CN210549039U

CN210549039U - Automatic welding system of manipulator

Info

Publication number: CN210549039U
Application number: CN201921158174.5U
Authority: CN
Inventors: 柯同泰; 阮连坤; 阮哲志
Original assignee: Hurmg Yieh Machinery Industrial Zhejiang Co ltd
Current assignee: Hurmg Yieh Machinery Industrial Zhejiang Co ltd
Priority date: 2019-07-23
Filing date: 2019-07-23
Publication date: 2020-05-19
Anticipated expiration: 2029-07-23

Abstract

The manipulator automatic welding system comprises a fixed platform, a manipulator rotatably arranged on the fixed platform, and a plurality of workstations arranged around the fixed platform at intervals. Each workstation includes a rotatory fixing base, one set up in servo motor in the rotatory fixing base, one set up in rotatory fixing base top and by servo motor drive pivoted carousel, a plurality of set up in anchor clamps on the carousel, and one set up in rotatory fixing base with benchmark angle positioning mechanism between the carousel. The utility model discloses a manipulator automatic weld system has the control complexity that reduces the manipulator, avoids the advantage that the work piece damaged.

Description

Automatic welding system of manipulator

Technical Field

The utility model belongs to the technical field of the welding, especially manipulator automatic weld system.

Background

With the advance of industrial automation, an automated welding mode is increasingly applied to production and processing. Among them welding robots are widely used due to their flexible operation modes. In the prior art, a workpiece is placed on a fixed workbench, and different positions of the workpiece are welded through movement of a manipulator in various directions. After welding, the machine needs to be stopped, the workpiece is removed, and a new workpiece is placed on the workbench, so that the working efficiency is low. In addition, the manipulator is required to adjust in various directions to weld different positions of the workpiece, so that the manipulator is very complex to control, the requirement on the control precision of the manipulator is high, and the adjustment at some fine positions is easy to cause errors, so that the workpiece is damaged.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a have a plurality of workstations, can carry out operations such as material loading, welding and unloading simultaneously on a plurality of workstations, work efficiency is high and to the different position welded regulation of work piece realize, can reduce the control complexity of manipulator, avoid the manipulator automatic weld system of work piece damage through the carousel that rotates on the workstation to solve above-mentioned problem.

Manipulator automatic weld system, it includes a fixed station, one rotate set up in manipulator on the fixed station, and a plurality of intervals set up in workstation around the fixed station, each the workstation include a rotatory fixing base, one set up in servo motor in the rotatory fixing base, one set up in rotatory fixing base top and by servo motor drive pivoted carousel, a plurality of set up in anchor clamps on the carousel and one set up in rotatory fixing base with benchmark angle positioning mechanism between the carousel.

Further, the central axis of each of the work stations is equidistant from the central axis of the robot.

Furthermore, an output shaft of the servo motor is connected with a speed reducing mechanism, and an output shaft of the speed reducing mechanism is connected with the middle part of the bottom surface of the rotary table.

Furthermore, the reference angle positioning mechanism comprises a convex block which is arranged at the eccentric position of the bottom surface of the rotary table in a protruding manner, and a sensing unit which is arranged at the eccentric position of the rotary fixed seat in a protruding manner.

Further, the sensing unit is a photoelectric sensor.

Furthermore, the convex block is a magnetic block, and the induction unit is a magnetic inductor.

Furthermore, the automatic welding system of the manipulator further comprises a control device which is connected with the manipulator, a servo motor of the workstation and the reference angle positioning mechanism.

Compared with the prior art, the utility model provides a manipulator automatic weld system through set up a plurality of intervals set up in workstation around the fixed station, and each the workstation includes a rotatable carousel. When the manipulator is used for processing one of the workstations, the other workstation can carry out loading or unloading operation, and when workpieces are switched for welding, the manipulator is only required to rotate to the corresponding workstation without stopping, so that the working efficiency is high; in addition, the manipulator only needs to adjust the height and the radial direction in a fixed plane formed by the manipulator and the current workstation, and does not need to adjust along the circumferential direction. The workstation realizes adjusting the different positions of work piece through rotating the carousel at present, so can reduce the control complexity of manipulator, avoid the work piece to damage.

Drawings

Fig. 1 is a schematic structural diagram of an angle of the automatic welding system of a manipulator according to the present invention.

Fig. 2 is a schematic view of another angle of the robotic automatic welding system of fig. 1.

Detailed Description

Specific examples of the present invention will be described in further detail below. It should be understood that the description herein of embodiments of the invention is not intended to limit the scope of the invention.

As shown in fig. 1 to fig. 2, it is a schematic structural diagram of the automatic welding system of manipulator according to the present invention. The automatic welding system of the manipulator comprises a fixed platform 10, a manipulator 20 which is rotatably arranged on the fixed platform 10, a plurality of workstations 30 which are arranged around the fixed platform 10 at intervals, and a control device which is connected with the manipulator 20 and the workstations 30. It is contemplated that the robotic automatic welding system may include other functional modules, such as connecting components, mounting components, etc., which are well known to those skilled in the art and will not be described in detail herein.

The fixed station 10 is used for carrying the robot 20, so that the fixed station 10 is provided with various functional structures, such as screws, bolts and the like, to complete the installation and assembly of the robot 20, which can be set according to actual needs, and will not be described in detail.

The robot 20 may include a rotating spindle 21 movably coupled to the stationary stage 10, and an arm 22 for performing a welding process. The rotating main shaft 21 is movably connected with the arm 22, and the rotating main shaft 21 can drive the arm 22 to rotate synchronously. The manipulator 20 can be driven to rotate by a driving mechanism 23, a reference angle position of the manipulator is positioned by a positioning mechanism 24, a plurality of joints are arranged on the arm 22, joint driving units are arranged at the joints, and the driving mechanism 23 and the joint driving units are controlled by a control device to realize rotation angle of the arm 22, radial adjustment and height adjustment of the tail end of the arm and the like. The manipulator 20 is an automatic manipulator which simulates the functions of a human hand and arm and is used for grasping, carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed by programming, and the advantages of both human and manipulator machines are achieved in structure and performance, but the prior art is not repeated herein.

Each workstation 30 includes a rotary fixing seat 31, a servo motor 32 disposed in the rotary fixing seat 31, a rotary table 33 disposed above the rotary fixing seat 31 and driven by the servo motor 32 to rotate, a plurality of clamps 34 disposed on the rotary table 33, and a reference angle positioning mechanism 35 disposed between the rotary fixing seat 31 and the rotary table 33. The rotary fixing base 31 is used for carrying the servo motor 32, the rotary table 33, the clamp 34 and the reference angle positioning mechanism 35, so that the rotary fixing base 31 is provided with a plurality of functional structures, such as screws, bolts and the like, to complete the installation and assembly of the above functional modules, which can be arranged according to actual needs, and will not be described in detail herein. The servo motor 32 is used for driving the turntable 33 to rotate. The servo motor 32 can make the control speed and position precision very accurate, and can convert the voltage signal into torque and rotating speed to drive and control the rotating disc 33 to rotate. A speed reduction mechanism may be connected to an output shaft of the servo motor 32, and the output shaft of the speed reduction mechanism is connected to a middle portion of a bottom surface of the turntable 33, so that the turntable 33 may be sequentially controlled to rotate. The rotor speed of the servo motor 32 is controlled by the input signal and can quickly respond, the servo motor is used as an actuating element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert the received electric signal into angular displacement or angular speed on the motor shaft for output. The turntable 33 can be driven by the servo motor 32 to rotate, and the turntable 33 can be a disk-like component. The jig 34 is used to fix a workpiece to be machined and to release the machined workpiece after machining is completed. The clamp 34 is generally composed of a positioning element, a clamping device, a tool setting guide element, an indexing device, a connecting element, a clamp body and the like, but is prior art per se and will not be described in detail herein. The reference angle positioning mechanism 35 includes a protrusion 351 protruding from the eccentric position on the bottom surface of the rotary plate 33, and a sensing unit 352 protruding from the eccentric position on the rotary holder 31. The sensing unit 352 may be a photoelectric sensor or a magnetic sensor. When the sensing unit 352 is a photoelectric sensor, the sensing unit 352 can sense whether the protrusion 351 exists in a specific direction, and the control device can control the turntable 33 to rotate to any angle according to the reference angle by using the position of the sensed protrusion 351 as the reference angle. When the sensing unit 352 is a magnetic sensor, the protrusion 351 is a magnetic block or an iron block, respectively. The magnetic sensor can convert the magnetic signal with the projection 351 into an electric signal and transmit the electric signal to the control device, and the position where the magnetic signal between the magnetic sensor and the projection 351 is strongest is determined as the reference angular position of the turntable 33. In this embodiment, the central axis of each of the work stations 30 is equidistant from the central axis of the robot 20, thereby making the work stations more aesthetically pleasing and facilitating batch processing.

It will be appreciated that the robotic automatic welding system also includes a control device. The control device is connected to the robot 20, the servo motor 32 of the workstation 30, and the reference angle positioning mechanism 35.

Compared with the prior art, the utility model provides a manipulator automatic weld system through set up a plurality of intervals set up in workstation 30 around fixed station 10, and each workstation 30 includes a rotatable carousel 33. When the manipulator 20 is processing one of the workstations 30, the other workstations 30 can be used for loading or unloading, and when the workpiece is switched for welding, the manipulator 20 only needs to rotate to the corresponding workstation 30, the machine does not need to be stopped, and the working efficiency is high; in addition, the manipulator 20 only needs to be adjusted in height and radial direction in a fixed plane formed by the current workstation 30, and does not need to be adjusted in the circumferential direction. The workstation 30 adjusts the different positions of the workpiece by rotating the rotary table 33, so that the control complexity of the manipulator 20 can be reduced and the workpiece can be prevented from being damaged.

The above description is only for the preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention, and any modification, equivalent replacement or improvement within the spirit of the present invention is encompassed by the claims of the present invention.

Claims

1. Manipulator automatic weld system, its characterized in that: manipulator automatic weld system includes a fixed station, one rotate set up in manipulator on the fixed station to and a plurality of intervals set up in workstation around the fixed station, each the workstation include a rotatory fixing base, one set up in servo motor in the rotatory fixing base, one set up in rotatory fixing base top and by servo motor drive pivoted carousel, a plurality of set up in anchor clamps on the carousel and one set up in rotatory fixing base with benchmark angle positioning mechanism between the carousel.

2. The robotic automatic welding system of claim 1, wherein: the center of each of the work stations is equidistant from the center of the robot.

3. The robotic automatic welding system of claim 1, wherein: an output shaft of the servo motor is connected with a speed reducing mechanism, and an output shaft of the speed reducing mechanism is connected with the middle part of the bottom surface of the rotary table.

4. The robotic automatic welding system of claim 1, wherein: the reference angle positioning mechanism comprises a convex block which is arranged at the eccentric position of the bottom surface of the rotary table in a protruding mode, and a sensing unit which is arranged at the eccentric position on the rotary fixing seat in a protruding mode.

5. The robotic automatic welding system of claim 4, wherein: the sensing unit is a photoelectric sensor.

6. The robotic automatic welding system of claim 4, wherein: the convex block is a magnetic block, and the induction unit is a magnetic inductor.

7. The robotic automatic welding system of claim 1, wherein: the manipulator automatic welding system also comprises a control device which is connected with the manipulator, the servo motor of the workstation and the reference angle positioning mechanism.