CN218946575U

CN218946575U - Four-axis manipulator welding machine

Info

Publication number: CN218946575U
Application number: CN202223608671.5U
Authority: CN
Inventors: 田军; 石勇; 杨宁
Original assignee: Kunshan Shunlingda Intelligent Technology Co ltd
Current assignee: Kunshan Shunlingda Intelligent Technology Co ltd
Priority date: 2022-12-31
Filing date: 2022-12-31
Publication date: 2023-05-02
Anticipated expiration: 2032-12-31

Abstract

The utility model relates to the technical field of automatic equipment and discloses a four-axis manipulator welding machine which comprises an equipment cabinet body, wherein one side of the equipment cabinet body is provided with an operation window with a safety grating, a first horizontal driving mechanism and a four-axis manipulator with welding equipment are arranged in the equipment cabinet body, a positioning tool which is driven by the first horizontal driving mechanism to horizontally move between the four-axis manipulator and the operation window is arranged on the first horizontal driving mechanism, a protection plate with the welding window for covering the upper surface of a product is arranged above the positioning tool, an upper vision system is arranged above the four-axis manipulator, a smoke collector and a plurality of opposite sensors are arranged on the side of the first horizontal driving mechanism, and two double starting buttons for simultaneously operating and starting equipment are arranged on the equipment cabinet body. The protection to operators is effectively improved; avoid the welding in-process to the non-welding area of product to lead to the fact the influence, effectively improved welded accuracy, automatic welding is stable high-efficient, has improved welding quality.

Description

Four-axis manipulator welding machine

Technical Field

The utility model relates to the technical field of automatic equipment, in particular to a four-axis manipulator welding machine.

Background

The existing product with the welding circuit is generally manual welding operation when the product structure is complex, the welding speed is slower when the manual welding operation is performed, the long-time welding has an influence on the physical health of operators, the welding quality is not stable enough, the defective products of the product with higher welding requirements are higher, and the welding production cost is higher; some of the welding devices are also used for welding, but in the welding process, the defective welded products are easily shifted due to the operation of the devices, so that the welding precision is influenced, moreover, the waste generated by welding in the automatic welding process is easily influenced on the non-welding area of the product, so that the stability of the quality of the product is influenced, and the automatic device is easy to cause personal injury to operators with misoperation in production.

Disclosure of Invention

The utility model provides a four-axis manipulator welding machine, which solves the technical problems that when the structure of the product of the existing welding circuit is complex, the manual welding efficiency is low, the quality is unstable, the cost is high, the health of operators is influenced, the stability of the quality of the product can be influenced in the running process of the equipment, and the personal injury to the operators with misoperation is easy to cause in the existing automatic welding equipment.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a four-axis manipulator welding machine, includes the equipment cabinet body, the internal fixed base plate that is provided with of equipment cabinet, one side of fixed base plate is provided with operating window on the equipment cabinet body, be provided with four-axis arm and first horizontal actuating mechanism on the fixed base plate, be provided with the location frock of horizontal migration between four-axis arm and operating window by its drive on the first horizontal actuating mechanism, location frock top is provided with the guard plate that is used for covering the product upper surface, be provided with at least one welding window on the guard plate, be provided with the soldered connection that moves in location frock top by its drive on the four-axis arm, the soldered connection is connected with automatic soldering tin machine, the top of four-axis arm is provided with vision system, the both sides of first horizontal actuating mechanism are provided with many pairs of correlation sensors, one side of first horizontal actuating mechanism is provided with the smog collector, be provided with safety grating on the operating window, be provided with two double operation start button of starting equipment simultaneously on the equipment cabinet body. The protection to operators is effectively improved; avoid the welding in-process to the non-welding area of product to lead to the fact the influence, effectively improved welded accuracy, automatic welding is stable high-efficient, has improved welding quality.

Further is: the positioning tool comprises a horizontal moving plate, a plurality of vertical positioning tables and a plurality of positioning sensing mechanisms, wherein the horizontal moving plate is horizontally arranged on a first horizontal driving mechanism and driven to move in the horizontal direction by the first horizontal driving mechanism, the vertical positioning tables are vertically fixed on the periphery of the horizontal moving plate, positioning pins matched with the corresponding positions of the lower surfaces of products are arranged at the upper ends of the vertical positioning tables, and the positioning sensing mechanisms are arranged at different positions on the horizontal moving plate and used for sensing and detecting the positions of the products on the vertical positioning tables. Further effectively improving the welding precision of the product and reducing the defective rate.

Further is: a plurality of protection limiting blocks are arranged in the front, back, left and right directions of the periphery of the lower surface of the protection plate, one side, close to a product on the positioning tool, of each protection limiting block is provided with a step matched and clamped with the product, and one side, close to the product on the positioning tool, of the lower end of each step is provided with a guide inclined surface. The operation is simplified, and the efficiency of installing and positioning the protection plate on the product is improved.

Further is: the protective limiting block is made of high-temperature-resistant elastic insulating materials. The damage such as scratch to the product in the operation process is effectively avoided, and the service life of the protection limiting block is effectively prolonged.

Further is: the equipment cabinet body is provided with a control console which is connected with the four-axis mechanical arm, the first horizontal driving mechanism, the welding head, the automatic soldering tin machine, the upper vision system and the smoke collector and controls the operation of the four-axis mechanical arm, the first horizontal driving mechanism, the welding head, the automatic soldering tin machine and the upper vision system. The operation is convenient.

Further is: the upper end of the locating pin is provided with a smooth guiding transition surface, and the locating pin is made of high-temperature-resistant elastic insulating materials. The damage such as scratch to the product in the operation process is effectively avoided, and the service life of the locating pin is effectively prolonged.

Drawings

FIG. 1 is a schematic view of the structure of the utility model with a portion of the housing removed;

FIG. 2 is a schematic view of the structure of the first horizontal driving mechanism, the positioning tooling and the guard plate portion;

fig. 3 is a schematic structural diagram of a positioning tool part.

Marked in the figure as: the equipment cabinet 100, the fixed base plate 101, the operation window 102, the safety grating 103, the double-start button 104, the control console 105, the four-axis mechanical arm 200, the first horizontal driving mechanism 300, the positioning tool 400, the horizontal moving plate 410, the vertical positioning table 420, the positioning pin 421, the positioning sensing mechanism 430, the protection plate 500, the welding window 501, the protection limiting block 502, the welding head 600, the upper vision system 700, the correlation sensor 800 and the smoke collector 900.

Detailed Description

The utility model is further described below with reference to the drawings and the detailed description.

The four-axis manipulator welding machine as shown in fig. 1 and 2 comprises a machine cabinet body 100, a fixed base plate 101 is arranged in the machine cabinet body 100, an operation window 102 is arranged on one side of the fixed base plate 101 on the machine cabinet body 100, a four-axis manipulator 200 and a first horizontal driving mechanism 300 are arranged on the fixed base plate 101, a positioning tool 400 which is driven by the first horizontal driving mechanism 300 to horizontally move between the four-axis manipulator 200 and the operation window 102 is arranged on the first horizontal driving mechanism 300, a protection plate 500 for covering the upper surface of a product is arranged above the positioning tool 400, at least one welding window 501 is arranged on the protection plate 500, a welding head 600 which is driven by the welding head 600 to move above the positioning tool 400 is arranged on the four-axis manipulator 200, an automatic soldering machine is connected to the welding head 600, an upper visual system 700 is arranged above the four-axis manipulator 200, a plurality of correlation sensors 800 are arranged on two sides of the first horizontal driving mechanism 300, a smoke collector 103 is arranged on one side of the first horizontal driving mechanism 300, and two operation buttons 104 are arranged on the two safety buttons 104 for starting the machine.

In this embodiment, the four-axis mechanical arm 200 includes a vertical direction driving assembly and three horizontal direction rotating joint shaft assemblies; the soldering head 600 and the automatic soldering machine are commercially available automated soldering equipment and related components; the upper vision system 700 is an industrial vision lens; the first horizontal driving mechanism 300 is a linear motor, and in a specific implementation, the first horizontal driving mechanism 300 may also be a linear driving mechanism such as a cylinder with controllable stroke; a solder smoke purifying system purchased in the market; in a specific implementation, initially, the positioning tool 400 is located at one end of the first horizontal driving mechanism 300 close to the operation window 102, a welded product is manually placed on the positioning tool 400, then the protection plate 500 is correspondingly placed above the product, an operator simultaneously starts two double-start buttons 104, after the safety grating 103 detects that the operation window 102 is free of foreign matters, the first horizontal driving mechanism 300 drives the positioning tool 400 to move to carry the product to one side of the first horizontal driving mechanism 300 close to the four-axis mechanical arm 200, the positioning condition of the product is detected by the multiple pairs of correlation sensors 800, after the product placement meets the preset requirement, the four-axis mechanical arm 200 drives the welding head 600 to move under the guidance of the upper visual system 700 and is matched with an automatic soldering machine to automatically weld the welding part of the product from the welding window 501, after welding is completed, the first horizontal driving mechanism 300 drives the positioning tool 400 to move to carry the welded product to one end of the first horizontal driving mechanism 300 close to the operation window 102, after the product is manually removed, and the whole product is automatically removed, and the welding operation is repeated, so that a large number of welding operations can be performed; in the welding process, the smoke collector 900 absorbs harmful smoke, and the safety grating 103 and the double-start button 104 can effectively prevent equipment from injuring operators in the running process, so that the protection of the operators is effectively improved; the product position before welding is further detected by the multi-pair correlation sensor 800, the non-welding Qu Yun of the product is protected by the protection plate 500, the influence on the non-welding area of the product in the welding process is avoided, the welding accuracy is effectively improved, the automatic welding is stable and efficient, and the welding quality is improved.

On the basis of the above, as shown in fig. 1 to 3, the positioning fixture 400 includes a horizontal moving plate 410, a plurality of vertical positioning tables 420 and a plurality of positioning sensing mechanisms 430, wherein the horizontal moving plate 410 is horizontally arranged on the first horizontal driving mechanism 300 and is driven to move in the horizontal direction by the first horizontal driving mechanism 300, the plurality of vertical positioning tables 420 are vertically fixed on the periphery of the horizontal moving plate 410, positioning pins 421 matched with the corresponding positions of the lower surface of the product are arranged at the upper ends of the vertical positioning tables 420, and the plurality of positioning sensing mechanisms 430 are arranged at different positions on the horizontal moving plate 410 and are used for sensing and detecting the positions of the product on the vertical positioning tables 420.

In this embodiment, the shape of the vertical positioning table 420 is divided into two types according to the shape of the lower surface of the product, and the product is positioned by matching with the positioning pins 421, and in the embodiment, the shapes and the number of the vertical positioning table 420 and the positioning pins 421 depend on the shape of the product and the actual positioning requirement, and the positioning point shape and the positioning limit of the product are stable; the positioning sensing mechanism 430 is an inductive proximity sensor; in a specific implementation, the products are correspondingly placed at the upper ends of the vertical positioning tables 420 by manpower, the positioning pins 421 are matched with the vertical positioning tables 420 to limit and position the products, a plurality of positions on the lower surfaces of the products are detected by the positioning sensing mechanisms 430, whether the products are placed in place or not is detected, after the first horizontal driving mechanism 300 drives the horizontal moving plate 410 to move between the operation window 102 and the four-axis mechanical arm 200 with the products, whether the products have position change or not is monitored, the next welding action is stopped if the products have unexpected change exceeding the set accidental change, an alarm is sent, the welding precision of the products is further improved effectively by operators, the products are prevented from being placed well, or the products are prevented from being shifted in the horizontal movement, and the defective rate is reduced.

On the basis of the above, as shown in fig. 1 and fig. 2, a plurality of protection limiting blocks 502 are disposed in four directions around the periphery of the lower surface of the protection plate 500, a plurality of steps matched and clamped with the products are disposed on one side, close to the products on the positioning tool 400, of the protection limiting blocks 502, and a guiding inclined plane is disposed on one side, close to the products on the positioning tool 400, of the lower end of the steps. In a specific implementation, steps on the protective limiting blocks 502 in four directions, namely front, back, left and right, on the periphery of the lower surface of the protective plate 500 are limited and positioned on the horizontal direction of a product from the periphery, and when the protective plate 500 is positioned at the upper end of the product in a aligned manner, the guide inclined surface at the lower end of the protective limiting block 502 can play a guiding role, so that the protective plate 500 is not required to be precisely aligned with the product, the operation is simplified, and the efficiency of installing and positioning the protective plate 500 on the product is improved.

On the basis of the above, as shown in fig. 2, the protective stopper 502 is made of a high-temperature resistant elastic insulating material. In this embodiment, the protection stopper 502 is made for high temperature resistant insulating rubber material, and the lower extreme of protection stopper 502 is provided with the concave station, and the bottom of concave station is provided with the fixed orifices, and protection stopper 502 passes the fixed orifices through the bolt to be fixed at guard plate 500 lower surface, and protection stopper 502 that high temperature resistant elastic insulation material made can effectively avoid producing injuries such as fish tail to the product in the operation process, and can reduce the influence of high temperature to protection stopper 502 in the welding process, effectively prolongs protection stopper 502's life.

On the basis of the above, as shown in fig. 1, the apparatus cabinet 100 is provided with a console 105 connected to and controlling the operation of the four-axis mechanical arm 200, the first horizontal driving mechanism 300, the soldering head 600, the automatic soldering machine, the upper vision system 700, and the smoke collector 900. In the implementation, the control console can detect the welding state and set welding parameters, and the operation is convenient.

On the basis of the above, as shown in fig. 3, a smooth guiding transition surface is provided at the upper end of the positioning pin 421, and the positioning pin 421 is made of a high-temperature resistant elastic insulating material. In this embodiment, the positioning pin 421 is made of high temperature resistant insulating rubber material, the center of the positioning pin 421 is provided with a concave table, the bottom of the concave table is provided with a fixing hole, the positioning pin 421 is fixed at the upper ends of the vertical positioning tables 420 through bolts passing through the fixing hole, when the product is positioned at the upper ends of the plurality of vertical positioning tables 420 in an aligned manner, the smooth guiding transition surface at the upper ends of the positioning pin 421 can play a guiding role, the product is not required to be precisely aligned with the vertical positioning tables 420, the operation is simplified, and the efficiency of installing and positioning the product on the plurality of vertical positioning tables 420 is improved; the locating pin 421 made of the high-temperature-resistant elastic insulating material can effectively avoid damage such as scratch to products in the operation process, and can reduce the influence of high temperature on the locating pin 421 in the welding process, so that the service life of the locating pin 421 is effectively prolonged.

While the foregoing is directed to embodiments of the present utility model, other and further details of the utility model may be had by the present utility model, it should be understood that the foregoing description is merely illustrative of the present utility model and that no limitations are intended to the scope of the utility model, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the utility model.

Claims

1. The utility model provides a four-axis manipulator welding machine, includes the equipment cabinet body (100), be provided with fixed base plate (101) in the equipment cabinet body (100), one side of fixed base plate (101) is provided with operating window (102), its characterized in that on the equipment cabinet body (100): be provided with four-axis arm (200) and first horizontal actuating mechanism (300) on fixed substrate (101), be provided with on first horizontal actuating mechanism (300) by its drive between four-axis arm (200) and operating window (102) horizontal migration's location frock (400), location frock (400) top is provided with guard plate (500) that are used for covering the product upper surface, be provided with at least one welding window (501) on guard plate (500), be provided with on four-axis arm (200) by its drive welding head (600) that moves in location frock (400) top, welding head (600) are connected with automatic soldering tin machine, the top of four-axis arm (200) is provided with vision system (700), the both sides of first horizontal actuating mechanism (300) are provided with many pairs of correlation sensor (800), one side of first horizontal actuating mechanism (300) is provided with smoke collector (900), be provided with safety grating (103) on operating window (102), equipment body (100) are provided with two operation start-up equipment simultaneously on button (104).

2. The four-axis manipulator welding machine according to claim 1, wherein: the positioning tool (400) comprises a horizontal moving plate (410), a plurality of vertical positioning tables (420) and a plurality of positioning sensing mechanisms (430), wherein the horizontal moving plate (410) is horizontally arranged on a first horizontal driving mechanism (300) and is driven to move in the horizontal direction by the first horizontal driving mechanism (300), the vertical positioning tables (420) are vertically fixed on the periphery of the horizontal moving plate (410) and the upper ends of the vertical positioning tables are provided with positioning pins (421) matched with the corresponding positions of the lower surfaces of products, and the positioning sensing mechanisms (430) are arranged at different positions on the horizontal moving plate (410) and used for sensing the positions of the products on the vertical positioning tables (420).

3. The four-axis manipulator welding machine according to claim 1, wherein: a plurality of protection limiting blocks (502) are arranged in the front, back, left and right directions of the periphery of the lower surface of the protection plate (500), one side, close to a product on the positioning tool (400), of each protection limiting block (502) is provided with a step matched and clamped with the product, and one side, close to the product on the positioning tool (400), of the lower end of each step is provided with a guide inclined plane.

4. A four-axis manipulator welding machine according to claim 3, wherein: the protective limiting block (502) is made of high-temperature-resistant elastic insulating materials.

5. The four-axis manipulator welding machine according to claim 1, wherein: the equipment cabinet body (100) is provided with a control console (105) which is connected with the four-axis mechanical arm (200), the first horizontal driving mechanism (300), the welding head (600), the automatic soldering machine, the upper vision system (700) and the smoke collector (900) and controls the operation of the four-axis mechanical arm.

6. The four-axis manipulator welding machine according to claim 2, wherein: the upper end of the locating pin (421) is provided with a smooth guiding transition surface, and the locating pin (421) is made of high-temperature-resistant elastic insulating material.