CN216607609U - Flexible welding machine based on robot - Google Patents

Abstract

The utility model relates to the technical field of bathroom manufacturing equipment, in particular to a flexible welding machine based on a robot, which comprises a control system, the robot with a workpiece grabbing function, a vision camera, a first rack, a second rack and a third rack, wherein the first rack is provided with a first conveying element and a second conveying element which are used for feeding; a fourth conveying element for feeding and a third conveying element for discharging are arranged on the second rack; the rotary table capable of rotating in a stepping mode is arranged on the third rack, a plurality of detachable bottom dies are arranged on the rotary table and used for placing workpieces, and welding elements capable of welding the workpieces on the bottom dies are further arranged on the third rack. The welding device is beneficial to solving the problem of low automation degree of the welding process of the bathroom shower.

Description

Flexible welding machine based on robot

Technical Field

The utility model relates to the technical field of bathroom manufacturing equipment, in particular to a flexible welding machine based on a robot.

Background

The shower welding process in the bathroom industry is to manually feed a plurality of shower accessories onto an ultrasonic welding machine for welding; because the bathroom gondola water faucet's kind is very much, switches also very frequently, so all satisfy the production of multiple kind of small batch with manual welding at present. However, the ultrasonic waves can cause hearing damage to operators, and the operators need to have a rest and recover after producing for a period of time, so that fewer people in the industry are willing to carry out the process, and the delivery period of the product is greatly influenced; and high labor costs are required to meet product delivery.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a flexible welding machine based on a robot, which is beneficial to solving the problem of low automation degree of a bathroom shower welding process.

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

a flexible welding machine based on a robot comprises a control system, the robot with a workpiece grabbing function, a vision camera, a first rack, a second rack and a third rack, wherein the first rack and the second rack are respectively arranged on two sides of the third rack;

a first conveying element and a second conveying element for feeding are arranged on the first frame;

a fourth conveying element for feeding and a third conveying element for discharging are arranged on the second rack;

the third rack is provided with a turntable capable of rotating in a stepping mode, the turntable is provided with a plurality of detachable bottom dies and used for placing workpieces, and the third rack is also provided with welding elements capable of welding the workpieces on the bottom dies;

the robot and the vision camera are arranged on one sides, close to the third rack, of the first rack and the second rack and are used for transferring workpieces between the rotary table and the first rack and/or the second rack;

the control system is connected with and controls each operation component.

Preferably, the bottom molds are arranged on the turntable in a central symmetry manner, and the bottom molds form a plurality of periodic circulating stations on a path rotating with the turntable in a stepping manner;

a station close to one side of the first machine frame is defined as an initial station, a station located at the rear end of the first station is defined as a terminal station, and after the turntable rotates in a one-step mode, the original terminal station rotates to the original initial station to serve as a new initial station.

Preferably, the welding element has a welding head directly above the work station, said welding head being able to weld the work pieces located in the work station below it.

Preferably, the vision camera on the first frame can position and observe the workpieces on the first conveying element and the second conveying element, and the robot on the first frame can sequentially grab the workpieces on the first conveying element and the second conveying element according to the control system and data of the vision camera and transfer the workpieces to the bottom die at the initial station;

the vision camera on the second rack can position and observe the workpiece on the fourth conveying element, and the robot on the second rack can grasp the workpiece on the fourth conveying element and transfer the workpiece to a bottom die close to a station on one side of the second rack according to the control system and data of the vision camera;

a finished product container is arranged outside the third conveying element;

the third frame is equipped with unloading mechanism near third conveying element department, unloading mechanism can transport the work piece that is located terminal station department die block to the third conveying element on, the third conveying element can be by in to in carrying the work piece to the finished product container outward.

Preferably, the first conveying element and the third conveying element are both conveyor belts.

Preferably, the second conveying element and the fourth conveying element are both a combined structure of a silo and a vibrating plate.

Preferably, the welding element is an ultrasonic welding device.

Preferably, the robot and the blanking mechanism have a gripping structure with a sucker structure.

Preferably, a vision camera is also arranged above the station and used for monitoring the condition of the station.

Preferably, the first frame and the second frame are provided with frames, and the frames provide mounting carriers for the robot and the vision camera and also provide working space for the robot and the vision camera.

Preferably, the frame is also internally provided with an illuminating element for assisting the vision camera in normal operation.

Compared with the prior art, the utility model at least comprises the following advantages:

1. according to the utility model, the automatic assembly welding of the bathroom shower head is realized by arranging the process assembly consisting of the first rack, the second rack and the third rack and combining the feeding mechanism, the welding mechanism and the transferring mechanism, the traditional manual welding operation is replaced, the process automation degree is improved, the labor intensity and the labor cost are further reduced, and the production efficiency and the production quality of products are improved.

2. The flexible welding machine is based on a robot with a workpiece grabbing function, is matched with the vision camera to position the workpiece, achieves the effect of accurate transferring and feeding, also provides a wide operation foundation, can weld workpieces of various specifications and types, and provides the flexible welding machine with better adaptability and flexibility.

3. According to the utility model, the third rack in the middle is provided with the turntable, the turntable is provided with the bottom dies forming the periodic circulating station, and the equipment structure is compact and the occupied area is small by combining the structure of inward feeding at two sides.

Drawings

FIG. 1 is a schematic diagram of an overall configuration of a welder in one embodiment;

FIG. 2 is a schematic view of the internal structure of the welder;

FIG. 3 is a schematic structural view of a turntable;

FIG. 4 is a schematic structural diagram of a first frame;

FIG. 5 is a schematic structural view of a second frame;

fig. 6 is a schematic structural diagram of the third frame.

The figure is marked with: 1. a first frame; 11. a first conveying element; 12. a second conveying element; 121. a first storage bin; 122. a first flat vibrating plate; 13. a first frame body; 2. a second frame; 21. a third conveying element; 22. a fourth conveying element; 221. a second storage bin; 222. a second vibration plate; 23. a second frame body; 24. a finished product container; 3. a third frame; 31. welding the element; 311. a welding head; 32. a ventilation element; 4. a turntable; 41. bottom die; 42. a supporting seat; 5. a robot; 51. a grasping section; 6. a vision camera; 7. a blanking mechanism; 8. a lighting element; 91. a first station; 92. a second station; 93. a third station; 94. and a fourth station.

Detailed Description

The utility model is described in further detail below with reference to the figures and specific examples.

The embodiment discloses a flexible welding machine based on robot 5, it is the welding process of gondola water faucet subassembly that it is directed against, and in the actual production process, the gondola water faucet generally is formed by subassembly equipment such as gondola water faucet body, end cap, shower nozzle, gasket, face lid, wherein, need weld between some subassemblies and carry out compound fixed. The gondola water faucet in this embodiment needs 3 work pieces to carry out the combination welding, is first work piece, second work piece and third work piece respectively.

The welding method in this embodiment adopts an ultrasonic welding device, which is one of the welding apparatuses commonly used in the prior art, and ultrasonic welding is performed by transmitting high-frequency vibration waves to the surfaces of two objects to be welded, and rubbing the surfaces of the two objects against each other under pressure to form fusion between molecular layers.

In the embodiment, a robot 5 with a function of grabbing a workpiece is adopted, the robot 5 is one of the transfer devices commonly used in the prior art, the robot 5 is a common name of an automatic control machine, which includes all machines simulating human behaviors or ideas and other creatures, and a man-made machine device which can automatically execute tasks on the robot 5 in a narrow sense and is used for replacing or assisting human work, in particular, the prior art already provides robots 5 for assisting gripping, transporting and transferring in production, most of the robots are driven by a transmission mechanism which is driven by a suction cup, a gripper jaw, or the like to rotate and move linearly, and the robot 5 in this embodiment is a gripping robot 5 having a multi-axis linear movement or rotation movement capability and a suction cup type gripping part 51 connected to an external pneumatic device. The robot 5 in this embodiment mainly plays a role in grasping and transferring a workpiece.

In the embodiment, a visual camera 6 is further adopted, the visual camera 6 is a detection device which is widely applied in the prior art and has functions of shooting, image transmission and analysis combined with a control system, the principle is that an image projected to a sensor through a lens is transmitted to machine equipment capable of storing, analyzing and displaying, and accurate acquisition of the posture and position information of a workpiece can be achieved by combining with the control device. In this embodiment, the vision camera 6 is mainly used for positioning the position of the workpiece and monitoring the condition of whether foreign matters exist in the station or not.

Specifically, as shown in fig. 1, the flexible welding machine in this embodiment mainly includes a first frame 1, a second frame 2, and a third frame 3 that are attached to each other, where the first frame 1 and the second frame 2 are respectively disposed on two sides of the third frame 3, and they are spliced and fixed to each other through a connecting member, and in this embodiment, the connecting member specifically employs a bolt assembly, which enables repeated disassembly and assembly between the frames, and facilitates transportation and transportation of the equipment.

The main frameworks of the first framework 1, the second framework 2 and the third framework 3 are formed by splicing metal section bars, so that the main supporting function can be achieved, the framework is combined with a panel to form a van-type framework, and the framework provides installation space for all parts and can achieve the bearing function.

The rack is provided with a control system which is connected with and controls all the parts and plays a role in human-computer interaction.

Specifically, with reference to fig. 1, 2 and 4, the first frame 1 is provided with a first conveying element 11 and a second conveying element 12 for feeding, and a first frame body 13, and the first frame body 13 is located at the inner end of the top of the first frame 1.

The first conveying element 11 adopts a horizontally arranged conveying belt device, the feeding direction of the first conveying element is from outside to inside, and the outer side end of the first conveying element 11 is exposed outside the first frame body 13 for the operator to discharge. In practice, the operator places the first workpiece on the top outer side end of the first conveying member 11, and the first conveying member 11 conveys the first workpiece inward toward the third frame 3.

The second conveying element 12 is located on one side of the first conveying element 11, and includes a first bin 121 and a first vibration plate 122 fixedly disposed on the first frame 1, both of which have an oscillation function, the first bin 121 is located outside the first vibration plate 122 and outside the first frame 13, an opening for discharging is formed in the top of the first bin 121, and a discharging hopper located above the first vibration plate 122 is disposed inside the first bin 121. During actual operation, an operator puts a second workpiece into the first storage bin 121 from the top opening, the second workpiece falls into the first vibrating tray 122 from the inner hopper due to the vibration of the first storage bin 121, and the first vibrating tray 122 can adjust and change the position or posture of the second workpiece at the upper end of the first vibrating tray by using vibration, so that preparation is made for transferring the robot 5.

Be provided with in first framework 13 robot 5, robot 5's the portion 51 of snatching sets up in the bottom, and this portion 51 bottom of snatching is equipped with the sucking disc, and this sucking disc is connected with outside air compression equipment, can adsorb the work piece, realizes snatching the effect. The robot 5 is provided at the upper end thereof with a plurality of rotating mechanisms and linear moving mechanisms which cooperate with each other, the top of the robot 5 is connected to the ceiling wall of the inner end of the first frame 13, and the robot 5 can cover the inner areas of the first conveying member 11 and the first vertically movable plate 122 by rotating or linearly moving. Still be equipped with 2 vision cameras 6 on the first framework 13, cover the detection to the inboard region of first conveying element 11 and first flat vibration dish 122 respectively, can fix a position the work piece that is located this region, give control system with relevant data transmission, control system makes its analysis and carries corresponding instruction to robot 5, forms a complete transportation order of snatching for work piece on this robot 5 can be accurate quick to first conveying element 11 and the first flat vibration dish 122 snatchs, transports.

With reference to fig. 1, 2 and 5, the second frame 2 is provided with a fourth conveying element 22 for feeding and a third conveying element 21 for discharging, and a second frame 23, and the second frame 23 is located at the inner end of the top of the second frame 2. The main frame and the layout of the second frame 2 are consistent with those of the first frame 1, and the main frame and the layout are symmetrically arranged.

Further, the third conveying element 21 and the first conveying element 11 are identical in structure and symmetrical to each other, but the feeding direction of the third conveying element 21 is from inside to outside, so that the effect of discharging from inside to outside is achieved.

The outer side of the third conveying element 21 is provided with a finished product container 24 placed at the outer end of the top of the second frame 2, and specifically, the finished product container 24 is a box body with an open top and is used for containing welded finished products. The third conveyor element 21 is able to convey the finished product from inside to outside into the finished product container 24 for collecting.

Further, the fourth conveying element 22 is identical to the second conveying element 12 in structure and symmetrical to each other, the fourth conveying element 22 includes a second magazine 221 and a second vibration plate 222, and the second vibration plate 222 is located inside the second magazine 221. In operation, the operator places a third workpiece into the second magazine 221, and the third workpiece is transported to the second vibratory pan 222.

The robot 5 is similarly provided in the second housing 23, and the ceiling of the robot 5 is connected to the ceiling of the inner end of the second housing 23, so that the robot 5 can cover the inner area of the second traverse table 222 by rotating or linearly moving. The first frame 13 is also provided with a vision camera 6 for respectively performing coverage detection on the inner side areas of the third conveying element 21 and the second flat vibration plate 222, positioning or flaw detection on the workpieces in the areas, and a system control system, wherein the robot 5 can accurately and quickly grab and transfer the workpieces on the second flat vibration plate 222, or perform quality inspection on finished products at the inner side end of the third conveying element 21.

With reference to fig. 1 to 3 and fig. 6, a horizontal turntable 4 is disposed on the third frame 3, the bottom of the center of the turntable 4 is in transmission connection with a lower rotation driving device, the rotation driving device specifically adopts a combination mechanism of transmission structures such as a motor, a reducer, an index plate, and a rotating shaft, and can drive the turntable 4 to rotate step by step at a specific angle, and the turntable 4 in this embodiment is divided into 4 steps in one cycle, that is, rotates 90 ° every time it rotates.

Furthermore, the turntable 4 is provided with 4 detachable bottom dies 41 for placing workpieces. The top of the bottom die 41 has a groove matching the bottom of the workpiece, and the workpiece can be placed in the groove to maintain a stable state. The bottom die 41 is fixedly connected with the rotary table 4 through bolts, and the detachable connection mode enables corresponding operation conditions to be matched by replacing the bottom die 41 when products of different specifications and types are processed, so that the processing requirements of the products of different specifications and types are met, the flexibility and the adaptability of equipment are greatly improved, and the purpose of a flexible welding machine with better performance is achieved.

The 4 bottom dies 41 are symmetrically arranged on the outer edge of the rotating disc 4 and are positioned on the same circumferential line. The positions of the 4 bottom dies 41 respectively form 4 stations, when the rotary table 4 rotates in a stepping mode, the bottom dies 41 correspondingly rotate along with the rotary table, periodic position cyclic replacement occurs, a station close to one side of the first rack 1 is defined as an initial station, a station located at the rear end of the first station 91 is defined as a terminal station, and after the rotary table 4 rotates in a stepping mode once, the original terminal station rotates to the original initial station to serve as a new initial station.

As shown in fig. 3, since the right-hand station is the initial station, which is the first station 91, and the adjacent station is the terminal station, which is the fourth station 94, the station on the left-hand side of the first station 91 is the first station 91, and the station on the rotation path is the first station 91, the second station 92, the third station 93, and the fourth station 94 in this order from the top view of the turntable 4, the first station 91 is close to the first frame 1 side, and the third station 93 is close to the second frame 2 side.

The third frame 3 is further provided with 2 welding elements 31, the welding elements 31 adopt ultrasonic welding devices, the 2 welding devices are respectively arranged on the front side and the rear side of the turntable 4 and respectively provided with welding heads 311 positioned right above the second station 92 and the fourth station 94, the welding heads 311 can move longitudinally, the third frame 3 is provided with a support seat 42 positioned below the second station 92 and the fourth station 94, the bottom of the support seat 42 is connected with an air cylinder which can drive the support seat 42 to lift, when the upper end is welded, the support seat 42 lifts to abut against the bottom of the turntable 4 to play a supporting role, the workpieces at the second station 92 and the fourth station 94 are kept stable, and the phenomenon of poor welding quality caused by the swinging of the turntable 4 is prevented from occurring when the welding heads 311 work. During operation, the welding head 311 can move downwards to abut against the workpiece on the second station 92 or the fourth station 94, the supporting seat 42 at the bottom supports the workpiece, the welding head 311 drives the workpiece at the position to perform high-frequency vibration, and after friction heat generation, the workpieces are fused mutually, so that the welding process between the adjacent workpieces is realized.

In this embodiment, the welding element 31 is further provided with a ventilation element 32 on one side of the operation area of the welding head 311, and the ventilation element 32 specifically adopts a fan to help the workpiece to be rapidly cooled after welding, so as to improve the processing efficiency.

The third frame 3 is equipped with unloading mechanism 7 near third conveying element 21, and unloading mechanism 7 in this embodiment specifically adopts the transport mechanism that cylinder, lifter, pivot and sucking disc mechanism combined formed, unloading mechanism 7 can transport the finished product after being located the welding on fourth station 94 department die block 41 to third conveying element 21.

In this embodiment, the vision camera 6 is also disposed above the first station 91 and the third station 93, and is used for monitoring the conditions in the bottom mold 41 at the first station 91 and the third station 93, and checking whether there is a foreign object or a defect such as a workpiece placement error.

In addition, the first housing 13 and the second housing 23 are provided with illumination elements 8 therein for assisting the vision camera 6 in normal operation.

The working principle is as follows: the operator places the first workpiece on the first conveying member 11, the first workpiece being conveyed to the inner end thereof; the worker puts the second workpiece into the first magazine 121, and the second workpiece is conveyed to the first vibratory pan 122; the operator puts the third workpiece into the second bin 221, the third workpiece is conveyed to the second vibration plate 222, and the three feeding processes are performed synchronously; the welding process of a shower head is explained as follows: firstly, a robot 5 positioned on a first frame 1 transfers a first workpiece into a first station 91, then transfers a second workpiece into the first station 91 to be spliced with the first workpiece to form a first workpiece, a turntable 4 rotates for the first time in a stepping manner, a bottom die 41 at the original first station 91 drives the first workpiece to move to a second station 92, a welding head 311 positioned above the second station 92 moves downwards to perform ultrasonic welding on the first workpiece, so that the first workpiece and the second workpiece are welded and fixed to obtain a second workpiece; the turntable 4 rotates step by step for the second time, the bottom die 41 at the original second station 92 drives the second workpiece to move to the third station 93, and the robot 5 located on the second rack 2 transfers the third workpiece to the bottom die 41 at the third station 93 to splice with the second workpiece, so as to obtain a third workpiece; the turntable 4 rotates step by step for the third time, the bottom die 41 at the original third station 93 drives the third workpiece to move to the fourth station 94, the welding head 311 above the fourth station 94 moves downwards, and the third workpiece is welded to obtain a finished product; the blanking mechanism 7 transfers the finished product to the inner end of the third conveyor element 21, where it is conveyed into the finished product container 24, where the welding process of a shower is finished. The turntable 4 continues to rotate, and the bottom mold 41 at the original fourth station 94 is moved to the first station 91, and the cycle of the next operation cycle is performed.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (8)

1. A flexible welding machine based on a robot comprises a control system, the robot (5) with a workpiece grabbing function, and a vision camera (6), and is characterized by further comprising a first rack (1), a second rack (2) and a third rack (3), wherein the first rack (1) and the second rack (2) are respectively arranged on two sides of the third rack (3);

a first conveying element (11) and a second conveying element (12) for feeding are arranged on the first rack (1);

a fourth conveying element (22) for feeding and a third conveying element (21) for discharging are arranged on the second rack (2);

the third rack (3) is provided with a rotary table (4) capable of rotating in a stepping mode, the rotary table (4) is provided with a plurality of detachable bottom dies (41) for placing workpieces, and the third rack (3) is further provided with welding elements (31) capable of welding the workpieces on the bottom dies (41);

the robot (5) and the vision camera (6) are arranged on one sides, close to the third rack (3), of the first rack (1) and the second rack (2) and used for transferring workpieces between the rotary table (4) and the first rack (1) and/or the second rack (2);

the control system is connected with and controls each operation component.

2. The robot-based flexible welding machine according to claim 1, characterized in that a plurality of bottom dies (41) are arranged on the turntable (4) in a central symmetry, said bottom dies (41) forming a plurality of periodic cycle stations on a path rotating stepwise with the turntable (4);

a station close to one side of the first rack (1) is defined as an initial station, a station located at the rear end of the first station (91) is defined as a terminal station, and after the rotary disc (4) rotates in a one-step mode, the original terminal station rotates to the original initial station to serve as a new initial station.

3. A robot-based flexible welding machine according to claim 2, characterized in that said welding element (31) has a welding head (311) directly above the work station, said welding head (311) being able to weld the work pieces located in the work station below it.

4. A robot-based flexible welding machine according to claim 2 or 3, characterized in that a vision camera (6) located on the first machine frame (1) can perform positioning observation on the workpieces located on the first conveying element (11) and the second conveying element (12), and the robot (5) located on the first machine frame (1) can sequentially grab the workpieces located on the first conveying element (11) and the second conveying element (12) and transfer the workpieces to the bottom die (41) at the initial station by combining a control system and data of the vision camera (6);

the vision camera (6) positioned on the second rack (2) can be used for positioning and observing the workpiece positioned on the fourth conveying element (22), and the robot (5) positioned on the second rack (2) can be used for grabbing the workpiece positioned on the fourth conveying element (22) and transferring the workpiece into a bottom die (41) close to a station on one side of the second rack (2) by combining a control system and data of the vision camera (6);

a finished product container (24) is arranged on the outer side of the third conveying element (21);

third frame (3) are close to third conveying element (21) department and are equipped with unloading mechanism (7), unloading mechanism (7) can be with being located the work piece on terminal station department die block (41) and transport to third conveying element (21) on, third conveying element (21) can be by interior to exterior carry the work piece to finished product container (24) in.

5. A robot-based flexible welding machine according to claim 1, characterized in that said first (11) and third (21) conveying elements are conveyor belts.

6. A robot-based flexible welding machine according to claim 1, characterized in that the second conveyor element (12) and the fourth conveyor element (22) are each a combined structure of a silo and a vibrating plate.

7. A robot-based flexible welding machine according to claim 1, characterized in that said welding element (31) is an ultrasonic welding device.

8. Robot-based flexible welding machine according to claim 4, characterized in that the robot (5) and the blanking mechanism (7) have gripping structures of the sucker structure.

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