the flexible clamping assembly (22) rotates in place before the flexible clamping assembly is ready for welding.

As a preferred technical scheme, the support comprises a base (211) and vertical frames (212) arranged at two ends of the base, wherein the base (211) comprises a plurality of base units which are spliced pairwise; one end of the first connecting piece (2132) is connected to the vertical frame (212) through a bearing, the other end of the first connecting piece (2132) is used as a plug end, and a plug groove exposed outside the vertical frame (212) is formed in the plug end; the frame (221) of the flexible clamping assembly is provided with a plug connector corresponding to the plug groove, and the plug connector is connected with the plug groove in an interference fit manner. The base can select the quantity of the required base units according to the size of the flexible clamping assembly required by actual needs, so that the support has stronger universality, and can be matched with the plug connector and the plug groove to realize the connection between the flexible clamping assembly and the support.

The utility model discloses a set up flexible clamping assembly and be used for the centre gripping to treat welded section bar, use the crossbeam to treat welded section bar and support to treat welded section bar through the anchor clamps on the crossbeam is fixed. Because the positions of the cross beam and the clamp in the plane are adjustable, the position of the clamp in the plane can be changed according to the shape of the planar frame section which is welded as required, so that the device can be suitable for processing planar frame sections with different shapes, and the universality is enhanced.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the support of the middle turning support mechanism of the present invention.

Fig. 3 is a cross-sectional view of fig. 2.

Fig. 4 is a schematic structural view of the flexible clamping assembly of the turnover mechanism of the present invention.

Fig. 5 is an enlarged view of a portion a in fig. 4.

Fig. 6 is a schematic view of fig. 4 from another angle.

Fig. 7 is a schematic structural view of a beam and a clamp thereon.

Fig. 8 is a schematic structural view of one embodiment of the first clamp.

Fig. 9 is a schematic structural view of a second embodiment of the first clamp.

Fig. 10 is a schematic structural view of one embodiment of the second jig (the carriage B is not illustrated).

Fig. 11 is a schematic structural view of a second embodiment of the second jig.

Fig. 12 is a cross-sectional view of the weld head.

Wherein: 1. the welding device comprises a conveying track, 2, a turnover supporting mechanism, 21, a support, 211, a base, 212, a stand, 213, a displacement device, 2131, a driving component, 2132, a first connecting piece, 214, a first sensor, 215, a second sensor, 22, a flexible clamping assembly, 221, a frame, 2211, a connecting part of the first connecting piece, 2212, a second sliding rail, 222, a beam, 223, a sliding block A, 3, a section to be welded, 4, a first clamp, 41, a sliding seat A, 42, a driving piece A, 43, a pressure rod A, 431, a pressing part, 5, a second clamp, 51, a sliding seat B, 52, a driving piece B, 53, a pressing block B, 54, a cushion block, 6, a welding mechanism, 61, a rotating arm, 62, a welding head, 621, a ball head collision prevention, 622, a ball head prevention, 623, a conducting strip head seat, and a conducting contact.

Detailed Description

Preferred embodiments of this patent are described in further detail below with reference to the accompanying drawings.

In the present application, for convenience of description, a direction parallel to the sliding direction of the turn-over support mechanism is referred to as a longitudinal direction, and a direction perpendicular to the sliding direction of the turn-over support mechanism is referred to as a width direction.

An automatic welding system for a robot as shown in fig. 1 includes a conveying track, along which a feeding station, a welding station and a discharging station are sequentially disposed. And welding mechanisms are arranged on two sides of the welding station, and each welding mechanism comprises a rotating arm with a plurality of degrees of freedom and a welding head arranged on the rotating arm. The conveying track 1 is provided with two or more overturning supporting mechanisms 2 in a sliding mode, the conveying track 1 is provided with a driving device, and the driving device 1 drives the overturning supporting mechanisms 2 to move to different stations along the conveying track 1. In practical application, the conveying track 1 is linearly arranged, the driving device is a driving motor, and the driving device and the overturning supporting mechanism 2 can be switched between circumferential motion and linear motion through a ball screw pair or a gear transmission assembly and the like.

The overturning supporting mechanism 2 comprises a support 21 and a flexible clamping assembly 22 arranged on the support 21. The structure of the support 21 in the present application is shown in fig. 2-3, and includes a base 211 and a stand 212, where the base 211 is slidably mounted on the conveying track 1, and a first sliding groove matched with the conveying track 1 is provided on a bottom surface of the base 211. The base 211 is provided with at least two vertical frames 212 arranged back and forth along the sliding direction of the base, and the two vertical frames 212 are identical in structure and are symmetrically arranged. In this embodiment, two vertical frames 212 are disposed on the base 211, two adjacent vertical frames 212 on the support 21 and the base 211 at the lower portion thereof are substantially in a shape of "concave", and the concave portion thereof is used for mounting the flexible clamping assembly 22, so as to provide a rotation space for the flexible clamping assembly 22. Preferably, the base 211 includes a plurality of base units spliced two by two, and the number of the base units forming the base 211 can be adjusted according to an actual use scene, so as to adjust a relative distance between the two stands 212 disposed on the base 211, thereby meeting space requirements of the flexible clamping assemblies 22 of different specifications to a certain extent. The vertical frame 212 is provided with a position changing device 213 for driving the flexible clamping assembly to rotate 22, the position changing device 213 comprises a driving assembly 2131 for providing power and a first connecting piece 2132 for connecting the flexible clamping assembly 22, an output end of the driving assembly 2131 is connected with one end of the first connecting piece 2132, and the first connecting piece 2132 is rotatably mounted on the vertical frame 212 through a bearing. In the embodiment, the flexible clamping assembly for fixing the profile to be welded is driven to turn over within a certain angle range by the position changing device 213, so that the welding mechanism can weld the front and back surfaces of the profile to be welded. The driving assembly 2131 in this embodiment includes a displacement motor or a displacement cylinder and a speed reducer, the displacement motor or the displacement cylinder operates to drive the speed reducer to move, and the speed reducer drives the first connecting member 2132 to rotate relative to the stand 212. In order to control the rotation range of the flexible clamping assembly 22, in an embodiment, a first sensor 213 for detecting the position or state of the flexible clamping assembly 22 may be disposed on the support 21, and the first sensor 213 is used for detecting whether the flexible clamping assembly 22 is rotated in place before welding is ready. The first sensor 213 in this embodiment is disposed on the stand 212 by using a travel switch, and the travel switch is electrically connected to an external controller to limit the rotation range of the flexible clamping assembly 22. The travel switch is arranged near the concave part of the support 21, a contact of the travel switch extends into the concave part of the support 21 and is positioned on a rotating path of the flexible clamping assembly 22, and the travel switch can be triggered after the flexible clamping assembly 22 rotates for a certain angle.

The support 21 is provided with a second sensor 215 for detecting the position or state of the bonding head, and the second sensor 215 detects the moving bonding position and state of the bonding head during the bonding process. The second sensor 215 in this embodiment is a proximity switch disposed on the top of the stand, and the proximity switch is electrically connected to an external controller.

The flexible clamping assembly is constructed as shown in fig. 4-7, and includes a frame 221, a plurality of cross members 222 disposed on the frame 221, and a plurality of clamps for clamping the profiles to be welded. The frame 221 is a closed loop structure formed by connecting two sections in the same plane, two ends of the frame 221 in the length direction are respectively provided with a connecting part 2211 corresponding to the first connecting part 2132 on one stand 212, the frame is connected with the first connecting part 2132 at the connecting part 2211, and after the frame 221 and the first connecting part 2132 are connected, the frame 221 and the first connecting part 2132 move synchronously. In an embodiment, one end of the first connecting member 2132 is connected to the stand 212 through a bearing, the other end of the first connecting member 2132 is used as a plugging end, a plugging slot exposed outside the stand 212 is formed in the other end, the plugging ends of the first connecting members 2132 on the stand 212 on two sides are symmetrically arranged, a plug connector matched with the plugging slot is arranged on the connecting portion of the frame 221, and the connection between the frame 221 and the support 21 is realized through the plugging cooperation of the plug connector and the plugging slot. In an embodiment, the radial limit and the axial limit between the insertion groove and the insertion head may be achieved by interference fit, or by using a rivet or other structures for limiting the axial or radial limit of the insertion head. Preferably, the connecting portion 2211 of the frame and the first connector 2132 may be connected by a fastener such as a screw. The connecting portion 2211 of the frame and the first connecting member 2132 may be matched with each other only by a plug and a socket, or the connecting portion 2211 of the frame and the first connecting member 2132 may be connected only by a fastener such as a screw, or the connecting portion 2211 of the frame and the first connecting member 2132 may be simultaneously matched with each other by a plug and a socket and further fixed by a fastener such as a screw. It is further preferable that a positioning protrusion and a positioning hole are further disposed between the connecting portion 2211 of the frame and the first connecting member 2132, so that the connecting holes of the connecting portion 2211 of the frame and the first connecting member 2132 are aligned for fastening.

A plurality of cross members 222 are provided inside the closed-loop frame 221. The frame 221 is provided with a set of second slide rails 2212 symmetrical along the rotation axis thereof, two end portions of the beam 222 are slidably connected to the second slide rails 2212 on two sides thereof, and a locking assembly is provided to lock the relative positions of the beam 222 and the second slide rails 2212, so as to facilitate subsequent welding. In this embodiment, the frame 221 is rectangular, and the set of second sliding rails 2212 are disposed on the inner side of the long side of the frame 221. The end part of the cross beam is provided with a second sliding chute in sliding fit with the second sliding rail. In the embodiment, the two side ends of the cross beam 222 are connected with the sliding blocks a223, the sliding blocks a223 and the cross beam 222 are connected through common fasteners such as screws, and the second sliding groove is formed on the sliding blocks a 223. With the above structure, the second sliding groove is formed independently, and is easier to process than the second sliding groove formed directly on the cross beam 222. The fixture is arranged on the cross beam 222, and the relative positions of the cross beams 222 on the frame 221 are adjusted, so that the flexible clamping assembly 22 can be suitable for various metal profiles to be welded with different specifications, and the universality of the device is enhanced. In this embodiment, the bottom of the second sliding groove is disposed toward the second sliding rail 2212, and the bottom of the second sliding groove is provided with a plurality of connecting holes a. A plurality of connecting holes B are distributed on the long side of the frame 221 along the length direction, and after the connecting holes a from the movable beam 222 to the second sliding groove are aligned with the corresponding number of connecting holes B on the long side, the relative position of the beam 222 and the frame 221 is locked by fasteners such as screws. The locking assembly in this embodiment includes a connecting hole a, a connecting hole B, and a fastener such as a screw. After the screws are loosened, the cross beam 222 can freely slide relative to the second slide rail, and the locking screws can lock the relative position between the cross beam 222 and the frame 221. The cross member 223 can be locked in different positions by selecting different attachment holes on the frame. Preferably, an adjusting bolt may be further provided to press the beam end from above to further secure the reliability of the beam locking structure.

After the profile 3 to be welded is placed on the cross-beam 222 of the frame, it is locked in its intended position on the frame by means of a clamp fit. In the embodiment, for a profile 3 to be welded, the profile is generally fixed by two or more sets of clamps. Each set of clamps comprises a first clamp 4 for pressing the profile from above and a second clamp 5 for pressing the profile from the side, and the number of the first clamp 4 and the second clamp 5 in one set of clamps can be 1 or more than 1 according to actual requirements.

The first clamp 4 comprises a sliding seat A41, a pressure lever A43 and a driving element A42, wherein the sliding seat A41 is connected to the cross beam in a sliding mode, the driving element A42 is installed on the sliding seat A41, the pressure lever A43 is connected with the output end of the driving element A42, and the pressure lever A43 moves up and down under the driving of the driving element A42. The stop position of the pressure lever a42 in the lifting direction is preset so that the pressure lever a43 can press or release the profile 3 placed on the cross beam. The pressure lever a43 is provided with one or more pressing parts 431 for contacting the profile 3 placed on the cross beam, and preferably, the pressure lever a43 can rotate freely in the horizontal plane, so that the pressing parts 431 on the pressure lever a43 can press the profile 3 placed at different positions in the horizontal plane, thereby enhancing the universality of the first clamp. The pressure lever A43 can be driven by external driving device to rotate in horizontal plane, or can be driven by manual operation to rotate and lock in horizontal plane. For example, the output shaft of the driving element a42 is vertically arranged, the rotation plane of the pressure lever a43 is perpendicular to the output shaft of the driving element a42, one end of the pressure lever a43 is provided with a downward pressing part 431, and the other end of the pressure lever a43 is connected to the output shaft of the driving element a 42. The output shaft of the driving piece A42 comprises a first section and a second section which have different radial sizes in the axial direction, wherein the radial size of the first section is larger than that of the second section, one end of the pressure rod A43 connected with the driving piece A42 is provided with a longitudinal through hole, the through hole is in interference fit with the first section of the output shaft of the driving piece A42, and the radial size of the longitudinal through hole on the pressure rod A43 is larger than that of the second section. By the arrangement, the rotation adjustment in the horizontal plane can be realized by moving the pressure lever A43 to be matched with the second section on the output shaft; after rotating to a required position in a horizontal plane, the pressure rod A43 is moved along the axial direction of the output shaft of the driving piece A42 to be in interference fit with the first segment of the output shaft, so that the positioning in the horizontal direction can be realized. Referring to fig. 8, which shows a specific embodiment of the first clamp, in this embodiment, the driving member a42 is an air cylinder, one end of the pressing rod a43 is rotatably installed at the output end of the driving member a42, and the other end of the pressing rod a43 is provided with a pressing portion 431 facing downward. In another embodiment of the first clamping apparatus, as shown in fig. 9, in this embodiment, two ends of the pressing rod a are respectively provided with a pressing portion 431 facing each other, the middle of the pressing rod a43 is rotatably mounted at the output end of the driving member a42, and the first clamping apparatus is arranged such that the pressing rod a can press two profiles at a time.

The second clamp 5 comprises a sliding seat B51, a pressing block B53 and a driving element B52, the bottom of the sliding seat B51 is connected to the cross beam 222 in a sliding mode, the driving element B52 is installed on the sliding seat B51, the pressing block B53 is connected with the output end of the driving element B52, the pressing block B53 is driven by the driving element B52 to move forwards and backwards, and the pressing block B53 can be driven by the driving element B52 to press or loosen the profile 3 to be welded on the frame from the side edge by presetting the stroke of the forward and backward movement of the pressing block B53. The specific structure of the second clamp can be seen from fig. 10, the housing of the driving element B51 is directly connected to the sliding seat B, the housing of the driving element B51 and the sliding seat B can be integrally arranged or separately arranged, and in this structure, the installation height of the pressing block B53 is directly determined by the height of the housing of the driving element B51. In other embodiments, the sliding seat B51 may further have a spacer 54 to raise the driving member B52 and the pressing block B53, and the height of the spacer 54 may be selected according to actual requirements. The raising of the mounting height of the mass B53 by the spacer 54 takes up less space and is easier to machine than changing the mounting height of the mass B53 by changing the housing height of the actuator B52. As shown in fig. 11, in the present embodiment, the pad 54 includes a horizontal plate and a vertical plate that are vertically connected to each other, the driving member B52 is an air cylinder, the driving member B52 is installed on the vertical plate of the pad 54, and the pressing block B53 is installed on the output shaft of the driving member B52. To enhance the support strength of the spacer 54, the spacer includes reinforcing plates that bear on the cross plates at one end and on the vertical plates at the other end. The spacer 54 may be integrally formed with the slider B or may be fixed to the slider B by a fastener.

Wherein, a screw rod is respectively connected on the slide A41 of the first clamp and the slide B51 of the second clamp to press or release the beam so as to lock the positions of the first clamp 4 and the second clamp 5 on the beam 222. An operator can adjust the positions of the first clamp and the second clamp on the cross beam according to the shape of the planar frame section to be welded and lock the first clamp and the second clamp.

Since the profile to be welded is a metal profile, preferably, the part of the pressure lever a43 and/or the pressure piece B53 that contacts the profile to be welded has magnetism. Therefore, the reliability of clamping the section by the fixture can be further ensured, and the influence on the welding position caused by the looseness of the section in the subsequent processing process is prevented.

Preferably, at least one clamp in each group of clamps is provided with an inductive switch, and the inductive switch is in communication connection with an external controller to control all driving members in one group of clamps to act simultaneously. And an inductive switch is arranged to detect whether the section to be welded at the clamping position is in place or not, and once the section is detected to be in place, a switching signal is sent to a controller, and the controller controls a driving piece A and a driving piece B in a group of clamps to simultaneously act and clamp the section.

In the above embodiment, the mounting positions of the first clamp 4 and the second clamp 5 on the cross beam 222 are adjustable, and the profile 3 to be welded is positioned by the clamps, so that the positions of the clamps in the fixing plane of the frame can be freely adjusted by adjusting the relative positions of the clamps on the cross beam 222 and the cross beam 222 provided with the clamps in the frame 221, thereby realizing the processing of plane frames with various specifications and enhancing the universality of the device.

In this embodiment, the sliding connection between the sliding seat a41 and the sliding seat B51 and the cross beam is realized in a sliding way and a sliding way. For example, the cross beam is made of T-shaped steel or I-shaped steel, and sliding grooves matched with the upper parts of the T-shaped steel or I-shaped steel are formed in the sliding seat A and the sliding seat B.

After the feeding is completed at the feeding station, the workpiece is moved to a welding station for welding, welding mechanisms 6 are arranged on two sides of the welding station, each welding mechanism 6 comprises a rotating arm 61 with multiple degrees of freedom and a welding head 62 installed on the rotating arm, and both the rotating arm 61 and the welding head 62 are in the prior art. Generally speaking, the welding head 62 includes a ball seat 621, a ball head 622 and a welding gun, the ball seat 621 is fixed on the rotating arm 61, the ball head 622 is rotatably mounted on the ball seat 621 and the ball seat 621 limits the radial deviation of the ball head 622, a channel for connecting the welding gun is provided along the diameter direction of the ball head 622, at least two positioning devices for compressing the ball head from the outside are further provided on the ball seat 621, the positioning devices include a spring and a small ball provided at one end of the spring, the small ball is pressed to the surface of the ball head 622 by the spring to perform a certain positioning function on the ball head 622, but once the welding gun receives an external radial acting force, the welding gun drives the ball head 622 to rotate along the axial direction thereof. The welding head 62 of the present embodiment is different from the prior art in that, as shown in fig. 12, a stop switch is provided on the welding head 62 in the present application, the stop switch includes a conductive sheet 623 and a conductive contact 624 which are provided at the radial outer side of the welding gun, the conductive contact 624 and the conductive sheet 623 are disconnected in a normal state, and after the welding gun deviates from the axial direction by a certain angle, the welding gun pushes the conductive contact 624 or the conductive sheet 623 to act to change the on-off state between the conductive contact 624 and the conductive sheet 623. The stop switch is electrically connected with the controller, and once the on-off state of the stop switch is changed, the controller can send a stop signal to the welding mechanism 6 to stop working. Through setting up stop switch, can in time stop the action after welder receives external force striking skew radial certain angle, prevent that welder from breaking.

The automatic welding system comprises a flexible clamping assembly, a turnover supporting mechanism, a flexible clamping assembly, a flexible clamping mechanism and a welding machine, wherein the flexible clamping assembly is arranged on the flexible clamping assembly; then moving the turnover supporting mechanism to a welding station for welding; meanwhile, moving the other overturning support mechanism to a feeding station for feeding; after welding of the section on one overturning supporting mechanism is completed, moving to a blanking station to prepare blanking; meanwhile, the other turnover supporting mechanism for completing feeding moves to a welding station for welding. Above-mentioned automatic weld system can process on different stations simultaneously, is favorable to improving welding efficiency.

Claims

1. The turnover supporting mechanism for robot welding is characterized by comprising a support and a flexible clamping assembly for mounting a section to be welded, wherein the flexible clamping assembly is mounted on the support and comprises a frame (221), a plurality of cross beams (222) arranged on the frame (221) and a clamp for clamping the section to be welded, second slide rails (2212) which are symmetrical along a rotating shaft of the frame (221) are arranged on the frame (221), two end parts of each cross beam (222) are connected to the second slide rails (2212) on two sides of the cross beam in a sliding manner, and a locking assembly is arranged for locking the relative positions of the cross beams (222) and the second slide rails (2212); the clamp is slidably connected to the beam (222) and is provided with a locking member to lock the position of the clamp on the beam (222).

2. The overturning support mechanism for robot welding as claimed in claim 1, wherein the end parts of both sides of the beam (222) are detachably connected with a sliding block a (223), and a second sliding slot slidably engaged with the second sliding rail (2212) is formed on the sliding block a (223).

3. The overturning support mechanism for robot welding according to claim 2, wherein the frame (221) is provided with a plurality of connecting holes B corresponding to one side of the second sliding rail (2212), the bottom of the second sliding chute is arranged towards the second sliding rail (2212), the bottom of the second sliding chute is provided with a plurality of connecting holes a, and the connecting holes a can move along with the cross beam (222) to be aligned with the connecting holes B; the locking assembly includes a connecting hole A, a connecting hole B, and a fastener penetrating the connecting hole A and the connecting hole B to lock or unlock the beam (222) and the frame (221).

4. The flip support mechanism for robotic welding of claim 1, wherein said clamp includes a slide and said locking member is a threaded rod, and a threaded rod is attached to the slide to press or release the beam, respectively, to lock the position of the clamp on the beam (222).

5. The overturning support mechanism for robot welding according to claim 1, wherein the support is provided with an indexing device (213) for driving the flexible clamping assembly to rotate (22), and the indexing device (213) comprises a driving component (2131) for providing power and a first connecting piece (2132) for connecting the flexible clamping assembly (22).

6. A turn support mechanism for robot welding according to claim 5, characterized in that the support (21) is provided with a first sensor (213) for detecting the position or state of the flexible clamping assembly (22), the first sensor (213) being used for detecting whether the flexible clamping assembly (22) is rotated in place before being ready for welding.

7. The overturning supporting mechanism for robot welding as claimed in claim 5, wherein the support comprises a base (211) and stands (212) installed at two ends of the base, the base (211) comprises a plurality of base units spliced two by two; one end of the first connecting piece (2132) is connected to the vertical frame (212) through a bearing, the other end of the first connecting piece (2132) is used as a plug end, and a plug groove exposed outside the vertical frame (212) is formed in the plug end; the frame (221) of the flexible clamping assembly is provided with a plug connector corresponding to the plug groove, and the plug connector is connected with the plug groove in an interference fit manner.