CN210549073U

CN210549073U - Robot for realizing automatic welding of T-shaped welding nails with ceramic rings

Info

Publication number: CN210549073U
Application number: CN201920964035.5U
Authority: CN
Inventors: 胡长建; 邓显红
Original assignee: Zhejiang Shangshi Automatic Welding Technology Co ltd
Current assignee: Zhejiang Shangshi Automatic Welding Technology Co ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-05-19
Anticipated expiration: 2029-06-25

Abstract

The utility model discloses a robot for realizing automatic welding of T-shaped welding nails with porcelain rings, which comprises a multi-shaft mechanical arm, an automatic welding gun and an automatic feeding mechanism, the automatic welding gun is fixed at the end part of the multi-shaft mechanical arm, the automatic feeding mechanism comprises a cross beam, a longitudinal upright post, a material clamp, a material discharging component, a material receiving and feeding component and an L-shaped mounting plate, the beam is connected with the longitudinal upright post, the material clamp is connected with the beam, the discharging component comprises a material blocking rod which is arranged at the discharging end of the material clamp in a penetrating way and can realize telescopic motion, the material receiving and sending component comprises a receiving and sending clamp and a receiving and sending motor, one end of the receiving and sending clamp is provided with a U-shaped material receiving groove with an opening facing the material clamp, the other end of the receiving and conveying clamp is sleeved on an output shaft of a receiving and conveying motor, the receiving and conveying motor is fixed at the bottom of an L-shaped mounting plate, and the L-shaped mounting plate is fixedly arranged at the front end part of the cross beam. The utility model discloses not only can realize the automatic weld of the T type welding nail of taking the porcelain ring, and the operation degree of freedom is high, the commonality is strong, degree of automation is high.

Description

Robot for realizing automatic welding of T-shaped welding nails with ceramic rings

Technical Field

The utility model relates to a realize T type welding nail automatic weld's robot of taking porcelain ring belongs to automatic weld technical field.

Background

T-shaped studs, also known as socket head studs, have been widely used as shear connectors (also known as shear bonds) in steel structures, steel-concrete structures, in building and bridge construction, and are generally welded to steel beams, columns, etc. by arc stud welding. In addition, in the arc stud welding process, in order to prevent molten metal from leaking after the welding nails and the base metal are melted by discharging, a ceramic ring needs to be sleeved on each welding nail, and the molten metal is protected from leaking by using the high-temperature resistance characteristic of ceramic, so that the welding quality is improved, and the damage of a gun head caused by the ignition of a welding position of a welding gun and the base metal is prevented.

At present, T-shaped welding nails with ceramic rings are mainly welded manually, tens of thousands or hundreds of thousands of T-shaped welding nails need to be implanted and welded in a project (a high-rise building or a bridge), according to incomplete statistics, the annual welding quantity of Japanese T-shaped welding nails is 6000 thousands, and the annual demand quantity of steel structure building T-shaped welding nails in China is tens of millions; particularly, with the rapid development of industries such as buildings, bridges, shipbuilding, automobile manufacturing, rail transit and the like, the welding quantity of the T-shaped welding nails is rapidly increased. The manual welding mode has the defects of low welding efficiency and incapability of ensuring the welding quality, and the manual long-term stooping operation also can seriously affect the physical health of welding workers, so that the welding workers can easily generate occupational diseases such as lumbar muscle strain, hyperosteogeny and the like. Therefore, the development of equipment capable of realizing automatic welding of the T-shaped welding nail with the ceramic ring is urgently needed in the field.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned problem and the demand that prior art exists, the utility model aims at providing a T type welding nail automatic weld's robot of ceramic ring is taken in realization to satisfy the automatic weld demand of the T type welding nail of taking ceramic ring.

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

the utility model provides a realize T type welding nail automatic weld's of taking porcelain ring robot, includes multiaxis arm, automatic welder and automatic feeding mechanism, automatic welder fixes the tip at the multiaxis arm, automatic feeding mechanism includes crossbeam, vertical stand, collet, blowing subassembly, connects and send material subassembly and L shape mounting panel, the crossbeam is connected with vertical stand, the collet is connected with the crossbeam, the blowing subassembly includes the striker rod, the striker rod is worn to establish at the discharge end of collet and can be realized concertina movement, connect and send the material subassembly including connect to send the clamp and connect the motor, the one end that connects to send the clamp is equipped with the U type that the opening was towards the collet and connects the silo, connect the other end that sends the clamp to cup joint on the output shaft that connects the motor, connect the motor that sends and fix the bottom at L shape mounting panel, L shape mounting panel sets firmly the front end at the crossbeam.

Preferably, the multi-axis mechanical arm is a five-axis mechanical arm or a six-axis mechanical arm.

The utility model provides an embodiment, automatic welder includes welder main part and porcelain ring anchor clamps, the welder main part includes casing, the main shaft body and welding nail chuck, porcelain ring anchor clamps include porcelain ring chuck, porcelain ring chuck fixing base, two spinal branch vaulting poles and two extensible members, and two extensible members pass through the mounting symmetry to be fixed in the both sides portion of casing, the top of two spinal branch vaulting poles respectively with the terminal fixed connection of homonymy extensible member, the bottom of two spinal branch vaulting poles is all fixed on porcelain ring chuck fixing base.

In a further embodiment, the telescopic part is an electric push rod, an air cylinder or a hydraulic oil cylinder, and the tail end of the telescopic part is the tail end of the electric push rod, the tail end of a piston rod of the air cylinder or the tail end of a piston rod of the hydraulic oil cylinder.

According to the embodiment, the automatic welding gun is fixedly connected with the end part of the multi-shaft mechanical arm through the welding gun fixing plate, the automatic welding gun is fixed at the front part of the welding gun fixing plate, and the end part of the multi-shaft mechanical arm is fixed at the back part of the welding gun fixing plate.

The utility model provides an embodiment, the feed collet is formed by two slide rails through 2 at least U type connecting pieces are connected, and the U type connecting piece that is located near the feed collet discharge gate is connected with vibrating motor's output, vibrating motor fixes on the crossbeam.

In a preferred scheme, the upper part of the material clamp is fixed above the rear end of the cross beam through a longitudinal support.

According to a preferable scheme, an installation inclination angle of 5-60 degrees is formed between the material clamp and the horizontal plane.

In a preferred embodiment, the vibration motor is an eccentric vibration motor.

According to one embodiment, the discharging assembly further comprises a rectangular fixing plate, a rectangular movable plate, a right-angled triangular push plate and rollers, the rectangular fixing plate is fixed below the rear side of the L-shaped mounting plate and close to the material clamp, and the rectangular movable plate is connected to the inner side face of the rectangular fixing plate in a sliding mode; a through hole is transversely formed in the middle of the rectangular movable plate, the material blocking rod is fixedly arranged at the head of the through hole, a groove for the material blocking rod to penetrate out is formed in the discharge end of the material clamp, a spring is arranged at the tail of the through hole in a penetrating manner, the front end of the spring is freely located in the through hole, and the tail end of the spring is fixedly connected with the inner side face of the rectangular fixed plate through a spring fixed plate; a right-angle side of the right-angle triangular push plate is fixedly connected with the bottom of the rectangular movable plate, and an inclined surface of the right-angle triangular push plate faces the material clamp; the roller is fixed at the lower part of the receiving and sending clamp.

According to the embodiment, the rectangular movable plate is fixedly connected with the sliding block, the inner side surface of the rectangular fixed plate is provided with the sliding rail, and the sliding block is provided with the sliding groove matched with the sliding rail.

In the further implementation scheme, an L-shaped limiting baffle is arranged at the top of the rectangular movable plate and the top of the sliding block, and a limiting column matched with the L-shaped limiting baffle is arranged on the inner side surface of the rectangular fixed plate.

In a further embodiment, a guide post is fixedly arranged on the spring fixing plate, and the tail end of the spring is sleeved on the guide post.

According to the preferable scheme, two ends of an opening of a U-shaped receiving groove of the receiving and sending clamp are respectively and fixedly provided with a stop block, and the stop blocks protrude out of the top surface of the U-shaped receiving groove.

In a further preferred scheme, an inclined plane A is arranged on the upper end face of the stop block, and an inclined plane B matched with the inclined plane A is arranged on the bottom face of the discharge end of the material clamp.

According to the preferred scheme, the material receiving position sensor, the welding gun material taking position sensor and the back position sensor are respectively arranged on the peripheral side of the material receiving and conveying motor.

According to a preferable scheme, the cross beam can perform fore-and-aft telescopic motion and up-and-down lifting motion.

According to one embodiment, the driving mechanisms for realizing the front-back telescopic motion and the up-down lifting motion of the cross beam are all rack and pinion mechanisms.

In the further implementation scheme, a transverse linear rack is fixedly arranged on a cross beam, a transverse sliding sleeve is sleeved on the cross beam, an opening for meshed connection of a telescopic gear and the transverse linear rack is formed in the transverse sliding sleeve, the telescopic gear is fixed at the output end of a telescopic motor, and the telescopic motor is fixedly connected to the side portion of the transverse sliding sleeve; and a longitudinal linear rack is fixedly arranged on the longitudinal upright post, a longitudinal sliding sleeve is sleeved on the longitudinal upright post, an opening for the meshing connection of the lifting gear and the longitudinal linear rack is formed in the longitudinal sliding sleeve, the lifting gear is fixed at the output end of the lifting motor, and the lifting motor is fixedly connected to the side part of the longitudinal sliding sleeve.

In a further embodiment, the transverse sliding sleeve is fixedly connected with the longitudinal sliding sleeve.

In a preferred scheme, a reinforcing rib is fixedly arranged between the transverse sliding sleeve and the longitudinal sliding sleeve.

According to a preferable scheme, the robot further comprises a horizontal moving base, and a fixing seat of the multi-axis mechanical arm is fixed on the horizontal moving base.

In a preferable scheme, a feeding mechanism is further arranged on the horizontal moving base.

In one embodiment, the longitudinal upright of the automatic feeding mechanism is fixed on a horizontally moving base.

In another embodiment, the longitudinal upright of the automatic feeding mechanism is fixed on a turntable of the multi-axis mechanical arm.

One preferred scheme also comprises a spatial position positioning mechanism, the spatial position positioning mechanism comprises a front limit switch, a rear limit switch, an upper limit switch, an initial/material receiving position limit switch, a welding gun material taking position limit switch, a lower limit switch, a limit switch fixing bracket, a detection head and a detection head fixing bracket, the limit switch fixing bracket comprises a limit switch horizontal bracket and a limit switch vertical bracket, the front limit switch, the upper limit switch and the rear limit switch are fixedly arranged on the limit switch horizontal bracket from front to back in sequence, the initial/material receiving position limit switch, the welding gun material taking position limit switch and the lower limit switch are fixedly arranged on the limit switch vertical bracket from top to bottom in sequence, the fixed end of the detection head is fixedly connected with the detection head fixing support, and the sensing end of the detection head is arranged opposite to the contact ends of all limit switches.

In a further preferred scheme, the limit switch fixing support is fixedly connected with the L-shaped mounting plate, and the detection head fixing support is fixedly connected with the welding gun fixing plate.

Compared with the prior art, the utility model discloses following beneficial technological effect has:

by adopting the robot, the automatic welding of the T-shaped welding nail with the ceramic ring can be realized, the full-range welding operation can be realized, and the operation freedom degree is high; in addition, the horizontal moving base is arranged, so that the horizontal moving base is convenient to move, can be suitable for automatic welding of various welding places and workpieces, and has strong universality and high automation degree; therefore, compared with the prior art, the utility model has obvious progress and industrial utility value.

Drawings

Fig. 1 is a schematic perspective structural diagram of a robot for implementing automatic welding of a T-shaped welding nail with a ceramic ring according to embodiment 1;

FIG. 2 is a schematic front view of the automatic welding gun according to embodiment 1;

FIG. 3 is a schematic rear view of the automatic welding gun according to embodiment 1;

FIG. 4 is a schematic structural view of the automatic feeding mechanism described in embodiment 1;

FIGS. 5 and 6 are schematic structural views showing the structure of the discharge assembly and the assembling relationship between the discharge assembly and the material clamp and the receiving clamp in the embodiment 1;

FIG. 7 is a schematic view showing a partial structure of the robot according to embodiment 1 in an initial state;

fig. 8 is a schematic view showing a partial structure of the robot in the material receiving state according to embodiment 1;

FIG. 9 is a schematic view showing a partial configuration of the robot according to embodiment 1 in a state where the welding gun takes a material;

FIG. 10 is a schematic view showing a partial structure of the robot in embodiment 1 in a state where the welding gun is retracted after taking a material;

FIG. 11 is a schematic view showing a partial structure of the robot according to embodiment 1 in a state where the welding gun is moving downward and is to be welded;

FIG. 12 is a schematic structural diagram of a robot for implementing automatic welding of a T-shaped welding nail with a ceramic ring according to embodiment 2;

FIG. 13 is a schematic view of an application of the robot provided in embodiment 2 to welding workpieces;

fig. 14 is a schematic view of another application of the robot provided in embodiment 2 to weld workpieces.

The numbers in the figures are as follows: 01. a multi-axis robotic arm; 011. an end of a multi-axis robotic arm; 012. a turntable of the multi-axis robot arm; 013. a fixed seat of the multi-axis mechanical arm; 02. an automatic welding gun; 021. a welding gun main body; 0211. a housing; 0212. a main shaft body; 0213. a welding nail chuck; 022. a porcelain ring clamp; 0221. a porcelain ring chuck; 0222. a porcelain ring chuck fixing seat; 0223. a support bar; 0224. a telescoping member; 0225. a fixing member; 03. an automatic feeding mechanism; 031. a cross beam; 0311. a transverse linear rack; 0312. a transverse sliding sleeve; 0313. a telescopic gear; 0314. a telescopic motor; 032. a longitudinal upright post; 0321. a longitudinal linear rack; 0322. a longitudinal sliding sleeve; 0323. a lifting gear; 0324. a lifting motor; 033. material clamping; 0331. a slide rail; 0332. A U-shaped connecting piece; 0322a, a U-shaped connecting piece positioned near the discharge port of the material clamp; 0333. a vibration motor; 0334. a longitudinal support; 0335. a groove; 0336. a bevel B; 034. a discharging component; 0340. a material blocking rod; 0341. a rectangular fixing plate; 03411. a slide rail; 0342. a rectangular movable plate; 03421. a through hole; 0343. a right-angled triangular push plate; 03431. a right-angle side; 03432. a bevel; 0344. a roller; 0345. a slider; 03451. a chute; 0346. a spring; 0347. a spring fixing plate; 03471. a guide post; 0348. an L-shaped limit baffle; 0349. a limiting column; 035. a material receiving and sending component; 0351. a receiving and sending clamp; 03511. a U-shaped material receiving groove; 03512. a stopper; 035121, bevel A; 0352. a receiving and sending motor; 0353. a material receiving level sensor; 0354. a welding gun material taking position sensor; 036. an L-shaped mounting plate; 037. reinforcing ribs; 04. a welding gun fixing plate; 05. a spatial position positioning mechanism; 051. a front limit switch; 052. a rear limit switch; 053. an upper limit switch; 054. An initial/receiving position limit switch; 055. a welding gun material taking position limit switch; 056. a lower limit switch; 057. a limit switch fixing bracket; 0571. a limit switch horizontal bracket; 0572. the limit switch is vertical to the bracket; 058. a detection head; 0581. a fixed end of the detection head; 0582. detecting the induction end of the head; 059. the detection head fixing bracket; 06. a horizontally moving base; 07. a feeding mechanism; 08. a porcelain ring; 09. t-shaped welding nails; 10. and (5) a workpiece.

Detailed Description

The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and embodiments.

Example 1

Please refer to fig. 1: the robot for realizing automatic welding of the T-shaped welding nails with the porcelain rings comprises a multi-shaft mechanical arm 01, an automatic welding gun 02 and an automatic feeding mechanism 03, wherein the automatic welding gun 02 is fixed at the end portion 011 of the multi-shaft mechanical arm, the automatic feeding mechanism 03 comprises a cross beam 031, a longitudinal upright 032, a material clamp 033, a material discharging component 034, a material receiving and feeding component 035 and an L-shaped mounting plate 036, the cross beam 031 is connected with the longitudinal upright 032, the material clamp 033 is connected with the cross beam 031, the material discharging component 034 comprises a material blocking rod 0340, the material blocking rod 0340 penetrates through the material discharging end of the material clamp 033 and can realize telescopic motion, the material receiving and feeding component 035 comprises a receiving and feeding clamp 0351 and a receiving and feeding motor 0352, one end of the receiving and feeding clamp 0351 is provided with a U-shaped material receiving groove 03511 with an opening facing the material clamp 033, the other end of the receiving and feeding clamp 0351 is sleeved on an output shaft of the feeding motor 0352, and the receiving and feeding motor 0352 is, the L-shaped mounting plate 036 is fixedly arranged at the front end of the cross beam 031.

In this embodiment, the multi-axis robot 01 is a five-axis robot or a six-axis robot, so as to facilitate the full-range operation. The automatic welding gun 02 is fixedly connected with the end part 011 of the multi-axis mechanical arm through the welding gun fixing plate 04, the automatic welding gun 02 is fixed at the front part of the welding gun fixing plate 04, and the end part 011 of the multi-axis mechanical arm is fixed at the back part of the welding gun fixing plate 04.

Please refer to fig. 2 and fig. 3: automatic welder 02 includes welder main part 021 and porcelain ring anchor clamps 022, welder main part 021 includes casing 0211, main shaft body 0212 and welding nail chuck 0213, porcelain ring anchor clamps 022 includes porcelain ring chuck 0221, porcelain ring chuck fixing base 0222, two bracing pieces 0223 and two extensible member 0224, and two extensible member 0224 pass through the both sides portion that fixing piece 0225 symmetry was fixed at casing 0211, and the top of two bracing pieces 0223 respectively with the terminal fixed connection of homonymy extensible member 0224, the bottom of two bracing pieces 0223 is all fixed on porcelain ring chuck fixing base 0222. The telescopic part 0224 can be an electric push rod, an air cylinder or a hydraulic oil cylinder, and the tail end of the telescopic part 0224 can be the tail end of the electric push rod, the tail end of an air cylinder piston rod or the tail end of a hydraulic oil cylinder piston rod.

Through the concertina movement of extensible member 0224, can drive porcelain ring chuck 0221's elevating movement to can realize that porcelain ring chuck 0221 presss from both sides the automatic clamp of porcelain ring and gets and break away from, be favorable to replacing manual operation, realize getting the material automatically.

Please refer to fig. 1 and fig. 4: in this embodiment, the cross beam 031 can perform a front-back telescopic motion and an up-down lifting motion, and the driving mechanisms for implementing the front-back telescopic motion and the up-down lifting motion of the cross beam 031 are rack and pinion mechanisms; the embodiment adopts the specific scheme that: a transverse linear rack 0311 is fixedly arranged on the cross beam 031, a transverse sliding sleeve 0312 is sleeved on the cross beam 031, an opening for meshing and connecting a telescopic gear 0313 with the transverse linear rack 0311 is formed in the transverse sliding sleeve 0312, the telescopic gear 0313 is fixedly arranged at the output end of a telescopic motor 0314, and the telescopic motor 0314 is fixedly connected to the side part of the transverse sliding sleeve 0312; and, set firmly vertical straight line rack 0321 on vertical stand 032, and the cover is equipped with vertical sliding sleeve 0322 on vertical stand 032 set up the opening that is used for lifting gear 0323 and vertical straight line rack 0321 to mesh with and is connected on vertical sliding sleeve 0322, lifting gear 0323 fixes the output at elevator motor 0324, elevator motor 0324 fixed connection is at the lateral part of vertical sliding sleeve 0322, and horizontal sliding sleeve 0312 and vertical sliding sleeve 0322 fixed connection.

The telescopic gear 031 can be driven to rotate by the forward rotation or reverse rotation of the telescopic motor 0314, and the transverse sliding sleeve 0312 is fixedly connected with the longitudinal sliding sleeve 0322, so that the driving beam 031 can perform forward or backward telescopic motion in the transverse sliding sleeve 0312 under the meshing action of the telescopic gear 0313 and the transverse linear rack 0311; in addition, the lifting motor 0324 can rotate forward or backward to drive the lifting gear 0323 to rotate, and the vertical column 032 is fixed, so that the lifting gear 0323 and the vertical linear rack 0321 can drive the vertical sliding sleeve 0322 to move up or down on the vertical column 032 under the meshing action; since the transverse sliding sleeve 0312 is fixedly connected with the longitudinal sliding sleeve 0322, the transverse beam 031 can be carried to move up and down when the longitudinal sliding sleeve 0322 moves up and down; in addition, because the material clamp 033, the material placing component 034 and the material receiving and sending component 035 are connected to the cross beam 031, when the cross beam 031 makes a front-back telescopic motion or an up-down lifting motion, the material clamp 033, the material placing component 034 and the material receiving and sending component 035 can be simultaneously carried to make a front-back telescopic motion or an up-down lifting motion, so that the automatic feeding mechanism 03 and the automatic welding gun 02 can be kept in an adaptable operation range.

In order to avoid the weight influence of the material clamp 033 carrying the T-shaped welding nail with the porcelain ring, a reinforcing rib 037 is further fixedly arranged between the transverse sliding sleeve 0312 and the longitudinal sliding sleeve 0322 to play a role in lifting and strengthening.

In this embodiment the material clamp 033 is formed by connecting two slide rails 0331 through at least 2U-shaped connecting pieces 0332, and the U-shaped connecting piece 0322a located near the material clamp discharge port is connected with the output end of the vibrating motor 0333, the vibrating motor 0333 is fixed above the front end of the beam, the upper portion of the material clamp 033 is fixed above the rear end of the beam through a longitudinal support 0334, and a 5-60 degree installation inclination angle is formed between the material clamp 033 and the horizontal plane, so that the T-shaped welding nails with porcelain rings located on the material clamp 033 have gliding power, and on the other hand, the mutual impact damage among the porcelain rings can be avoided. The vibrating motor 0333 is preferably an eccentric vibrating motor, because the eccentric vibrating action is utilized, the material clamp 033 can still realize smooth discharging under a small installation inclination angle.

Please refer to fig. 4 to fig. 6: the emptying assembly 034 of this embodiment includes a striker 0340, a rectangular fixing plate 0341, a rectangular movable plate 0342, a right-angled triangular push plate 0343 and a roller 0344, where the rectangular fixing plate 0341 is fixed below the rear side of the L-shaped mounting plate 036 and close to the material clamp 033, and the rectangular movable plate 0342 is slidably connected to the inner side surface of the rectangular fixing plate 0341 (in this embodiment, the rectangular movable plate 0342 is fixedly connected to a slider 0345, a sliding rail 03411 is disposed on the inner side surface of the rectangular fixing plate 0341, a sliding groove 03451 adapted to the sliding rail 03411 is disposed on the slider 0345, and the sliding of the rectangular movable plate 0342 is realized by the sliding of the slider 0345 on the sliding rail 03411); a through hole 03421 is transversely arranged in the middle of the rectangular movable plate 0342, the striker rod 0340 is fixedly arranged at the head of the through hole 03421, a groove 0335 for the striker rod 0340 to penetrate out is arranged at the discharge end of the material clamp, a spring 0346 is arranged at the tail of the through hole 03421 in a penetrating manner, the front end of the spring 0346 is freely positioned in the through hole 03421, and the tail end of the spring 0346 is fixedly connected with the inner side surface of the rectangular fixed plate 0341 through a spring fixing plate 0347; a right-angle side 03431 of the right-angle triangular push plate is fixedly connected with the bottom of the rectangular movable plate 0342, and an inclined plane 03432 of the right-angle triangular push plate faces the material clamp 033. As a preferable scheme, an L-shaped limiting baffle 0348 is arranged at the top of the rectangular movable plate 0342 and the slider 0345, a limiting column 0349 matched with the L-shaped limiting baffle 0348 is arranged on the inner side surface of the rectangular fixed plate 0341, and accurate resetting of the rectangular movable plate 0342 can be ensured through the matched blocking effect of the L-shaped limiting baffle 0348 and the limiting column 0349. In addition, a guide column 03471 is fixedly arranged on the spring fixing plate 0347, and the tail end of the spring 0346 is sleeved on the guide column 03471 to prevent the spring 0346 from being linearly restored after being compressed and deformed.

The material receiving and sending assembly 035 comprises a receiving clamp 0351 and a receiving and sending motor 0352, a roller 0344 is fixed at the lower part of the receiving clamp 0351, one end of the receiving clamp 0351 is provided with a U-shaped material receiving groove 03511 with an opening facing the material clamp, the other end of the receiving clamp 0351 is sleeved on an output shaft of the receiving and sending motor 0352, and the receiving and sending motor 0352 is fixed at the bottom of an L-shaped mounting plate 036. Preferably, two stoppers 03512 are fixedly arranged at two ends of an opening of a U-shaped receiving groove 03511 of the receiving and feeding clamp 0351, wherein the stoppers 03512 protrude out of the top surface of the U-shaped receiving groove 03511 to form a blocking effect on a ceramic ring on the top surface of the U-shaped receiving groove 03511, so that a T-shaped welding nail with the ceramic ring in the U-shaped receiving groove 03511 is prevented from falling; the upper end face of the stop block 03512 is provided with an inclined plane A035121, the bottom face of the discharge end of the material clamp is provided with an inclined plane B0336 matched with the inclined plane A035121, and the inclined plane A035121 is attached to the inclined plane B0336, so that the T-shaped welding nail with the porcelain ring at the discharge port of the material clamp can accurately fall into a U-shaped receiving groove 03511 of the receiving clamp 0351. In addition, a receiving position sensor 0353, a welding gun taking position sensor 0354 and a back position sensor (not shown) are respectively arranged on the peripheral side of the receiving and conveying motor 0352 to limit and monitor the rotating position of the receiving and conveying clamp 0351. In addition, the mounting direction of the receiving clamp 0351 needs to be matched with the mounting direction of the material clamp 033, that is: the receiving clamp 0351 is installed in a direction such that the opening of the U-shaped receiving channel 03511 faces the material clamp 033.

Please refer to fig. 1 and fig. 4: in order to improve the welding operation precision of the robot, the embodiment further comprises a spatial position positioning mechanism 05, the spatial position positioning mechanism 05 comprises a front limit switch 051, a rear limit switch 052, an upper limit switch 053, an initial/material receiving position limit switch 054, a welding gun material taking position limit switch 055, a lower limit switch 056, a limit switch fixing support 057, a detection head 058 and a detection head fixing support 059, the limit switch fixing support 057 comprises a limit switch horizontal support 0571 and a limit switch vertical support 0572, the front limit switch 051, the upper limit switch 053 and the rear limit switch 052 are sequentially and fixedly arranged on the limit switch horizontal support from front to back 0571, the initial/material receiving position limit switch 054, the welding gun material taking position limit switch 055 and the lower limit switch 056 are sequentially and fixedly arranged on the limit switch vertical support 0572 from top to bottom, the fixed end 0581 of detection head and detection head fixed bolster 059 fixed connection, just the response end 0582 of detection head sets up with all limit switch's contact end in opposite directions. Limit switch fixed bolster 057 and L shape mounting panel 036 fixed connection, detect first fixed bolster 059 and welder fixed plate 04 fixed connection. The induction end 0582 of the detection head induces the front limit switch 051, the rear limit switch 052, the upper limit switch 053 and the lower limit switch 056, so that the automatic welding gun 02 and the automatic feeding mechanism 03 can be accurately kept in the adaptive operation space range; the sensing end 0582 of the detection head senses the initial/material receiving position limit switch 054 and the welding gun material taking position limit switch 055, so that the automatic welding gun 02 can be accurately kept at the initial/material receiving position or the material taking position.

In addition, in order to reduce the stroke of the multi-axis robot 01 for the material taking operation, in the present embodiment, the vertical column 032 of the automatic feeding mechanism 03 is fixed to the turntable 012 of the multi-axis robot so that the automatic feeding mechanism 03 can rotate with the rotation of the multi-axis robot 01.

The working principle of the robot in this embodiment is as follows:

fig. 7 is a schematic partial structure diagram of the robot in the present embodiment in an initial state, and it can be seen from fig. 7 that: under initial condition, the induction end 0582 of detection head is located initial/connects the corresponding position of material position limit switch 054, connect and send the clamp 0351 to be located porcelain ring chuck 0221 under, spring 0346 is in the initial condition that extends, and rectangle movable plate 0342 is pushed aside the clamp 033 by spring 0346 and is blockked down and obtain spacingly under the cooperation of L-shaped limit baffle 0348 and spacing post 0349 to the striker rod 0340 that this moment wears out recess 0335 and blocks in the discharge gate of clamp 033, and the clamp 033 is in the state of waiting to put the material.

When the receiving clamp 0351 receives the material, the automatic welding gun 02 is kept at an initial position, that is: the sensing end 0582 of the detection head is positioned at the corresponding position of the initial/receiving position limit switch 054. The receiving and conveying clamp 0351 is driven by a receiving and conveying motor 0352 to rotate towards the material clamp 033, along with the approach of the receiving and conveying clamp 0351 to the discharge end of the material clamp, a roller 0344 positioned at the lower part of the receiving and conveying clamp 0351 is in rolling contact with an inclined plane 03432 of a right-angled triangular push plate, and because the roller 0344 rolls on the inclined plane 03432 from low to high, along with the rolling of the roller 0344 towards the high end of an inclined plane 03432, the roller 0344 generates an outward thrust effect on the inclined plane 03432, and because the right-angled triangular push plate 0343 is fixedly connected with a rectangular movable plate 0342, the inclined plane 03432 receives the outward thrust of the roller 0344 and then drives the rectangular movable plate 0342 to move outwards, and because a striker 0340 is fixedly arranged on the rectangular movable plate 0342, the striker 0340 also moves outwards along with the outward movement of the rectangular movable plate 0342; when the receiving and conveying clamp 0351 rotates to a position that the opening of the U-shaped receiving groove 03511 is just butted with the discharge hole of the material clamp 033 (the position can be limited by the sensing of the material level sensor 0353 through the receiving and conveying motor 0352), the roller 0344 rolls to the highest end of the inclined plane 03432, the rectangular movable plate 0342 is subjected to the maximum outward pushing force, so that the L-shaped limiting baffle 0348 is separated from the limiting column 0349, the spring 0346 is compressed, and the head of the material blocking rod 0340 retreats into the groove 0335; since the material clamp 033 is installed at a certain inclination angle and has the vibration effect of the vibration motor 0333, the T-shaped welding nail 09 with the porcelain ring 08, which is located on the material clamp 033, can smoothly fall into the U-shaped receiving groove 03511 along with the retraction of the head of the striker rod 0340 (see fig. 8).

When the receiving and feeding motor 0352 drives the received receiving and feeding clamp 0351 to rotate towards the welding gun material taking position, the roller 0344 rolls from the highest end to the lower end of the inclined surface 03432 until the roller 0344 is separated from the inclined surface 03432, so that the outward thrust generated by the roller 0344 on the inclined surface 03432 is gradually reduced until the outward thrust disappears, and the rectangular movable plate 0342 is pushed to the side of the material clamp 033 under the resilience of the spring 0346 until the position is limited under the matched blocking of the L-shaped limiting baffle 0348 and the limiting column 0349, so that the material blocking rod 0340 passes through the groove 035 and is blocked in the discharge hole of the material clamp 033 (because the diameter of the head of the T-shaped welding nail 09 is larger than that of the column body, a gap through which the material blocking rod 0340 passes exists between the column bodies of the T-shaped welding nail 09), and the material clamp 033 is in the material; when the receiving and sending clamp 0351 rotates to a position right below the porcelain ring chuck 0221, the receiving and sending motor 0352 can stop rotating by sensing the welding gun material taking position sensor 0354, at the moment, the multi-shaft mechanical arm 01 drives the automatic welding gun 02 to move downwards until the sensing end 0582 of the detection head is located at a position corresponding to the welding gun material taking position limit switch 055, and at the moment, the porcelain ring chuck 0221 clamps the porcelain ring 08; then, a main shaft driving mechanism (not shown in the figure, but known in the art) of the welding gun main body 021 drives the main shaft body 0212 to descend, so as to drive the welding nail chuck 0213 to move downwards to clamp the head of the T-shaped welding nail 09, and the automatic welding gun 02 is taken out (see fig. 9).

Then the multi-axis mechanical arm 01 drives the automatic welding gun 02 to move upwards, so that the porcelain ring chuck 0221 is separated from the receiving clamp 0351 (at this time, the sensing end 0582 of the detection head is located between the initial/receiving position limit switch 054 and the welding gun taking position limit switch 055), then the receiving clamp 0351 is driven by the receiving motor 0352 to retreat to the other side of the automatic welding gun 02, and when the retreat is in place, the receiving motor 0352 stops rotating under the sensing of a retreat sensor (not shown in the figure) (see figure 10).

When the receiving clamp 0351 is retracted to the other side of the automatic welding gun 02, the telescopic member 0224 extends out to push the support rod 0223 to drive the porcelain ring clamp 0221 to descend until the bottom end surface of the porcelain ring 08 is flush with the bottom end surface of the T-shaped welding nail 09 and is in a state of being clamped to be welded (see fig. 11).

The automatic welding gun 02 is driven by the multi-axis mechanical arm 01 to continue to descend until the bottom end face of the porcelain ring 08 contacts the surface of the workpiece 10 to be welded, and then the welding gun main body 021 starts welding. When welding is finished, the multi-axis mechanical arm 01 can drive the automatic welding gun 02 to quickly move upwards to return to an initial state, and in order to avoid the automatic welding gun 02 from moving upwards too high, the upper limit switch 053 is located above the initial/material receiving position limit switch 054. When the automatic welding gun 02 moves up to the initial position, the pick-up clamp 0351 is driven by the pick-up motor 0352 to return to a position directly below the porcelain ring holder 0221, thereby completing one welding operation.

In addition, the automatic welding gun 02 and the automatic feeding mechanism 03 can be accurately kept in the adaptive working space range through the arranged front limit switch 051, the rear limit switch 052, the upper limit switch 053 and the lower limit switch 056. In addition, in this embodiment, since the stoppers 03512 are fixedly disposed at two ends of the opening of the U-shaped receiving slot 03511 of the receiving and feeding clip 0351, and the stoppers 03512 protrude from the top surface of the U-shaped receiving slot 03511, the ceramic ring 08 on the top surface of the U-shaped receiving slot 03511 can be blocked by the stoppers 03512, so that when the receiving and feeding clip 0351 rotates to the material taking position of the welding gun, the ceramic ring 08 on the U-shaped receiving slot 03511 and the T-shaped welding nail 09 sleeved in the ceramic ring 08 cannot slide down (see fig. 8).

Example 2

Referring to fig. 12, the robot for implementing automatic welding of a T-shaped welding nail with a ceramic ring according to the present embodiment is different from the robot described in embodiment 1 only in that: the robot further comprises a horizontal moving base 06, and a fixing seat 013 of the multi-axis mechanical arm is fixed on the horizontal moving base 06.

As a preferred scheme, a feeding mechanism 07 (the feeding mechanism 07 can adopt the device for realizing the automatic feeding of the T-shaped welding nails in the utility model patent ZL 201620260551.6) can be fixedly arranged on the horizontal moving base 06 so as to conveniently and rapidly feed the material clamp 033.

If the height of the horizontal moving base 06 is lower, the robot can perform welding operation on the workpiece 10 along the walking side (see fig. 13); if the height of the leg of the horizontal moving base 06 is higher than the sum of the height of the workpiece to be welded and the height of the welding nail, the robot can perform a welding operation on the workpiece 10 along the front of the walking direction (see fig. 14).

In addition, the automatic feeding mechanism 03 in the patent can also adopt a fixing mode of being separated from the multi-shaft mechanical arm 01, namely: the longitudinal upright 032 in the automatic feeding mechanism 03 and the fixing seat 013 of the multi-axis mechanical arm are fixed on the horizontal moving base 06, the automatic feeding mechanism 03 is fixed, the automatic welding gun 02 is carried to the automatic feeding mechanism 03 only by the rotation of the multi-axis mechanical arm 01 to take materials, and after the automatic welding gun 02 takes materials, the multi-axis mechanical arm 01 rotates to carry the automatic welding gun 02 to the position to be welded to carry out welding operation at various angles; by the design, the operation freedom degree of the multi-shaft mechanical arm 01 can be utilized, the requirement of full-range welding operation is met, and the universal welding robot has strong universality.

In summary, it can be seen that: by adopting the robot, the automatic welding of the T-shaped welding nail with the ceramic ring can be realized, the full-range welding operation can be realized, and the operation freedom degree is high; in addition, the horizontal moving base is arranged, so that the horizontal moving base is convenient to move, can be suitable for automatic welding of various welding places and workpieces, and has strong universality and high automation degree; therefore, compared with the prior art, the utility model has obvious progress and industrial utility value.

It is finally necessary to point out here: the above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention.

Claims

1. The utility model provides a realize T type weld nail automatic weld's of taking porcelain ring robot which characterized in that: including multiaxis arm, automatic welder and dynamic sending machine, automatic welder fixes the tip at the multiaxis arm, dynamic sending machine includes crossbeam, vertical stand, collet, blowing subassembly, connects and send material subassembly and L shape mounting panel, the crossbeam is connected with vertical stand, the collet is connected with the crossbeam, the blowing subassembly is including keeping off the material pole, keep off the material pole and wear to establish the discharge end at the collet and can realize concertina movement, connect and send the material subassembly including connect and send the clamp and connect the motor, the one end that connects and send the clamp is equipped with the opening and connects the silo towards the U type of collet, connect and send the other end of clamp to cup joint on the output shaft that connects and send the motor, connect and send the motor to fix the bottom at L shape mounting panel, L shape mounting panel sets firmly the front end at the crossbeam.

2. The robot of claim 1, wherein: the automatic welding gun is fixedly connected with the end part of the multi-shaft mechanical arm through a welding gun fixing plate, the automatic welding gun is fixed at the front part of the welding gun fixing plate, and the end part of the multi-shaft mechanical arm is fixed at the back part of the welding gun fixing plate.

3. The robot of claim 2, wherein: automatic welder includes welder main part and porcelain ring anchor clamps, the welder main part includes casing, the main shaft body and welding nail chuck, porcelain ring anchor clamps include porcelain ring chuck, porcelain ring chuck fixing base, two spinal branch vaulting poles and two extensible members, and two extensible members pass through the mounting symmetry to be fixed in the both sides portion of casing, the top of two spinal branch vaulting poles respectively with the terminal fixed connection of homonymy extensible member, the bottom of two spinal branch vaulting poles is all fixed on porcelain ring chuck fixing base.

4. The robot of claim 1, wherein: the discharging assembly further comprises a rectangular fixed plate, a rectangular movable plate, a right-angled triangular push plate and rollers, the rectangular fixed plate is fixed below the rear side of the L-shaped mounting plate and close to the material clamp, and the rectangular movable plate is connected to the inner side face of the rectangular fixed plate in a sliding mode; a through hole is transversely formed in the middle of the rectangular movable plate, the material blocking rod is fixedly arranged at the head of the through hole, a groove for the material blocking rod to penetrate out is formed in the discharge end of the material clamp, a spring is arranged at the tail of the through hole in a penetrating manner, the front end of the spring is freely located in the through hole, and the tail end of the spring is fixedly connected with the inner side face of the rectangular fixed plate through a spring fixed plate; a right-angle side of the right-angle triangular push plate is fixedly connected with the bottom of the rectangular movable plate, and an inclined surface of the right-angle triangular push plate faces the material clamp; the roller is fixed at the lower part of the receiving and sending clamp.

5. The robot of claim 1, wherein: the beam can perform fore-and-aft telescopic motion and up-and-down lifting motion.

6. The robot of claim 5, wherein: the driving mechanisms for realizing the front-back telescopic motion and the up-down lifting motion of the cross beam are all rack and pinion mechanisms.

7. A robot as claimed in any of claims 1 to 6, characterized in that: the robot further comprises a horizontal moving base, and a fixing seat of the multi-axis mechanical arm is fixed on the horizontal moving base.

8. The robot of claim 7, wherein: and a feeding mechanism is also arranged on the horizontal moving base.

9. The robot of claim 7, wherein: a longitudinal upright post of the automatic feeding mechanism is fixed on the horizontal moving base; or the longitudinal upright post of the automatic feeding mechanism is fixed on the rotary table of the multi-shaft mechanical arm.

10. The robot of claim 9, wherein: the device also comprises a spatial position positioning mechanism, wherein the spatial position positioning mechanism comprises a front limit switch, a rear limit switch, an upper limit switch, an initial/material receiving position limit switch, a welding gun material taking position limit switch, a lower limit switch, a limit switch fixing bracket, a detection head and a detection head fixing bracket, the limit switch fixing bracket comprises a limit switch horizontal bracket and a limit switch vertical bracket, the front limit switch, the upper limit switch and the rear limit switch are fixedly arranged on the limit switch horizontal bracket from front to back in sequence, the initial/material receiving position limit switch, the welding gun material taking position limit switch and the lower limit switch are fixedly arranged on the limit switch vertical bracket from top to bottom in sequence, the fixed end of the detection head is fixedly connected with the detection head fixing support, and the sensing end of the detection head is arranged opposite to the contact ends of all limit switches.