CN217618592U - Lead screw assembly welding device and lead screw automatic weld system - Google Patents

Abstract

The utility model discloses a lead screw equipment welding set and lead screw automatic weld system, wherein, lead screw equipment welding set includes: the conveying manipulator, the three-axis positioner and the welding robot are sequentially aligned; wherein, the two sides of the three-axis positioner, which are opposite to the carrying manipulator and the welding robot, are fixed with workpiece welding tools; the tail end of the carrying manipulator is fixedly provided with a multifunctional workpiece clamp which is used for clamping various lead screw workpieces to a workpiece welding tool respectively; the workpiece welding tool is provided with a limiting structure matched with the shape of each lead screw workpiece and an assembling structure matched with the position of the limiting structure. The technical scheme of the utility model welding machine's welding efficiency is lower among the solution prior art, influences lead screw welding quality and production efficiency's problem.

Description

Lead screw assembly welding device and lead screw automatic welding system

Technical Field

The utility model relates to a machinery processing technology field especially relates to a lead screw equipment welding set and lead screw automatic weld system.

Background

The screw serves as a transmission element, the main function of which is to convert a rotary motion into a linear motion or to convert a torque into an axially repeated force. The lead screw wide application is in new forms of energy power generation equipment field to wind power generation is for example, along with offshore wind power and land wind power's rapid development, wind power equipment's demand increases day by day, and the lead screw is as the connecting piece of wind power tower cylinder internal platform assembly usefulness, and annual demand is also growing rapidly.

As shown in fig. 1 and 2, a lead screw product generally includes three workpieces, i.e., a stamping part a, a plate part b and a rod part c, which are welded to form a complete lead screw. The related field has extremely high requirements on the welding quality of the screw rod, so that high-level welding workers are required for screw rod welding; however, the number of the lead screw products is large, a welder usually cannot bear continuous work with high quality requirements, and the phenomenon of unstable welding quality is easy to occur. In order to solve the above problems, in the prior art, a welding robot is generally used to weld a lead screw, and the lead screw after the assembly of the components is welded on a workbench according to a preset operation flow by setting a welding program.

However, the welding robot in the prior art can only weld the assembled screw rod, and needs an operator to continuously feed and assemble the screw rod workpiece, so that the welding robot can weld the screw rod workpiece, and the welding robot has lower welding efficiency and affects the welding quality and the production efficiency of the screw rod.

SUMMERY OF THE UTILITY MODEL

The utility model provides a lead screw equipment welding set and lead screw automatic weld system aims at solving among the prior art welding machine's welding efficiency lower, influences lead screw welding quality and production efficiency's problem.

In order to achieve the above object, the utility model provides a lead screw assembly welding device, include:

the carrying manipulator, the three-axis positioner and the welding robot are sequentially aligned; wherein, the first and the second end of the pipe are connected with each other,

workpiece welding tools are fixed on two sides of the three-axis positioner, which are opposite to the carrying manipulator and the welding robot;

the tail end of the carrying manipulator is fixed with a multifunctional workpiece clamp which is used for clamping various lead screw workpieces to a workpiece welding tool respectively;

the workpiece welding tool is provided with a limiting structure matched with the shape of each lead screw workpiece and an assembling structure matched with the position of the limiting structure.

Preferably, in the lead screw assembly welding apparatus, the transport robot includes:

a manipulator base;

a six-degree-of-freedom mechanical arm rotationally connected with the mechanical arm base;

and the flange mounting base is connected with the tail end of the six-degree-of-freedom mechanical arm, and the flange mounting base is matched with the multifunctional workpiece clamp in shape.

Preferably, in the lead screw assembly welding apparatus, the multifunctional work holder includes:

installing a box body;

the mechanical arm mounting shaft is fixed at the tail end of the mounting box body and matched with the tail end of the carrying mechanical arm in shape;

the electromagnetic pneumatic gripper is fixed at the head end of the mounting box body;

the pneumatic chuck is fixed on one side of the mounting box body;

and the electromagnetic chuck is fixed on one side of the mounting box body adjacent to the air chuck.

Preferably, in the above screw rod assembly welding apparatus, the three-axis positioner includes:

a positioner base;

the positioner body is arranged at the upper end of the positioner base and is rotationally connected with the positioner base;

and the tool fixing plates are respectively fixed on the two sides of the positioner body, which are just opposite to the carrying manipulator and the welding robot, wherein each tool fixing plate is respectively connected with the positioner body in a rotating way.

Preferably, in the screw assembly welding device, the workpiece welding tool comprises a tool body fixed on the three-axis positioner; the assembling structure comprises a pressing cylinder fixed on the tool body.

Preferably, in the above screw assembly welding apparatus, the position limiting structure includes:

the stamping part limiting blocking piece, the plate cylindrical positioning groove and the rod piece groove are respectively matched with the position of the pressing cylinder; wherein, the plate cylinder constant head tank aligns with the member recess and arranges.

Preferably, in the lead screw assembly welding apparatus, the welding robot includes:

a robot base;

the robot mechanical arm is fixedly connected with the robot base;

and the welding machine structure is fixed at the tail end of the robot mechanical arm and faces the three-axis positioner.

Preferably, the lead screw assembly welding device further includes:

and the welding gun cleaning machine is matched with the welding machine structure in position and used for cleaning the welding machine structure.

According to the utility model discloses a second aspect, the utility model also provides a lead screw automatic weld system, include:

the feed preparation and discharge device and the screw rod assembling and welding device provided by any one of the technical schemes; wherein the content of the first and second substances,

the multifunctional workpiece clamp of the lead screw assembly welding device is matched with the material preparing and discharging device.

Preferably, among the above-mentioned lead screw automatic weld system, the discharge apparatus of prepareeing material includes: the material preparing mechanism and the unloading wooden support are arranged on the periphery of a carrying manipulator of the screw rod assembly welding device; the mechanism of prepareeing material includes:

the rod piece lifter is arranged on one side, close to the unloading wooden support, of the carrying manipulator;

and the stamping part vibration placing machine and the plate rotating bin are arranged on one side, far away from the rod piece lifting machine, of the carrying manipulator.

The utility model discloses technical scheme provides a lead screw assembly welding device's working process as follows:

the carrying manipulator, the three-axis positioner and the welding robot are sequentially aligned and arranged. When the multifunctional lead screw welding fixture is used, a carrying manipulator clamps a corresponding lead screw workpiece through a multifunctional workpiece fixture fixed at the tail end and places the lead screw workpiece on a workpiece welding tool at the position of the three-axis positioner opposite to the carrying manipulator; then in a workpiece welding tool, limiting the screw rod workpiece through a limiting structure, and assembling the screw rod workpiece in the limiting structure through an assembling structure; after the workpiece welding tool is used for assembling the screw rod workpiece, the three-axis positioner is turned for 180 degrees, the assembled screw rod workpiece in the workpiece welding tool is moved to the front of the welding robot, the welding robot is used for welding the screw rod workpiece in the workpiece welding tool, and in addition, the three-axis positioner can rotate the workpiece welding tool, so that the welding in any direction is realized; meanwhile, when the three-axis positioner is turned by 180 degrees, the welded and formed lead screw can be transported to the front of the carrying manipulator, and the welded lead screw is dismounted through the carrying manipulator, so that synchronous automatic assembly and automatic welding of the lead screw are realized, and the integral welding efficiency of the lead screw is improved.

To sum up, the utility model discloses lead screw equipment welding set and lead screw automatic weld system that technical scheme provided, the work piece welding frock of lead screw work piece to triaxial machine of shifting is got to multi-functional work piece holder automatic clamp through the transport manipulator, assemble in the work piece welding frock, the post-assembling is welded by the direct transport of triaxial machine of shifting to welding robot department, can realize the effect of lead screw limit assembly limit welding, and then improve the whole welding quality and the welding efficiency of lead screw, thereby the problem that lead screw welding quality and production efficiency are low that artificial unloading and equipment lead to among the prior art has been solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a front view of a lead screw workpiece provided by an embodiment of the present invention;

FIG. 2 is a top view of a lead screw workpiece provided by the embodiment shown in FIG. 1;

fig. 3 is a schematic structural diagram of an automatic welding system for lead screws according to an embodiment of the present invention;

FIG. 4 is a top view of the automatic lead screw welding system provided by the embodiment shown in FIG. 3;

fig. 5 is a schematic structural diagram of a lead screw assembling and welding device provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of a handling robot according to the embodiment shown in FIG. 5;

FIG. 7 is a schematic structural view of a multi-function workpiece holder provided in the embodiment of FIG. 5;

FIG. 8 is a schematic structural diagram of a three-axis position changing machine provided in the embodiment shown in FIG. 5;

fig. 9 is a schematic structural diagram of a welding robot provided in the embodiment shown in fig. 5.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "secured" are to be construed broadly, and thus, for example, "secured" may be a fixed connection, a removable connection, or an integral part; "connected" may be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

As shown in fig. 1 and 2, the lead screw product comprises three workpieces, namely a stamping part a, a plate part b and a rod part c, and the three workpieces can be welded to form a complete lead screw. Traditional mode of using welding robot welding lead screw needs operating personnel constantly to go up unloading and equipment lead screw work piece, finishes the back at the concatenation and welds by welding robot, and this welding efficiency that just leads to welding robot is low, and then has influenced the welding quality and the production efficiency of lead screw. This is a technical problem to be solved by the following embodiments of the present application.

In order to solve the above problems, the following embodiments of the present application provide an automatic welding system for a lead screw, which automatically realizes feeding, discharging, assembling and welding of a lead screw workpiece, thereby improving the welding efficiency of the lead screw.

Specifically, as shown in fig. 3 and 4, the embodiment of the present invention provides a lead screw automatic welding system, including:

a prepared material unloading device 9 and a screw rod assembling and welding device provided by the following embodiment; wherein the content of the first and second substances,

the position of the multifunctional workpiece clamp 5 of the screw rod assembly welding device is matched with the material preparing and discharging device 9.

As shown in fig. 4, the stock discharge apparatus 9 includes: a material preparing mechanism 901 and a discharging wooden support 902 which are arranged on the periphery of a carrying manipulator 1 of the screw rod assembling and welding device; the material preparing mechanism 901 includes:

a rod lifter 9011 arranged on one side, close to the discharging wooden support 902, of the carrying manipulator 1;

and a stamping part vibration placing machine 9012 and a plate rotating bin 9013 which are arranged on one side, far away from the rod lifter 9011, of the carrying manipulator 1.

In addition, the automatic welding system for the lead screw further comprises a conveying control cabinet 10 for controlling the conveying manipulator 1 and a welding robot control cabinet 11 for controlling the welding robot 3.

The working process of the automatic lead screw welding system is as follows:

firstly, before the welding of the screw rod, a workpiece component, namely a stamped part a, a plate b and a rod c are prepared and are respectively placed in a rod lifter 9011, a stamped part vibration placing machine 9012 and a plate rotating bin, and the stamped part a, the plate b and the rod c are respectively placed well under the internal action of the mechanisms.

And secondly, controlling the multifunctional workpiece clamp 5 to clamp parts of the stamping parts a, b and c from the rod lifter 9011, the stamping part vibration placing machine 9012 and the plate rotating bin respectively to place the parts on the workpiece welding tool 4 of the screw rod assembly welding device for fixing through the carrying manipulator 1 in the screw rod assembly welding device, wherein the workpiece welding tool 4 can rotate 360 degrees in the vertical direction under the action of the carrying manipulator 1.

And thirdly, after the clamping of the screw rod workpiece is finished, rotating the three-axis positioner 2 of the screw rod assembling and welding device along the vertical axial direction, so that the workpiece welding tool 4 subjected to clamping is rotated to the working table of the welding robot 3 of the welding device of the real device, and meanwhile, the workpiece welding tool 4 subjected to welding is rotated to the working table of the carrying manipulator 1.

And fourthly, the welding robot 3 starts a welding program and realizes welding in any direction through rotary matching with the workpiece welding tool 4. At the same time, the transfer robot 1 unloads the welded workpiece and places the workpiece on the unloading wooden support 902.

The second step to the fourth step are repeated, so that automatic feeding, assembling, welding and discharging of the screw rod workpiece are realized, further, circular processing and batch production of the screw rod are realized, and the welding quality and the production efficiency of the screw rod are improved.

Wherein, the screw rod assembling and welding device specifically refers to fig. 5, and fig. 5 is a schematic structural diagram of the screw rod assembling and welding device provided by the embodiment of the present invention. As shown in fig. 5, the lead screw assembly welding apparatus includes:

the conveying manipulator 1, the three-axis positioner 2 and the welding robot 3 are sequentially aligned; the carrying manipulator 1 is used for carrying a screw rod workpiece to realize feeding and discharging of the screw rod workpiece; the three-axis positioner 2 can carry the lead screw work piece of the carrying manipulator 1 to the welding robot 3 for welding, and carry the welded lead screw to the carrying manipulator 1 for blanking. The carrying manipulator 1, the three-axis positioner 2 and the welding robot 3 are sequentially aligned, so that the rapid feeding, assembling, welding and discharging operations of the lead screw can be realized, and the welding efficiency of the lead screw is improved. Wherein the content of the first and second substances,

a workpiece welding tool 4 is fixed on two sides of the three-axis positioner 2, which are opposite to the carrying manipulator 1 and the welding robot 3; the workpiece welding tool 4 is used for placing and assembling a screw rod workpiece and containing a screw rod welded by the welding robot 3. The triaxial positioner 2 is just right to the both sides of carrying manipulator 1 and welding robot 3 and all sets up work piece welding frock 4, just so can realize lead screw work piece edge material equipment welded effect, improves the welding efficiency of lead screw.

The tail end of the carrying manipulator 1 is fixed with a multifunctional workpiece clamp 5 which is used for clamping various lead screw workpieces to a workpiece welding tool 4; the multifunctional workpiece clamp 5 comprises a plurality of clamping structures, and can clamp a plurality of lead screw workpieces (such as stamping parts, plates and rods) to the workpiece welding tool 4, so that feeding and discharging of the plurality of lead screw workpieces are realized.

The workpiece welding tool 4 is provided with a limiting structure 6 matched with the shape of each lead screw workpiece, and an assembling structure 7 matched with the position of the limiting structure 6. The workpiece welding tool 4 can fix the position of each screw rod workpiece by arranging the limiting structure 6, and assembles each screw rod workpiece by the assembling structure 7 matched with the limiting structure 6 to obtain the assembled screw rod.

The embodiment of the utility model provides a lead screw equipment welding set's working process as follows:

the carrying manipulator 1, the three-axis positioner 2 and the welding robot 3 are sequentially aligned and arranged. When the device is used, firstly, the carrying manipulator 1 clamps a corresponding screw rod workpiece through a multifunctional workpiece clamp 5 fixed at the tail end and places the screw rod workpiece to a workpiece welding tool 4 at the position, opposite to the carrying manipulator 1, of the three-axis positioner 2; then, in the workpiece welding tool 4, the screw rod workpiece is limited through the limiting structure 6, and the screw rod workpiece in the limiting structure 6 is assembled through the assembling structure 7; after the workpiece welding tool 4 finishes assembling the screw rod workpiece, the three-axis positioner 2 rotates 180 degrees, the screw rod workpiece assembled in the workpiece welding tool 4 is moved to the front of the welding robot 3, the welding robot 3 welds the screw rod workpiece in the workpiece welding tool 4, and in addition, the three-axis positioner 2 can rotate the workpiece welding tool 4, so that the welding in any direction is realized; meanwhile, when the three-axis positioner 2 is turned for 180 degrees, the welded and formed screw rod can be conveyed to the front of the carrying manipulator 1, and the welded screw rod is dismounted through the carrying manipulator 1, so that synchronous automatic assembly and automatic welding of the screw rod are realized, and the integral welding efficiency of the screw rod is improved.

To summer up, the embodiment of the utility model provides a lead screw equipment welding set and lead screw automatic weld system, 5 automatic clamps through the multi-functional work piece holder of transport manipulator 1 are got in the work piece welding frock 4 of lead screw work piece to triaxial machine of shifting 2, assemble in work piece welding frock 4, the post-assembling is welded to 3 departments of welding robot by the direct transport of triaxial machine of shifting 2, can realize the effect of lead screw limit assembly limit welding, and then improve the whole welding quality and the welding efficiency of lead screw, thereby the problem that man-made unloading and the lead screw welding quality and the production efficiency that the equipment leads to are low among the prior art has been solved.

Specifically, as a preferred embodiment, as shown in fig. 6, the carrying robot 1 according to the embodiment of the present application includes:

a robot base 101;

a six-degree-of-freedom robot arm 102 rotatably connected to the robot base 101; the object has six degrees of freedom in space, the six-degree-of-freedom mechanical arm 102 is mounted on the mechanical arm base 101, the six-degree-of-freedom mechanical arm 102 can move in six degrees of freedom, namely, various spatial motion postures can be simulated, and the six-degree-of-freedom mechanical arm 102 can be used for grabbing and moving objects in any area within a preset distance range around the mechanical arm.

And a flange mounting base 103 connected to the end of the six-degree-of-freedom robot arm 102, the flange mounting base 103 matching the shape of the multifunction workpiece holder 5.

In the embodiment of the present application, the carrying robot 1 is provided with a six-degree-of-freedom robot arm 102 on a robot base 101, a flange mounting base 103 is connected to an end of the six-degree-of-freedom robot arm 102, and the multifunctional workpiece holder 5 is mounted through the flange mounting base 103, so that any lead screw workpiece within a predetermined distance range around the carrying robot 1 is carried and gripped by the multifunctional workpiece holder 5 through movement of the six-degree-of-freedom robot arm 102.

In addition, in order to realize the function of the multifunctional workpiece holder 5 for gripping a plurality of types of lead screw workpieces, as shown in fig. 7, in the lead screw assembly welding apparatus, as a preferred embodiment, the multifunctional workpiece holder 5 is a six-sided three-position holder, and the multifunctional workpiece holder 5 includes:

a box body 501 is installed;

a robot arm mounting shaft 502 fixed to the end of the mounting box 501 and having a shape matching the end of the transfer robot 1; the robot mounting shaft 502 is connected to the six-dof robot 102 of the transfer robot 1 via the flange mounting base 103 of the transfer robot 1 in fig. 5, wherein the outer ring of the robot mounting shaft 502 may be formed with a screw, and the multifunctional workpiece fixture 5 is mounted to the end of the transfer robot 1 by means of screw connection.

An electromagnetic pneumatic gripper 503 fixed to the head end of the mounting box 501; the electromagnetic pneumatic gripper 503 is used for clamping a rod of a lead screw and is arranged in the workpiece welding tool 4 in the previous figure 4.

An air chuck 504 fixed to one side of the mounting case 501; the pneumatic chuck 504 is a small-sized pneumatic three-grip chuck for gripping a stamping workpiece into the workpiece welding tool 4 of fig. 4.

And an electromagnetic chuck 505 fixed to the mounting case 501 on the side adjacent to the air chuck 504. The electromagnetic chuck 505 is used for clamping a plate into the workpiece welding tool 4 of fig. 4.

In the technical scheme that this application embodiment provided, multi-functional work piece holder 5 is six tribit anchor clamps, and the flange mounting base 103 through arm installation axle 502 and transport manipulator 1 is fixed continuous. And a small pneumatic three-grab chuck is arranged on one side surface of the multifunctional workpiece clamp 5 and used for clamping a stamping part a and placing the stamping part a in the workpiece welding tool 4, and then the cylinder of the workpiece welding tool 4 pushes the blocking piece to compress the stamping part. And an electromagnetic chuck 505 is arranged on one side surface of the multifunctional workpiece clamp 5 and used for grabbing the plate b, and the plate b is placed in a cylindrical positioning groove of the workpiece welding tool 4. The head of the multifunctional workpiece clamp 5 is provided with an electromagnetic pneumatic gripper 503 for gripping the rod material c and placing the rod material c in a groove of the welding tool.

In addition, the three-axis positioner 2 has three axes including a vertical axis rotating around a center line and horizontal axes of opposite side faces. In order to improve the welding efficiency of lead screw, this application embodiment uses the vertical axis of 2 logical vertical rotations 180 degrees of triaxial machine of shifting, can rotate the work piece welding frock 4 that bears the weight of the lead screw work piece to 3 one sides of welding robot, rotates the welded forming's of 3 sides of welding robot to 1 one side of transport manipulator simultaneously, unloads through transport manipulator 1. Specifically, as a preferred embodiment, as shown in fig. 8, the three-axis position changing machine 2 includes:

a positioner base 201; vertical axle of installation back on the machine base 201 of shifting, through the vertical rotation of this vertical axle round the perpendicular line at base center, can transfer the frock fixed plate 203 of triaxial machine 2 both sides respectively.

The positioner body 202 is arranged at the upper end of the positioner base 201 and is rotationally connected with the positioner base 201;

and the tool fixing plates 203 are respectively fixed on the two sides of the positioner body 202, which are just opposite to the carrying manipulator 1 and the welding robot 3, wherein each tool fixing plate 203 is respectively connected with the positioner body 202 in a rotating way.

In the technical scheme that this application embodiment provided, be fixed with the work piece welding frock 4 of installation lead screw work piece in the work piece fixed plate of machine of shifting body 202 towards handling manipulator 1, install welded forming's lead screw in the work piece welding frock 4 of machine of shifting body 202 towards the fixed work piece fixed plate of welding robot 3, through machine of shifting body 202 round the vertical 180 degrees that rotates of machine of shifting base 201, just can carry the good lead screw work piece of equipment to welding robot 3 one side, rotate welded forming's lead screw to handling manipulator 1 one side with welding robot 3 side simultaneously, realize lead screw edge material loading assembly limit welded operation, improve the welding efficiency of lead screw.

In addition, in order to realize the limiting fixing and assembling of the lead screw workpiece in the workpiece welding tool 4, as a preferred embodiment, as shown in fig. 8, the workpiece welding tool 4 provided in the embodiment of the present application includes: a tool body 401 fixed on the triaxial positioner 2; the assembly structure 7 includes a pressing cylinder 701 fixed to the tool body 401.

In the embodiment of the application, the pressing cylinder 701 is used as the assembly structure 7, and the blocking sheet can be pushed by the pushing action of the pressing cylinder 701 to press the stamping part; and the rod and the plate are compressed by the action of the compression cylinder 701.

Specifically, as shown in fig. 8, as a preferred embodiment, the limiting structure 6 includes:

a stamping part limiting baffle 601, a plate cylindrical positioning groove 602 and a rod piece groove 603 which are respectively matched with the pressing cylinder 701 in position; wherein, the plate cylinder positioning groove 602 is aligned with the rod groove 603.

In the technical scheme provided by the embodiment of the application, the workpiece welding tool 4 is matched with the multifunctional workpiece clamp 5 through the pressing cylinder 701 and the limiting mechanism on the workpiece welding tool, so that the limiting and assembling of various screw rod workpieces can be realized. Specifically, the multifunctional workpiece fixture 5 is clamped by the three-claw pneumatic chuck 504 and placed in the welding tool, and then the cylinder of the workpiece welding tool 4 pushes the blocking piece to compress the stamping part. The multifunctional workpiece clamp 5 grabs the plate b through the electromagnetic chuck 505 and is arranged in the cylindrical positioning groove of the welding tool 11. The head of the multifunctional workpiece clamp 5 is provided with an electromagnetic pneumatic gripper 503 for gripping rod material c, and the rod material c is arranged in a groove of the workpiece welding tool 4. Subsequently, the pressing cylinder 701 on the workpiece welding tool 4 acts to press the rod c in the groove and the plate b in the cylindrical positioning groove.

After the screw rod workpiece is compressed and automatically assembled, the screw rod needs to be welded and formed. Specifically, as a preferred embodiment, referring to fig. 9, the welding robot 3 provided in the embodiment of the present application includes:

a robot base 301;

a robot arm 302 fixedly connected to the robot base 301;

and a welding machine structure 303 fixed at the tail end of the robot arm 302 and facing the triaxial positioner 2.

The technical scheme that this application embodiment provided moves to the work piece welding frock 4 department of triaxial machine of shifting 2 through the robot arm 302 that sets up on robot base 301, through the terminal welding machine structure 303 of robot arm 302, welds the lead screw work piece after assembling in the work piece welding frock 4, and the frock fixed plate 203 of triaxial machine of shifting 2 rotates round the machine body 202 that shifts simultaneously, realizes the automatic weld of lead screw work piece with the mutual cooperation of welding machine mechanism.

As shown in fig. 9, in order to improve the welding efficiency of the lead screw, the lead screw assembly welding apparatus further includes: and the welding gun cleaning machine 8 is matched with the welding machine structure 303 in position and used for cleaning the welding machine structure 303. The welding gun cleaning machine 8 is used for cleaning impurities in a welding gun and cutting off a long welding wire in the welding process, and the welding gun of the welding robot 3 is a very fine component, so that welding parameters in a system can be automatically called to weld a workpiece after the welding robot 3 intelligently identifies a welding seam, the welding material is melted through electric arc heating, and then the welding gun fills the welding seam. In the process, the welding gun is a structure that the welding robot 3 and the workpiece are directly butted, impurities or welding wires often appear in the welding gun, and a gun cleaner is needed for cleaning.

To summer up, the utility model discloses the lead screw assembly welding set and lead screw automatic weld system that above-mentioned embodiment provided, 5 automatic clamps of multi-functional work piece holder through transport manipulator 1 get in the work piece welding frock 4 of lead screw work piece to triaxial machine of shifting 2, assemble in work piece welding frock 4, the post-assembling is welded to 3 departments of welding robot by the direct transport of triaxial machine of shifting 2, can realize the effect of lead screw limit assembly limit welding, and then improve the whole welding quality and the welding efficiency of lead screw, thereby the problem that the lead screw welding quality and the production efficiency that lead to are low for unloading and equipment in the people among the prior art has been solved.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims (10)

1. The utility model provides a lead screw equipment welding set which characterized in that includes:

the conveying manipulator (1), the three-axis positioner (2) and the welding robot (3) are sequentially aligned; wherein, the first and the second end of the pipe are connected with each other,

workpiece welding tools (4) are fixed on two sides of the three-axis positioner (2), which are opposite to the carrying manipulator (1) and the welding robot (3);

a multifunctional workpiece clamp (5) is fixed at the tail end of the carrying manipulator (1) and is used for clamping various lead screw workpieces to the workpiece welding tool (4) respectively;

the workpiece welding tool (4) is provided with a limiting structure (6) matched with each type of the shape of the lead screw workpiece, and an assembling structure (7) matched with the position of the limiting structure (6).

2. Lead screw assembly welding device according to claim 1, characterized in that the handling robot (1) comprises:

a robot base (101);

a six-degree-of-freedom mechanical arm (102) rotatably connected with the mechanical arm base (101);

and the flange mounting base (103) is connected with the tail end of the six-degree-of-freedom mechanical arm (102), and the flange mounting base (103) is matched with the multifunctional workpiece clamp (5) in shape.

3. Lead screw assembly welding device according to claim 1 or 2, characterized in that the multifunctional work holder (5) comprises:

a mounting box (501);

a robot arm mounting shaft (502) fixed to the end of the mounting box (501) and having a shape matching the end of the transfer robot (1);

an electromagnetic pneumatic gripper (503) fixed at the head end of the mounting box body (501);

an air chuck (504) fixed to one side of the mounting case (501);

and an electromagnetic chuck (505) fixed to the mounting case on a side adjacent to the air chuck (504).

4. The lead screw assembly welding device of claim 1, characterized in that the triaxial positioner (2) comprises:

a positioner base (201);

the positioner body (202) is arranged at the upper end of the positioner base (201) and is rotationally connected with the positioner base (201);

and the tooling fixing plates (203) are respectively fixed on the two sides of the positioner body (202) opposite to the carrying manipulator (1) and the welding robot (3), wherein each tooling fixing plate (203) is respectively connected with the positioner body (202) in a rotating way.

5. The lead screw assembly welding device of claim 1 or 4, characterized in that the workpiece welding tooling (4) comprises a tooling body (401) fixed to the three-axis positioner (2); the assembling structure (7) comprises a pressing cylinder (701) fixed on the tool body (401).

6. Lead screw assembly welding device according to claim 5, characterized in that said limit structure (6) comprises:

a stamping part limiting baffle plate (601), a plate cylindrical positioning groove (602) and a rod piece groove (603) which are respectively matched with the compacting cylinder (701) in position; wherein, the plate cylinder positioning grooves (602) are aligned with the rod piece grooves (603).

7. Lead screw assembly welding device according to claim 1, characterized in that the welding robot (3) comprises:

a robot base (301);

a robot mechanical arm (302) fixedly connected with the robot base (301);

and the welding machine structure (303) is fixed at the tail end of the robot mechanical arm (302) and faces the triaxial positioner (2).

8. The lead screw assembly welding device of claim 7, further comprising:

and the welding gun cleaning machine (8) is matched with the position of the welder structure (303) and is used for cleaning the welder structure (303).

9. An automatic welding system for a lead screw, comprising:

a stock unloading device (9) and the screw rod assembling and welding device of any one of claims 1-8; wherein, the first and the second end of the pipe are connected with each other,

the position of a multifunctional workpiece clamp (5) of the screw rod assembly welding device is matched with the stock preparation and unloading device (9).

10. Lead screw automatic welding system according to claim 9, characterized in that the stock material discharge device (9) comprises:

a material preparing mechanism (901) and a discharging wooden support (902) which are arranged at the periphery of a carrying manipulator (1) of the screw rod assembling and welding device;

the stock preparation mechanism (901) comprises:

a rod piece lifter (9011) arranged on one side, close to the unloading wooden support (902), of the carrying manipulator (1);

and the stamping part vibration placing machine (9012) and the plate rotating bin (9013) are arranged on one side, far away from the rod lifter (9011), of the carrying manipulator (1).

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