CN217913328U - Automatic unmanned equipment preassembling table and robot gripper of rear-tube arc welding workstation - Google Patents
Automatic unmanned equipment preassembling table and robot gripper of rear-tube arc welding workstation Download PDFInfo
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- CN217913328U CN217913328U CN202221802671.6U CN202221802671U CN217913328U CN 217913328 U CN217913328 U CN 217913328U CN 202221802671 U CN202221802671 U CN 202221802671U CN 217913328 U CN217913328 U CN 217913328U
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Abstract
The utility model provides a preassembling platform of automatic unmanned equipment and a robot gripper of a rear-tube arc welding workstation, belonging to the technical field of mechanical equipment, wherein the workstation comprises a welding room unit and a preassembling loading and unloading unit; the welding room unit consists of a welding room, and a pre-installed feeding and discharging unit is arranged on one side of the welding room; the pre-assembly loading and unloading unit consists of an automatic pipe feeding machine, a pre-assembly configuration platform, an automatic loading and unloading robot and an unloading belt line; an automatic loading and unloading robot is arranged in a space position between the preassembly configuration platform and the welding room, and a robot gripper is configured at the working end of a working arm of the automatic loading and unloading robot; one side of the welding room is provided with a working window which is butted with the automatic feeding and discharging robot. The utility model discloses can realize that back pipe spare part product automatic feeding, tongs or grab a tub mechanism and convey to the automatic pre-installation of pre-installation platform, the robot gets semi-manufactured goods and puts to welding the room, weld the room welding, the robot gets the finished product and places conveyer belt, finished product conveyer belt unloading.
Description
Technical Field
The utility model belongs to the technical field of mechanical equipment technique and specifically relates to a back pipe arc welding workstation automation equipment pre-installation platform and robot tongs of not humanizing.
Background
Generally, rear pipe part products (pipes, toothed plates and LINKs) need manual feeding, manual tool preassembling, manual placing to a welding room, welding in the welding room and manual finished product taking and blanking. Manual operation and mechanical equipment cannot be synchronized, and good connection cannot be achieved. And great production limitation is brought to the welding process of the pipe.
SUMMERY OF THE UTILITY MODEL
The technical task of the utility model is to solve the not enough of prior art, provide a back pipe arc-welding workstation automation unmanned equipment pre-installation platform and robot tongs.
The technical scheme of the utility model is realized according to following mode:
the utility model relates to an automatic unmanned pre-assembly platform for a rear-tube arc welding workstation, which has the structure that a left longitudinal frame and a right longitudinal frame are fixedly arranged on a pre-assembly platform base,
the left longitudinal frame is connected with a left tube supporting piece in a telescopic driving mode through a left tube positioning air cylinder, and a left tube body concave seat is formed in the top end of the left tube supporting piece;
the right longitudinal frame is connected with a right tube supporting piece in a telescopic driving mode through a right tube positioning air cylinder, and the top end of the right tube supporting piece is provided with a right tube body concave seat;
a link piece preassembly tool frame is arranged on the preassembly platform base on the left side of the left longitudinal frame;
a link piece rotating cylinder is arranged at the top end of the link piece preassembling tool frame and is in driving connection with a link piece support, a link piece platform is fixedly connected to the top end of the link piece support, and the rotating direction of the link piece rotating cylinder is the same as the central axis direction of the left tube body recess and the right tube body recess;
the bottom of the link piece platform is fixedly connected with a link piece correcting cylinder, the link piece correcting cylinder drives two opposite link piece clamping tongs, and the handles of the two opposite link piece clamping tongs bypass the link piece platform from the lower part of the link piece platform and extend upwards to the upper surface of the link piece platform;
the bottom of the link piece platform is fixedly connected with a link piece positioning cylinder, the link piece positioning cylinder is in telescopic driving connection with a link piece positioning block, and the link piece positioning block bypasses the link piece platform from the lower side of the link piece platform and extends upwards to the upper surface of the link piece platform;
a link piece platform limiting seat is fixedly arranged at one end of the link piece platform opposite to the link piece positioning block;
the link piece platform limiting seat, two opposite link piece clamping forceps handles and a link piece positioning block form a link piece four-point positioning mechanism on the same plane on the link piece platform;
a toothed plate preassembly tool frame is arranged on the preassembly platform base on the right side of the right longitudinal frame;
a toothed plate rotating cylinder is arranged at the top end of the toothed plate preassembly tool frame and is in driving connection with a toothed plate support, a toothed plate platform is fixedly connected to the top end of the toothed plate support, and the rotating direction of the toothed plate rotating cylinder is the same as the central axis direction of the left pipe body concave seat and the right pipe body concave seat;
a magnet cylinder is arranged at the bottom of the toothed plate part platform, the magnet cylinder is connected with a magnet in a telescopic driving mode, and the magnet ascends to the toothed plate part platform and descends to a contraction stop point of the magnet cylinder through the magnet cylinder;
a toothed plate correcting cylinder is arranged at the front end of the bottom of the toothed plate platform and is in driving connection with a toothed plate correcting arm, and the toothed plate correcting arm extends to the upper surface of the toothed plate platform from the lower part of the toothed plate platform;
a toothed plate part platform limiting seat is fixedly arranged at one end of the toothed plate part platform opposite to the toothed plate correcting arm;
the toothed plate part platform limiting seat, the toothed plate correcting arm and the magnet form a toothed plate part positioning mechanism on the toothed plate part platform;
the link piece preassembly tool frame and the toothed plate preassembly tool frame are respectively arranged on the preassembly platform base through centering slideways;
the link piece preassembly tool frame and the toothed plate preassembly tool frame are respectively provided with centering racks, and the two pairs of centering racks are synchronously and oppositely driven and meshed through a pair of centering gears;
the centering cylinder is in telescopic driving connection with any one of a link piece preassembly tool frame and a toothed plate preassembly tool frame, and is fixedly arranged on the preassembly platform base;
the link piece preassembly tool frame and the toothed plate preassembly tool frame are respectively connected with the preassembly platform base through telescopic chains;
the central part of one side edge of the base of the preassembly platform is fixedly connected with a vertical pipe clamping cylinder, and a lever of the pipe clamping cylinder is connected with a driving pipe clamping arm; the clamping head of the pipe clamping arm is seated between the central axes of the left pipe body concave seat and the right pipe body concave seat;
the left pipe body concave seat, the right pipe body concave seat and the clamping head of the pipe clamping arm in the upper direction form a pipe body three-point clamping mechanism.
A left position pipe positioning cylinder, a right position pipe positioning cylinder,
A link piece rotating cylinder, a link piece correcting cylinder, a link piece positioning cylinder,
A toothed plate rotating cylinder, a magnet cylinder and a toothed plate correcting cylinder,
the cylinder distribution pipelines of the cylinders are respectively and independently configured, the cylinder distribution pipeline hoop penetrates through the inner periphery of the telescopic chain on the side where the cylinder distribution pipeline hoop is located, and each cylinder distribution pipeline is connected to the preassembly platform valve island.
The utility model discloses an automatic unmanned feeding and discharging robot gripper for a rear tube arc welding workstation, which is based on the automatic unmanned pre-installed platform matching setting of the rear tube arc welding workstation according to claim 1;
the robot gripper has the following structure:
a gripper framework is fixedly connected to a robot working arm connecting seat of the robot gripper;
an end piece clamping mechanism is arranged at one end of the gripper framework, which is opposite to the robot working arm connecting seat;
the end piece clamping mechanism consists of a link piece clamping cylinder at the hand grip extension end and a toothed plate piece clamping cylinder at the hand grip extension end,
a link piece clamping cylinder at the extending end of the gripper drives a link piece clamping pliers connected with a cylinder head to do telescopic reciprocating motion;
a toothed plate clamping cylinder at the extending end of the gripper drives toothed plate clamping tongs which are connected with a cylinder head to do telescopic reciprocating motion;
the jaws of the link piece clamping pliers at the hand grip extension end and the toothed plate piece clamping pliers at the hand grip extension end are coaxially arranged;
two sets of side position pre-mounting clamping mechanisms are arranged on the gripper framework in the horizontal direction parallel to the robot working arm connecting seat and on the side of the gripper framework;
each set of side position preassembly clamping mechanism consists of a side position link clamping cylinder, two sets of side position pipe body clamping cylinders opposite to the middle of the side position and a side position toothed plate clamping cylinder; the four are arranged on the gripper framework on the same side surface;
two opposite side position preassembly clamping mechanisms on the gripper framework are symmetrically arranged at the center point in the same plane direction;
and a robot working arm connecting seat of the robot gripper is matched and connected with a working end of the automatic feeding and discharging robot working arm.
A link part clamping cylinder at the extending end of the hand grab, a toothed plate part clamping cylinder at the extending end of the hand grab,
A lateral link piece clamping cylinder, a lateral pipe body clamping cylinder, a lateral toothed plate clamping cylinder,
and the air cylinder air distribution pipelines of the air cylinders are respectively and independently configured, the air cylinder air distribution pipeline hoop penetrates through the inner periphery of the gripper framework, and each air cylinder air distribution pipeline is respectively connected to the gripper valve island of the robot.
The utility model discloses a rear-tube arc welding workstation, which comprises a welding room unit and a preassembled loading and unloading unit;
the welding room unit is composed of a welding room, a pre-installed feeding and discharging unit is arranged on one side of the welding room, and protective nets are fixedly arranged on two sides of the pre-installed feeding and discharging unit respectively;
the pre-installed loading and unloading unit on the inner periphery of the protective net consists of an automatic pipe feeding machine, a pre-installed configuration platform, an automatic loading and unloading robot and an unloading belt line;
the automatic pipe feeding machine, the preassembly configuration platform, the automatic feeding and discharging robot and the welding room are sequentially arranged in the same straight line direction;
a pipe grabbing mechanism is arranged on one side of the preassembly configuration platform and is used for bearing the automatic pipe feeding machine and the preassembly configuration platform;
blanking belt lines are respectively arranged on two sides of a main road feeding working area consisting of the automatic pipe feeding machine, the preassembly configuration platform and the automatic feeding and blanking robot;
the preassembly configuration platform is at least provided with a group of automatic unmanned preassembly platforms of the rear tube arc welding workstation;
an automatic feeding and discharging robot is arranged in a space position between the preassembly configuration platform and the welding room, and the working end of a working arm of the automatic feeding and discharging robot is configured with the automatic unmanned feeding and discharging robot gripper of the rear tube arc welding workstation;
a working window which is butted with the automatic feeding and discharging robot is arranged on one side of the welding room;
the coverage range of the automatic loading and unloading robot driving working arm and the robot gripper covers the space in the automatic loading pipe machine, the preassembly configuration platform, the two unloading belt lines and the welding room working window between the two protective nets;
the periphery of a protective net of the pre-installed feeding and discharging unit is provided with an electric control cabinet assembly, a link piece push plate feeding machine and a toothed plate vibration feeding machine.
Compared with the prior art, the utility model produced beneficial effect is:
the utility model discloses a back pipe arc-welding workstation automatic unmanned equipment pre-installation platform and robot tongs can realize that back pipe spare part product (pipe, pinion rack, LINK spare) automatic feeding, tongs or grab a pipe mechanism and convey to the automatic pre-installation of pre-installation platform, robot get semi-manufactured goods and put to welding the room, weld the room welding, the robot gets the finished product and places conveyer belt, finished product conveyer belt unloading.
The utility model discloses a back pipe arc-welding workstation automatic unmanned equipment pre-installation platform and robot tongs reasonable in design, simple structure, safe and reliable, convenient to use, easy to maintain have fine using value widely.
Drawings
FIG. 1 is a schematic structural view of a pre-assembly platform of the present invention;
FIG. 2 is a schematic structural view of the pre-mounting platform of the present invention;
FIG. 3 is a schematic structural view of the pre-assembly platform of the present invention;
fig. 4 is a schematic structural view of the robot gripper of the present invention;
fig. 5 is a schematic structural view of the robot gripper of the present invention;
fig. 6 is a schematic structural view of the robot gripper of the present invention;
FIG. 7 is a schematic structural view of a rear tube arc welding workstation according to the present invention;
FIG. 8 is a schematic structural view of a rear-tube arc welding workstation of the present invention;
fig. 9 is a schematic structural diagram of the rear-tube arc welding workstation of the present invention.
The reference numerals in the drawings denote:
1. the platform is pre-installed,
2. a pre-installed platform base, 3, a left longitudinal frame, 4, a right longitudinal frame,
5. a left position pipe positioning cylinder 6, a left position pipe supporting piece 7, a left position pipe body concave seat,
8. a right position pipe positioning cylinder, 9, a right position pipe supporting piece, 10, a right position pipe body concave seat,
11. a link piece preassembly tool frame, 12 a link piece rotating cylinder, 13 a link piece bracket, 14 a link piece platform,
15. a link piece correcting cylinder, 16, a link piece clamping pliers,
17. a link piece positioning cylinder, 18, a link piece positioning block,
19. a link piece platform limiting seat is arranged on the upper portion of the connecting piece,
20. a link piece four-point positioning mechanism is arranged,
21. a toothed plate preassembly tool frame 22, a toothed plate rotating cylinder 23, a toothed plate support 24 and a toothed plate platform,
25. a magnet cylinder 26, a magnet,
27. a toothed plate straightening cylinder 28 and a toothed plate straightening arm,
29. a limit seat of a toothed plate platform,
30. a positioning mechanism of the gear plate component is arranged,
31. a centering slideway 32, a centering rack 33, a centering gear 34, a centering cylinder,
35. the length of the telescopic chain is adjustable,
36. a pipe clamping cylinder 37, a pipe clamping arm 38, a clamping head,
39. a three-point clamping mechanism for the pipe body,
40. the robot hand-grip is provided with a hand grip,
41. a robot working arm connecting seat 42, a gripper framework,
43. an end piece clamping mechanism 44, a link piece clamping cylinder at the hand grip extension end, 45, a toothed plate piece clamping cylinder at the hand grip extension end,
46. link piece clamping pliers 47 at the extending end of the hand grip, and toothed plate piece clamping pliers 47 at the extending end of the hand grip,
48. a side position is provided with a clamping mechanism in advance,
49. a lateral link clamping cylinder, a lateral pipe body clamping cylinder 50, a lateral toothed plate clamping cylinder 51,
52. an automatic loading and unloading robot, 53, an automatic loading and unloading robot working arm,
54. a platform valve island preassembling step 55, a robot gripper valve island,
56. a welding room unit 57, a pre-installed loading and unloading unit,
58. a welding room, 59, a protective net,
60. an automatic pipe feeding machine 61, a preassembly configuration platform 62, an automatic loading and unloading robot base 63, a blanking belt line 64 and a pipe grabbing mechanism,
65. the window of operation is provided with a window,
66. the electric control cabinet assembly comprises a 67 link piece push plate feeding machine and a 68 toothed plate vibration feeding machine.
Detailed Description
The following detailed description will be made of the automated unmanned equipment pre-assembly table and the robot gripper of the rear-tube arc welding workstation according to the present invention with reference to the accompanying drawings.
As shown in the attached drawings, the automatic unmanned pre-assembly platform for the rear-tube arc welding workstation of the utility model has the structure that a left longitudinal frame 3 and a right longitudinal frame 4 are fixedly arranged on a pre-assembly platform base 2,
the left longitudinal frame 3 is connected with a left tube support 6 in a telescopic driving mode through a left tube positioning cylinder 5, and the top end of the left tube support 6 is provided with a left tube body concave seat 7;
the right longitudinal frame 4 is connected with a right tube supporting piece 9 in a telescopic driving mode through a right tube positioning cylinder 8, and the top end of the right tube supporting piece 9 is provided with a right tube body concave seat 10;
a link piece preassembly tool rack 11 is arranged on the preassembly platform base 2 on the left side of the left longitudinal frame 3;
a link piece rotating cylinder 12 is arranged at the top end of the link piece preassembly tool frame 11, the link piece rotating cylinder 12 is in driving connection with a link piece bracket 13, a link piece platform 14 is fixedly connected at the top end of the link piece bracket 13, and the rotating direction of the link piece rotating cylinder 12 is the same as the central axis direction of the left pipe body concave seat 7 and the right pipe body concave seat 10;
a link piece correcting cylinder 15 is fixedly connected to the bottom of the link piece platform 14, the link piece correcting cylinder 15 drives two opposite link piece clamping pincers 16, and the handles of the two opposite link piece clamping pincers 16 bypass the link piece platform 14 from the lower side of the link piece platform 14 and extend upwards to the upper surface of the link piece platform 14;
a link positioning cylinder 17 is fixedly connected to the bottom of the link platform 14, the link positioning cylinder 17 is connected with a link positioning block 18 in a telescopic driving mode, and the link positioning block 18 bypasses the link platform 14 from the lower side of the link platform 14 and extends upwards to the upper surface of the link platform 14;
a link piece platform limiting seat 19 is fixedly arranged at one end of the link piece platform 14 opposite to the link piece positioning block 18;
a link piece platform limiting seat 19, two opposite link piece clamping pincers 16 and a link piece positioning block 18, wherein a link piece four-point positioning mechanism 20 on the same plane is formed on the link piece platform 14;
a toothed plate preassembly tool frame 21 is arranged on the preassembly platform base 2 on the right side of the right longitudinal frame 4;
a toothed plate rotating cylinder 22 is arranged at the top end of the toothed plate preassembly tool frame 21, the toothed plate rotating cylinder 22 is in driving connection with a toothed plate support 23, a toothed plate platform 24 is fixedly connected to the top end of the toothed plate support 23, and the rotating direction of the toothed plate rotating cylinder 22 is the same as the central axis direction of the left pipe body recess 7 and the right pipe body recess 10;
a magnet cylinder 25 is arranged at the bottom of the toothed plate platform 24, the magnet cylinder 25 is in telescopic driving connection with a magnet 26, and the magnet 26 ascends to the toothed plate platform 24 and descends to a contraction stop point of the magnet cylinder 25 through the magnet cylinder 25;
a toothed plate straightening cylinder 27 is arranged at the front end of the bottom of the toothed plate platform 24, the toothed plate straightening cylinder 27 is in driving connection with a toothed plate straightening arm 28, and the toothed plate straightening arm 28 extends to the upper surface of the toothed plate platform 24 from the lower part of the toothed plate platform 24;
a toothed plate platform limiting seat 29 is fixedly arranged at one end of the toothed plate platform 24 opposite to the toothed plate correcting arm 28;
the toothed plate platform limiting seat 29, the toothed plate correcting arm 28 and the magnet 26 form a toothed plate positioning mechanism 30 on the toothed plate platform 24;
the link piece preassembly tool frame 11 and the toothed plate preassembly tool frame 21 are respectively arranged on the preassembly platform base 2 through centering slideways 31;
the link piece preassembly tool frame 11 and the toothed plate preassembly tool frame 21 are respectively provided with centering racks 32, and the two pairs of centering racks 32 are synchronously and oppositely driven and meshed through a pair of centering gears 33;
the centering cylinder 34 is in telescopic driving connection with any one of the link piece preassembly tool frame 11 and the toothed plate preassembly tool frame 21, and the centering cylinder 34 is fixedly arranged on the preassembly platform base 2;
the link piece preassembly tool frame 11 and the toothed plate preassembly tool frame 21 are respectively connected with the preassembly platform base 2 through telescopic chains 35;
the central part of one side edge of the preassembly platform base 2 is fixedly connected with a vertical pipe clamping cylinder 36, and the pipe clamping cylinder 36 is in lever connection with a driving pipe clamping arm 37; the clamping head 38 of the pipe clamping arm 37 is seated between the central axes of the left pipe body recess 7 and the right pipe body recess 10;
the left pipe body concave seat 7, the right pipe body concave seat 10 and the clamping head 38 of the pipe clamping arm 37 in the upper direction in the horizontal direction form a pipe body three-point clamping mechanism 39.
A left position pipe positioning cylinder, a right position pipe positioning cylinder,
A link piece rotating cylinder, a link piece correcting cylinder, a link piece positioning cylinder,
A toothed plate rotating cylinder, a magnet cylinder and a toothed plate correcting cylinder,
the cylinder distribution pipelines of the cylinders are respectively and independently configured, the cylinder distribution pipeline hoop penetrates the inner periphery of the telescopic chain on the side where the cylinder distribution pipeline hoop is located, and each cylinder distribution pipeline is respectively connected to the preassembly platform valve island 54.
The automatic unmanned feeding and discharging robot gripper for the rear tube arc welding workstation of the utility model is based on the automatic unmanned pre-installed platform matching setting of the rear tube arc welding workstation of claim 1, wherein the robot gripper 40 is arranged on the basis of the automatic unmanned pre-installed platform matching setting of the rear tube arc welding workstation;
the robot gripper 40 has the following structure:
a gripper framework 42 is fixedly connected to a robot working arm connecting seat 41 of the robot gripper 40;
an end piece clamping mechanism 43 is arranged at one end of the gripper framework 42 opposite to the robot working arm connecting seat 41;
the end piece clamping mechanism 43 consists of a link piece clamping cylinder 44 at the hand grip extension end and a toothed plate piece clamping cylinder 45 at the hand grip extension end,
a link clamping cylinder 44 at the gripper extension end drives a link clamping pliers 46 at the gripper extension end connected with the cylinder head for telescopic reciprocating motion;
a toothed plate clamping cylinder 45 at the gripper extension end drives a toothed plate clamping tong 47 at the gripper extension end which is connected with a cylinder head to perform telescopic reciprocating motion;
the jaws of the link piece clamping pincers 46 at the hand grip extension end and the toothed plate piece clamping pincers 47 at the hand grip extension end are coaxially configured;
two sets of side position pre-installed clamping mechanisms 48 are arranged on the gripper framework 42 in the horizontal direction parallel to the robot working arm connecting seat 41 on the side of the gripper framework 42;
each set of side preassembly clamping mechanism 48 consists of a side link clamping cylinder 49, two sets of side pipe body clamping cylinders 50 opposite to the side middle part and a side toothed plate clamping cylinder 51; the four are arranged on the gripper framework 42 on the same side surface;
two opposite side position preassembly clamping mechanisms 48 on the gripper framework 42 are symmetrically arranged in the direction of the same plane in the form of a central point;
the robot arm connecting base 41 of the robot gripper 40 is connected with the working end of the automatic loading and unloading robot arm 53 in a matching way.
A link part clamping cylinder at the extending end of the hand grab, a toothed plate part clamping cylinder at the extending end of the hand grab,
A side link clamping cylinder, a side pipe body clamping cylinder, a side toothed plate clamping cylinder,
the cylinder gas distribution pipelines of the cylinders are respectively and independently configured, the cylinder gas distribution pipeline hoop penetrates through the inner periphery of the gripper framework, and the cylinder gas distribution pipelines are respectively connected to the gripper valve island 55 of the robot.
The utility model discloses a rear-tube arc welding workstation, which comprises a welding room unit 56 and a pre-installed loading and unloading unit 57;
the welding room unit 56 is composed of a welding room 58, a pre-installed loading and unloading unit 57 is arranged on one side of the welding room 58, and protective nets 59 are fixedly arranged on two sides of the pre-installed loading and unloading unit 57 respectively;
the pre-assembly feeding and discharging unit 57 arranged on the inner periphery of the protective net 59 consists of an automatic tube feeding machine 60, a pre-assembly configuration platform 61, an automatic feeding and discharging robot 62 and a discharging belt line 63;
the automatic pipe feeding machine 60, the preassembly configuration platform 61, the automatic loading and unloading robot 62 and the welding room 58 are sequentially arranged in the same straight line direction;
a tube gripping mechanism 64 is arranged on one side of the preassembly configuration platform 61, and the tube gripping mechanism 64 receives the automatic tube feeding machine 60 and the preassembly configuration platform 61;
blanking belt lines 63 are respectively arranged on two sides of a main path feeding working area formed by the automatic pipe feeding machine 60, the pre-assembly configuration platform 61 and the automatic feeding and discharging robot 62;
the preassembly configuration platform 61 is at least provided with a group of automatic unmanned preassembly platforms of the rear tube arc welding workstation;
an automatic loading and unloading robot is arranged in a space position between the preassembly configuration platform and the welding room, and the working end of a working arm of the automatic loading and unloading robot is configured with the automatic unmanned loading and unloading robot gripper of the rear tube arc welding workstation;
a working window 65 butted with the automatic feeding and discharging robot is arranged on one side of the welding room;
the coverage range of the automatic loading and unloading robot driving working arm and the robot gripper covers the space in the automatic loading pipe machine, the preassembly configuration platform, the two unloading belt lines and the welding room working window between the two protective nets;
an electric control cabinet assembly 66, a link piece push plate feeding machine 67 and a toothed plate vibration feeding machine 68 are arranged on the periphery of the protective net of the pre-installed loading and unloading unit.
The utility model discloses a rear tube arc welding workstation automation unmanned equipment pre-installation platform and robot tongs, equipment mainly by pinion rack material loading vibration dish, LINK material loading push plate machine, pipe loading machine, pipe gripping mechanism, pre-installation platform, robot tongs, finished product transmission belt that rolls off the production line, electrical system etc. constitute;
(1) Pre-installation platform
The accurate preassembling work of the pipe, the toothed plate and the LINK is mainly completed, and the process precision control requirement before entering an arc welding room is met;
pre-installing a platform working process:
1. the pipe positioning cylinder drives the pipe supporting piece to extend out, and the pipe grabbing mechanism places the pipe on the pipe supporting piece.
2. The pipe clamping cylinder clamps the pipe;
3. the robot gripper respectively places the toothed plate and the link piece on the toothed plate platform and the link platform;
4. the magnet cylinder extends out to attract the toothed plate, and meanwhile, the toothed plate correction cylinder rotates to fix the toothed plate at a fixed position;
5. the link piece positioning cylinder extends out to position the link piece, and then the correcting cylinder clamps the link piece;
6. the link piece and the toothed plate are respectively rotated by 90 degrees through the rotating cylinder;
7. the centering cylinder extends out to drive the rack to assemble the link piece and the toothed plate on the pipe;
8. and the centering cylinder retracts, other cylinders return to the original position, and the assembled parts wait for the robot to grab.
(2) Robot gripper
The robot controls a pneumatic element according to a preset track and control requirements to realize the grabbing function of the parts;
the gripper mainly finishes the grabbing and placing work of a plurality of parts, semi-finished products and ensures that the gripper does not interfere with the tool in the welding room.
Robot gripper workflow:
the robot controls the pneumatic element according to a preset track and control requirements to realize the grabbing function of the parts.
The gripper mainly finishes the grabbing and placing work of a plurality of parts, semi-finished products and ensures that the gripper does not interfere with the tool in the welding room.
(workstation Assembly)
The work flow of the workstation final assembly is as follows:
1. the link piece, the toothed plate and the rear pipe are respectively sorted to required positions by the plate pushing machine, the vibrating disc and the pipe mounting machine;
2. the pipe grabbing mechanism places the rear pipe on a preassembly platform;
3. the robot gripper respectively takes a link piece and a toothed plate and places the link piece and the toothed plate on a preassembly platform;
4. the link piece, the toothed plate and the middle pipe are assembled together by the preassembly platform;
5. the robot gripper grabs the assembled parts into a welding room;
6. the robot gripper grabs a welding finished product in the previous step, and then the parts assembled by the preassembly platform are placed into a welding platform of a welding room;
7. and the robot goes out of the welding room and places the welding finished product at the blanking belt line.
Claims (5)
1. An automatic unmanned pre-installed platform for a rear-tube arc welding workstation is characterized in that the pre-installed platform is structurally characterized in that a left longitudinal frame and a right longitudinal frame are fixedly arranged on a pre-installed platform base,
the left longitudinal frame is connected with a left tube supporting piece in a telescopic driving mode through a left tube positioning air cylinder, and a left tube body concave seat is formed in the top end of the left tube supporting piece;
the right longitudinal frame is connected with a right tube supporting piece in a telescopic driving mode through a right tube positioning air cylinder, and the top end of the right tube supporting piece is provided with a right tube body concave seat;
a link piece preassembly tool frame is arranged on the preassembly platform base on the left side of the left longitudinal frame;
a link piece rotating cylinder is arranged at the top end of the link piece preassembly tool frame and is in driving connection with a link piece support, a link piece platform is fixedly connected to the top end of the link piece support, and the rotating direction of the link piece rotating cylinder is the same as the central axis direction of the left tube body concave seat and the right tube body concave seat;
the bottom of the link piece platform is fixedly connected with a link piece correcting cylinder, the link piece correcting cylinder drives two opposite link piece clamping tongs, and the handles of the two opposite link piece clamping tongs bypass the link piece platform from the lower part of the link piece platform and extend upwards to the upper surface of the link piece platform;
the bottom of the link piece platform is fixedly connected with a link piece positioning cylinder, the link piece positioning cylinder is in telescopic driving connection with a link piece positioning block, and the link piece positioning block bypasses the link piece platform from the lower side of the link piece platform and extends upwards to the upper surface of the link piece platform;
a link piece platform limiting seat is fixedly arranged at one end of the link piece platform opposite to the link piece positioning block;
the link piece platform limiting seat, two opposite link piece clamping forceps handles and a link piece positioning block form a link piece four-point positioning mechanism on the same plane on the link piece platform;
a toothed plate preassembly tool frame is arranged on the preassembly platform base on the right side of the right longitudinal frame;
a toothed plate rotating cylinder is arranged at the top end of the toothed plate preassembly tool frame and is in driving connection with a toothed plate support, a toothed plate platform is fixedly connected to the top end of the toothed plate support, and the rotating direction of the toothed plate rotating cylinder is the same as the central axis direction of the left pipe body concave seat and the right pipe body concave seat;
a magnet cylinder is arranged at the bottom of the toothed plate platform, the magnet cylinder is connected with a magnet in a telescopic driving mode, and the magnet ascends to the toothed plate platform and descends to a contraction stop point of the magnet cylinder through the magnet cylinder;
a toothed plate correcting cylinder is arranged at the front end of the bottom of the toothed plate part platform and is in driving connection with a toothed plate correcting arm, and the toothed plate correcting arm extends to the upper surface of the toothed plate part platform from the lower part of the toothed plate part platform;
a toothed plate part platform limiting seat is fixedly arranged at one end of the toothed plate part platform opposite to the toothed plate correcting arm;
the toothed plate part platform limiting seat, the toothed plate correcting arm and the magnet form a toothed plate part positioning mechanism on the toothed plate part platform;
the link piece preassembly tool frame and the toothed plate preassembly tool frame are respectively arranged on the preassembly platform base through centering slideways;
the link piece preassembly tool frame and the toothed plate preassembly tool frame are respectively provided with centering racks, and the two pairs of centering racks are synchronously and oppositely driven and meshed through a pair of centering gears;
the centering cylinder is in telescopic driving connection with any one of a link component preassembly tool frame and a toothed plate preassembly tool frame, and is fixedly arranged on the preassembly platform base;
the link piece preassembly tool rack and the toothed plate preassembly tool rack are respectively connected with the preassembly platform base through telescopic chains;
the central part of one side edge of the base of the preassembly platform is fixedly connected with a vertical pipe clamping cylinder, and a lever of the pipe clamping cylinder is connected with a driving pipe clamping arm; the clamping head of the pipe clamping arm is seated between the central axes of the left pipe body concave seat and the right pipe body concave seat;
the left pipe body recess, the right pipe body recess and the clamping head of the pipe clamping arm in the upper direction form a pipe body three-point clamping mechanism.
2. The automatic unmanned pre-installed platform for the rear-tube arc welding workstation according to claim 1, characterized in that:
a left position pipe positioning cylinder, a right position pipe positioning cylinder,
A link piece rotating cylinder, a link piece correcting cylinder, a link piece positioning cylinder,
A toothed plate rotating cylinder, a magnet cylinder and a toothed plate correcting cylinder,
the cylinder distribution pipelines of the cylinders are respectively and independently configured, the cylinder distribution pipeline hoop penetrates through the inner periphery of the telescopic chain on the side where the cylinder distribution pipeline hoop is located, and each cylinder distribution pipeline is connected to the preassembly platform valve island.
3. The automatic unmanned feeding and discharging robot gripper for the rear tube arc welding workstation is characterized in that the robot gripper is arranged based on the automatic unmanned pre-installed platform of the rear tube arc welding workstation in a matched manner according to claim 1;
the robot gripper has the following structure:
a gripper framework is fixedly connected to a robot working arm connecting seat of the robot gripper;
an end piece clamping mechanism is arranged at one end of the gripper framework, which is opposite to the robot working arm connecting seat;
the end piece clamping mechanism consists of a link piece clamping cylinder at the hand grip extension end and a toothed plate piece clamping cylinder at the hand grip extension end,
a link piece clamping cylinder at the extending end of the gripper drives a link piece clamping pliers which is connected with a cylinder head to do telescopic reciprocating motion;
a toothed plate clamping cylinder at the extending end of the gripper drives toothed plate clamping tongs which are connected with a cylinder head to do telescopic reciprocating motion;
the jaws of the link piece clamping pincers at the hand grip extension end and the tooth plate piece clamping pincers at the hand grip extension end are coaxially configured;
two sets of side position pre-mounting clamping mechanisms are arranged on the gripper framework in the horizontal direction parallel to the robot working arm connecting seat and on the side of the gripper framework;
each set of side position preassembly clamping mechanism consists of a side position link clamping cylinder, two sets of side position pipe body clamping cylinders opposite to the middle of the side position and a side position toothed plate clamping cylinder; the four are arranged on the gripper framework on the same side surface;
two opposite side position preassembly clamping mechanisms on the gripper framework are symmetrically arranged at the center point in the same plane direction;
and a robot working arm connecting seat of the robot gripper is matched and connected with a working end of the automatic feeding and discharging robot working arm.
4. The automatic unmanned feeding and discharging robot gripper for the rear-tube arc welding workstation according to claim 1, which is characterized in that:
a link part clamping cylinder at the extending end of the hand grab, a toothed plate part clamping cylinder at the extending end of the hand grab,
A side link clamping cylinder, a side pipe body clamping cylinder, a side toothed plate clamping cylinder,
and the air cylinder air distribution pipelines of the air cylinders are respectively and independently configured, the air cylinder air distribution pipeline hoop penetrates through the inner periphery of the gripper framework, and each air cylinder air distribution pipeline is respectively connected to the gripper valve island of the robot.
5. Rear-tube arc welding workstation, its characterized in that: the workstation comprises a welding room unit and a preassembled loading and unloading unit;
the welding room unit is composed of a welding room, a pre-installed feeding and discharging unit is arranged on one side of the welding room, and protective nets are fixedly arranged on two sides of the pre-installed feeding and discharging unit respectively;
the pre-installed loading and unloading unit on the inner periphery of the protective net consists of an automatic pipe feeding machine, a pre-installed configuration platform, an automatic loading and unloading robot and an unloading belt line;
the automatic pipe feeding machine, the preassembly configuration platform, the automatic feeding and discharging robot and the welding room are sequentially arranged in the same straight line direction;
a pipe grabbing mechanism is arranged on one side of the preassembly configuration platform and is used for bearing the automatic pipe feeding machine and the preassembly configuration platform;
blanking belt lines are respectively arranged on two sides of a main road feeding working area consisting of the automatic pipe feeding machine, the preassembly configuration platform and the automatic feeding and blanking robot;
at least one group of automatic unmanned preassembly platforms of the rear-tube arc welding workstation according to claim 1 or 2 are arranged on the preassembly platform;
an automatic loading and unloading robot is arranged at a space position between the preassembly configuration platform and the welding room, and the working end of a working arm of the automatic loading and unloading robot is provided with the automatic unmanned loading and unloading robot gripper of the rear-tube arc welding workstation as claimed in claim 3 or 4;
a working window which is butted with the automatic feeding and discharging robot is arranged on one side of the welding room;
the coverage range of the automatic loading and unloading robot driving working arm and the robot gripper covers the space between the automatic pipe loading machine, the preassembly configuration platform, the two unloading belt lines and the space in the welding room working window between the two protective nets;
the periphery of a protective net of the pre-installed feeding and discharging unit is provided with an electric control cabinet assembly, a link piece push plate feeding machine and a toothed plate vibration feeding machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221802671.6U CN217913328U (en) | 2022-07-13 | 2022-07-13 | Automatic unmanned equipment preassembling table and robot gripper of rear-tube arc welding workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221802671.6U CN217913328U (en) | 2022-07-13 | 2022-07-13 | Automatic unmanned equipment preassembling table and robot gripper of rear-tube arc welding workstation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217913328U true CN217913328U (en) | 2022-11-29 |
Family
ID=84187684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221802671.6U Active CN217913328U (en) | 2022-07-13 | 2022-07-13 | Automatic unmanned equipment preassembling table and robot gripper of rear-tube arc welding workstation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217913328U (en) |
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2022
- 2022-07-13 CN CN202221802671.6U patent/CN217913328U/en active Active
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