CN214769979U - Robot clamping and positioning device for welding of tool apron of highway milling machine - Google Patents
Robot clamping and positioning device for welding of tool apron of highway milling machine Download PDFInfo
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- CN214769979U CN214769979U CN202120653334.4U CN202120653334U CN214769979U CN 214769979 U CN214769979 U CN 214769979U CN 202120653334 U CN202120653334 U CN 202120653334U CN 214769979 U CN214769979 U CN 214769979U
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- robot
- blade holder
- milling machine
- positioning device
- supporting seat
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Abstract
The utility model discloses a highway milling machine blade holder welded robot clamping positioner, including the frame main part, be provided with in the frame main part and mill the mill and dig the drum main part, mill the drum main part and install in the frame main part through the machine of shifting, be provided with the robot in the frame main part, install the air jig that can snatch the blade holder on the robot, be connected through anchor clamps collision device between air jig and the robot, shift machine, robot, air jig all are connected with the controller. The utility model provides an among the prior art blade holder welding work volume huge, every mill the drum and need welded blade holder quantity between several hundred to several thousand, manual operation wastes time and energy, and positioning accuracy is poor, and is inefficient, and positioning accuracy is poor, and the influence mills the problem of the productivity and the quality of drum.
Description
Technical Field
The utility model relates to a clamping positioning device, concretely relates to highway milling machine blade holder welded robot clamping positioner belongs to clamping positioning device technical field.
Background
The blade holder of highway milling machine needs to weld on milling the drum, mainly relies on the manual work in the current industry to install the blade holder on the location slip table, and the manual work is rotatory mills the drum, relies on location slip table and mills the scale mark location blade holder position of drum rotary mechanism. The milling drum is about 2 tons in weight, and wastes time and labor in rotation; the blade holder welding work load is huge, and every mills and digs the quantity that the drum needs welded blade holder between several hundred to several thousand, and manual operation wastes time and energy, and positioning accuracy is poor, and is inefficient, and positioning accuracy is poor, influences the productivity and the quality of milling the drum.
Based on above factors, develop the equipment of a set of robot automatic clamping location blade holder now, cooperate servo motor driven machine of shifting, realize milling the autogiration of mill the plane drum, blade holder automatic clamping location, guarantee the blade holder and milling the welded positioning accuracy on the plane drum, practice thrift the cost of labor, improve production efficiency.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome prior art's the aforesaid not enough, provide a highway milling machine blade holder welded robot clamping positioner.
In order to solve the above problem, the utility model adopts the following technical scheme: clamping positioner of highway milling machine blade holder welded robot, including the frame main part, be provided with in the frame main part and mill the plane drum main part, mill the plane drum main part and pass through the machine of shifting and install in the frame main part, be provided with the robot in the frame main part, install on the robot and can carry out the air jig who snatchs to the blade holder, be connected through anchor clamps collision device between air jig and the robot, machine of shifting, robot, air jig all are connected with the controller.
The following is the utility model discloses to the further optimization of above-mentioned scheme: the fixture anti-collision device comprises a chuck connecting seat connected with the fixture anti-collision device, a mounting plate is arranged on one side of the chuck connecting seat at a certain interval, and a spring is arranged between the chuck connecting seat and the mounting plate.
Further optimization: the guide holder is installed with the position that the spring corresponds on the mounting panel, wears to be equipped with the guide bar in the spring, and the one end of guide bar is connected on the chuck connecting seat, and the other end runs through to the one end of guide holder outside and through bolt package.
Further optimization: and the bolt is connected with a photoelectric sensing switch, and the photoelectric sensing switch is connected with the controller.
Further optimization: and a robot connecting seat is arranged on the mounting plate and is connected with the robot.
Further optimization: the positioner comprises a first supporting seat and a second supporting seat which are arranged on a rack main body at intervals, and supporting rollers which are symmetrically arranged are arranged on the first supporting seat and the second supporting seat respectively.
Further optimization: the first support seat is provided with a first motor for driving the milling drum main body to rotate, and the first motor is connected with the controller.
Further optimization: a guide device is arranged between the rack main body and the first supporting seat, and the first supporting seat is driven by the driving device to move.
Further optimization: the guide device comprises a guide rail arranged on the robot, and a sliding block matched with the guide rail for use is arranged on the first supporting seat.
Further optimization: the driving device comprises a second motor used for driving the first supporting seat to move, a gear is installed on the second motor, and a rack matched with the gear for use is installed on the rack main body.
When the automatic welding machine is used, tool apron to be welded are sequentially arranged on a stacking and discharging table, parameters of a controller are set, equipment is started, the controller controls a robot to drive a pneumatic fixture to move to the tool apron and grab the tool apron, the controller controls the pneumatic fixture to clamp the tool apron, the robot drives the tool apron to move to one side of a milling drum main body, the robot keeps a posture and waits for welding operation completion, an operator presses a confirmation button to send a welding completion signal after welding is completed, the controller controls the robot to grab a next workpiece after receiving the welding completion signal and enters a next working cycle, the operation is repeated in such a way until all the tool apron are welded, and a robot system returns to a safe waiting position or an original position after operation is completed;
in the process, after a certain number of tool holders are welded on one side of the milling drum main body, a worker sends an instruction to the controller through a button on the console, and the controller controls the milling drum main body to rotate by a certain angle and continue welding;
in the process, when the robot drives the tool apron to abut against the milling drum main body, if the robot continues to act to drive the mounting plate to extrude the spring, the distance between the mounting plate and the photoelectric inductive switch changes, the photoelectric inductive switch sends a signal to the controller, and the controller controls the robot to stop acting.
The utility model discloses a set up robot and air jig, realized snatching and fixing the blade holder, made things convenient for the welding, alleviateed the hand labor volume, through setting up anchor clamps buffer stop, realized the protection of blade holder and air jig, the utility model provides an among the current technique blade holder welding work volume huge, every mills the drum and need welded blade holder quantity between hundreds to thousands, manual operation wastes time and energy, and positioning accuracy is poor, and is inefficient, and positioning accuracy is poor, influences the problem of milling the productivity and the quality of drum.
The present invention will be further explained with reference to the drawings and examples.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a left side view of the present invention in an embodiment;
fig. 3 is a front view of the present invention in an embodiment;
fig. 4 is a top view of the present invention in an embodiment;
fig. 5 is a schematic structural view of a pneumatic clamp according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of the fixture collision prevention device according to an embodiment of the present invention;
FIG. 7 is an enlarged schematic view at A in FIG. 2;
fig. 8 is a schematic structural diagram of the first supporting seat according to an embodiment of the present invention.
In the figure: 1-a robot; 2-a position changing machine; 3-a pneumatic clamp; 4-a fixture collision avoidance device; 5-stacking a material placing table; 6-safety light curtain; 7-a first support; 8-milling drum body; 9-a second support seat; 10-a first electric machine; 11-a support roller; 12-lifting a ring; 13-a second electric machine; 14-a guide rail; 15-a slide block; 16-a rack; 17-a chuck connecting seat; 18-robot connection mount; 19-mounting a plate; 20-a photoelectric sensing switch; 21-a spring; 22-a guide seat; 23-a guide bar; 24-bolt.
Detailed Description
In an embodiment, as shown in fig. 1 to 8, a robot clamping and positioning device for welding a tool apron of a road milling machine includes a frame main body, a milling drum main body 8 is arranged on the frame main body, the milling drum main body 8 is installed on the frame main body through a positioner 2, a robot 1 (mechanical arm) is arranged at a position, close to one side of the milling drum main body 8, on the frame main body, a pneumatic fixture 3 capable of grabbing the tool apron is installed on the robot 1, the pneumatic fixture 3 is connected with the robot 1 through a fixture anti-collision device 4, and the positioner 2, the robot 1 and the pneumatic fixture 3 are all connected with a controller.
The fixture anti-collision device 4 comprises a chuck connecting seat 17 fixedly connected with one end of the fixture anti-collision device, and the chuck connecting seat 17 is annular.
One side interval certain distance of chuck connecting seat 17 is provided with mounting panel 19, is provided with a plurality of springs 21 between chuck connecting seat 17 and the mounting panel 19, and a plurality of springs 21 are the annular array setting.
The position that corresponds with every spring 21 on the mounting panel 19 respectively fixed mounting have a guide holder 22, and the longitudinal section of guide holder 22 is the T shape, and sets up the round hole that holds guide holder 22 one end on the mounting panel 19.
A guide rod 23 penetrates through the spring 21, one end of the guide rod 23 is fixedly connected to the chuck connecting seat 17, and the other end of the guide rod 23 penetrates through one end of the guide seat 22 for a certain distance and is packaged through a bolt 24.
A washer is arranged between the bolt 24 and one end of the guide seat 22, and a through hole for accommodating the guide rod 23 to move is formed in the guide seat 22, so that the spring 21 is convenient to deform.
A photoelectric sensing switch 20 is connected to one of the bolts 24, and the photoelectric sensing switch 20 is connected to a controller, so that whether the pneumatic clamp 3 is collided or not can be detected conveniently.
One end of one side of the mounting plate 19, which is far away from the photoelectric sensing switch 20, is fixedly provided with a robot connecting seat 18, and the robot connecting seat 18 is fixedly connected with one end of the robot 1.
The pneumatic fixture 3 adopts a quick positioning pneumatic chuck sold on the market, the pneumatic fixture 3 is connected with an air source through an air pipe and an electromagnetic valve, and the electromagnetic valve is connected with a controller.
The machine 2 comprises a first supporting seat 7 and a second supporting seat 9 which are arranged on a frame body at intervals, supporting rollers 11 which are symmetrically arranged are arranged at the upper ends of the first supporting seat 7 and the second supporting seat 9 respectively, and accordingly the milling drum body 8 is convenient to support.
The first support seat 7 is fixedly provided with a first motor 10 for driving the milling drum main body 8 to rotate, the first motor 10 adopts a servo motor, and the first motor 10 is connected with a controller.
A stacking and discharging platform 5 is arranged at a position, close to the robot 1, of one side of the rack main body, so that a plurality of tool holders are convenient to place, are arranged in a rectangular array and are inclined by certain angles respectively.
A guide device is arranged between the frame main body and the first supporting seat 7, and the first supporting seat 7 is driven by a driving device to move.
The guide device comprises two guide rails 14 fixedly installed at the upper end of the robot 1, and the two guide rails 14 are symmetrically arranged and respectively arranged along the length direction of the rack main body.
The bottom of the first support seat 7 is fixedly provided with a slide block 15 which is matched with the two guide rails 14, and the design is convenient for the movement of the first support seat 7 so as to support milling drums with different lengths.
The driving device comprises a second motor 13 used for driving the first supporting seat 7 to move, the second motor 13 is fixedly installed on the first supporting seat 7 and close to the lower end of the first supporting seat, and the second motor 13 is a servo motor and is connected with the controller.
An output shaft of the second motor 13 penetrates through the lower end face of the first supporting seat 7 for a certain distance and is coaxially provided with a gear, a rack 16 matched with the gear is arranged on the rack main body, and the rack 16 is arranged along the length direction of the rack main body.
One side of the frame main body is fixedly provided with a safety light curtain 6 near one end, and the safety light curtain 6 is connected with the controller.
A shaft penetrates through the milling drum main body 8, and lifting rings 12 are respectively arranged at positions, close to two ends, of the upper end face of the shaft.
When the automatic welding machine is used, tool apron to be welded are sequentially arranged on the stacking and discharging table 5, parameters of a controller are set, the automatic welding machine starts equipment, the controller controls the robot 1 to drive the pneumatic fixture 3 to move to the tool apron and grab, the controller controls the pneumatic fixture 3 to clamp the tool apron, the robot 1 drives the tool apron to move to one side of the milling drum main body 8, the robot keeps a posture and waits for welding operation to be completed, an operator presses a confirmation button (the button is arranged on the control table which is arranged on one side of the robot) to send a welding completion signal after welding is completed, the controller controls the robot to grab a next workpiece after receiving the welding completion signal, the next working cycle is started, the operation is repeated in such a way until all the tool apron are welded, and the robot system returns to a safe waiting position or an original position after operation is completed;
in the process, after a certain number of tool holders are welded on one side of the milling drum main body 8, a worker sends an instruction to the controller through a button on the console, and the controller controls the milling drum main body 8 to rotate by a certain angle to continue welding;
in the process, when the robot 1 drives the tool apron to abut against the milling drum main body 8, if the robot 1 continues to operate to drive the mounting plate 19 to extrude the spring 21, the distance between the mounting plate 19 and the photoelectric inductive switch 20 changes, the photoelectric inductive switch 20 sends a signal to the controller, and the controller controls the robot to stop operating.
The utility model discloses a set up robot and air jig, realized snatching and fixing the blade holder, made things convenient for the welding, alleviateed the hand labor volume, through setting up anchor clamps buffer stop, realized the protection of blade holder and air jig, the utility model provides an among the current technique blade holder welding work volume huge, every mills the drum and need welded blade holder quantity between hundreds to thousands, manual operation wastes time and energy, and positioning accuracy is poor, and is inefficient, and positioning accuracy is poor, influences the problem of milling the productivity and the quality of drum.
Claims (10)
1. Highway milling machine blade holder welded robot clamping positioner, including the frame main part, its characterized in that: the milling machine comprises a frame body, and is characterized in that a milling drum body (8) is arranged on the frame body, the milling drum body (8) is installed on the frame body through a position changing machine (2), a robot (1) is arranged on the frame body, a pneumatic fixture (3) capable of grabbing a tool apron is installed on the robot (1), the pneumatic fixture (3) is connected with the robot (1) through a fixture anti-collision device (4), and the position changing machine (2), the robot (1) and the pneumatic fixture (3) are all connected with a controller.
2. The road milling machine blade holder welded robot clamping and positioning device of claim 1, wherein: the fixture anti-collision device (4) comprises a chuck connecting seat (17) connected with the fixture anti-collision device, a mounting plate (19) is arranged on one side of the chuck connecting seat (17) at a certain interval, and a spring (21) is arranged between the chuck connecting seat (17) and the mounting plate (19).
3. The road milling machine blade holder welded robot clamping and positioning device of claim 2, wherein: guide holder (22) are installed with the position that spring (21) corresponds on mounting panel (19), wear to be equipped with guide bar (23) in spring (21), and the one end of guide bar (23) is connected on chuck connecting seat (17), and the other end runs through to the one end of guide holder (22) outer and through bolt (24) encapsulation.
4. The road milling machine blade holder welded robot clamping and positioning device of claim 3, wherein: the bolt (24) is connected with a photoelectric sensing switch (20), and the photoelectric sensing switch (20) is connected with a controller.
5. The road milling machine blade holder welded robot clamping and positioning device of claim 4, wherein: and a robot connecting seat (18) is arranged on the mounting plate (19), and the robot connecting seat (18) is connected with the robot (1).
6. The road milling machine blade holder welded robot clamping and positioning device of claim 5, wherein: the positioner (2) comprises a first supporting seat (7) and a second supporting seat (9) which are arranged on a frame body at a certain interval, and supporting rollers (11) which are symmetrically arranged are respectively arranged on the first supporting seat (7) and the second supporting seat (9).
7. The road milling machine blade holder welded robot clamping and positioning device of claim 6, wherein: the first support seat (7) is provided with a first motor (10) for driving the milling drum body (8) to rotate, and the first motor (10) is connected with the controller.
8. The road milling machine blade holder welded robot clamping and positioning device of claim 7, wherein: a guide device is arranged between the rack main body and the first supporting seat (7), and the first supporting seat (7) is driven by a driving device to move.
9. The road milling machine blade holder welded robot clamping and positioning device of claim 8, wherein: the guiding device comprises a guide rail (14) arranged on the robot (1), and a sliding block (15) matched with the guide rail (14) for use is arranged on the first supporting seat (7).
10. The road milling machine blade holder welded robot clamping and positioning device of claim 9, wherein: the driving device comprises a second motor (13) used for driving the first supporting seat (7) to move, a gear is installed on the second motor (13), and a rack (16) matched with the gear for use is installed on the rack main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120653334.4U CN214769979U (en) | 2021-03-31 | 2021-03-31 | Robot clamping and positioning device for welding of tool apron of highway milling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120653334.4U CN214769979U (en) | 2021-03-31 | 2021-03-31 | Robot clamping and positioning device for welding of tool apron of highway milling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214769979U true CN214769979U (en) | 2021-11-19 |
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ID=78668144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120653334.4U Active CN214769979U (en) | 2021-03-31 | 2021-03-31 | Robot clamping and positioning device for welding of tool apron of highway milling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214769979U (en) |
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2021
- 2021-03-31 CN CN202120653334.4U patent/CN214769979U/en active Active
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