CN219310496U - Robot welding workstation - Google Patents

Abstract

The utility model relates to a robot welding workstation, comprising a displacement mechanism, the displacement mechanism includes a base, the base is provided with a first rotary mechanism, the first rotary mechanism is connected with a column, the column is provided with a lifting mechanism, and the lifting mechanism is connected to one end of a swing arm Connection, the other end of the swing arm is provided with a welding robot, and both sides of the displacement mechanism are provided with flipping tooling for fixing the workpiece. The robot welding workstation of the utility model has high flexibility and high work efficiency.

Description

A robot welding workstation

technical field

The utility model relates to the technical field of welding equipment, in particular to a robot welding workstation.

Background technique

The statements herein only provide background technology related to the present invention and do not necessarily constitute prior art.

Welding is an important mechanical processing method in modern industrial production, especially when manufacturing large structural parts or complex mechanical parts, welding technology is even more essential. In the welding process of the workpiece, the welding of the workpiece needs to be in the best welding position to achieve the ideal welding effect. The welding positioner can realize the flipping of the workpiece at any position during the welding process to achieve the best welding seam position welding and reduce the worker's workload. Labor intensity. The current welding positioner has certain difficulties in welding some large heterosexual and complex parts. Product welding often encounters places that are inconvenient to weld. It is necessary to move the product many times and change the angle for welding. Moreover, the quality of welding cannot be grasped, and the running accuracy If it is not achieved, some high-precision requirements cannot be realized.

With the progress of society and the development of science and technology, the industry tends to be more and more automated; in terms of mechanical welding, the use of robot welding workstations not only improves work efficiency, but also greatly reduces the workload of welders. However, the inventor found that , the traditional welding workstation only fixes the welding robot on the base, and relies on the flexibility of the welding robot itself for welding, which cannot meet the welding points of various angles of the welding parts, and the flexibility is too low. When the workpiece is too large or too high , the welding robot cannot weld, and the inventor also found that the traditional workstation can only weld one part at a time. After a part is welded, the welded part needs to be removed from the tooling, and then a new part to be welded is installed on the tooling , and then start the welding robot for welding, which wastes a lot of time and has low work efficiency.

Utility model content

The purpose of the utility model is to overcome the above-mentioned deficiencies in the prior art, and provide a robot welding workstation with high flexibility and high work efficiency.

In order to achieve the above object, the utility model adopts the following technical solutions:

The embodiment of the utility model provides a robot welding workstation, including a displacement mechanism, the displacement mechanism includes a base, the base is provided with a first rotary mechanism, the first rotary mechanism is connected with a column, the column is provided with a lifting mechanism, and the lifting mechanism is connected to the One end of the swing arm is connected, the other end of the swing arm is provided with the robot body of the welding robot, and both sides of the displacement mechanism are provided with turning tooling for fixing the workpiece.

Optionally, the first slewing mechanism includes a first slewing drive installed on the base, the output shaft of the first slewing drive is connected to a gear, the gear meshes with a ring gear arranged on the outer peripheral surface of the slewing support, and the slewing support and The base is rotatably connected, and the bottom end of the column is fixedly connected with the slewing support.

Optionally, a turntable is provided on the upper surface of the slewing support, and the slewing support is fixedly connected to the bottom end of the column through the turntable.

Optionally, the lifting mechanism includes a lifting plate, which is slidably connected to the column. The lifting plate is provided with a lifting drive, the output shaft of the lifting drive is connected to a gear, and the gear meshes with a rack provided on the column.

Optionally, the overturning tooling includes a frame, in which an overturning drive is provided, the output shaft of the overturning drive protrudes outside the frame and is connected with the overturning arm, and the overturning arm is provided with a second slewing mechanism.

Optionally, the overturn drive includes a first AC servo motor and a first RV displacement reducer fixed inside the frame, the output shaft of the first AC servo motor is connected to the first RV displacement reducer, and the first The output shaft of the RV displacement reducer is connected with the turning arm.

Optionally, the second slewing mechanism includes a second slewing drive installed on the turning arm, and the second slewing drive is connected to the workpiece fixing plate.

Optionally, the second slewing drive includes a second AC servo motor and a second RV displacement reducer fixed to the flip arm, the output shaft of the second AC servo motor is connected to the second RV displacement reducer, the second The output shaft of the second RV displacement reducer is connected with the workpiece fixed disk.

Optionally, the turning arm adopts an L-shaped structure, including a first turning part and a second turning part arranged vertically, the first turning part is connected to the output shaft of the turning drive part, and one end of the second turning part is connected to the first turning part Department, the other end is provided with a second rotary mechanism.

Optionally, a connecting plate is provided on the side of the base, and a gun cleaner and wire reducer is fixed on the connecting plate.

The beneficial effects of above-mentioned utility model are as follows:

1. In the robot welding workstation of the present invention, both sides of the displacement mechanism are equipped with flipping mechanisms, and the column is connected with the first rotary mechanism. Through the first rotary mechanism, the welding robot can use the welding robot to turn over the positions on the two sides of the mechanism respectively. The workpiece is welded. When it is welded with the workpiece on one flipping tool, the workpiece can be installed on the other flipping tool. There is no need to wait for one workpiece to be welded before installing another workpiece, which saves waiting time and improves work efficiency.

2. In the robotic welding workstation of the present invention, the welding robot is connected with the lifting mechanism and cooperates with the rotary mechanism to increase the degree of freedom of the welding robot, which has better flexibility and is suitable for welding larger or higher workpieces. The applicability of the entire workstation powerful.

3. The welding workstation of the utility model has a gun cleaning wire cutter, and the welding robot can automatically complete the gun cleaning and oil injection actions, which reduces the labor intensity of the staff.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and not to limit the present application.

Fig. 1 is the overall structure schematic diagram of the utility model embodiment 1;

Fig. 2 is a side view of the displacement mechanism of Embodiment 1 of the utility model;

Fig. 3 is the front view of the displacement mechanism of Embodiment 1 of the present utility model;

Fig. 4 is a schematic structural diagram of the first turning tool in Embodiment 1 of the present utility model;

Among them, 1. The first turning tool, 2. The control cabinet, 3. The second turning tool, 4. The displacement mechanism, 5. The cleaning gun and the wire cutter, 6. The robot body;

1.1. Rack, 1.2. Flip arm, 1.2.1. The first AC servo motor, 1.2.2. The first RV displacement reducer, 1.3. Workpiece fixed plate, 1.3.1. The second AC servo motor, 1.3. 2. The second RV displacement reducer;

4.1. Base, 4.1.1. Connecting plate, 4.2. Column, 4.2.1. First servo motor, 4.2.2. Second reducer, 4.2.3. First gear, 4.2.4. Slewing support, 4.2. 5. Turntable, 4.3. Swing arm, 4.3.1. Second servo motor, 4.3.2. Second reducer, 4.3.3. Second gear, 4.3.4. Slider, 4.3.5. Rack, 4.3 .6. Guide rail, 4.3.7. Lifting plate.

Detailed ways

Example 1

This embodiment provides a robot welding workstation, as shown in Figure 1, including a displacement mechanism 4, both sides of the displacement mechanism 4 are provided with turning tooling, which are respectively the first turning tooling 1 and the second turning tooling 3, The two turning tools are used to fix the workpiece to be welded. The displacement mechanism is provided with the robot body 5 of the welding robot. The robot body 5 of the welding robot is used to weld the workpiece. A control cabinet 2 is arranged between the two turning tools. The cabinet 2 is connected with the turning tool and the displacement mechanism, and can control the turning tool and the displacement mechanism to perform automatic work.

As shown in Figures 2-3, the displacement mechanism 4 includes a base 4.1, and the base 4.1 is used to be fixed on the ground foundation.

The top surface of the base 4.1 is provided with a first slewing mechanism capable of outputting rotation around a vertical axis.

The first rotary mechanism is fixed to the bottom end of the column 4.2, and the column 4.2 is arranged coaxially with the first rotary mechanism, and the first rotary mechanism can drive the column to rotate around its own axis.

In this embodiment, the first slewing mechanism includes a first slewing driver, the first slewing driver is fixed on a bracket, and the bracket is fixed on the top surface of the base.

The first rotary drive includes a first servo motor 4.2.1 and a first reducer 4.2.2, the housings of the first servo motor 4.2.1 and the first reducer 4.2.2 are fixed to the bracket, and the first servo motor The output shaft of 4.2.1 is connected with the first reducer 4.2.2, and the output shaft of the first reducer 4.2.2 is fixedly connected with the first gear 4.2.3, which can drive the first gear 4.2.3 to rotate. The gear 4.2.3 meshes with the ring gear on the outer surface of the slewing support 4.2.4. The slewing support 4.2.4 is coaxially arranged with the column 4.2, and is rotatably connected to the top surface of the base 4.1. The first gear 4.2.3 can drive the slewing support 4.2 .4 Rotate around its own axis.

The upper surface of the slewing support 4.2.4 is provided with a turntable 4.2.5, and the turntable 4.2.5 is fixed to the bottom of the column 4.2, and the column 4.2 is arranged coaxially with the slewing support 4.2.4 and the turntable 4.2.5.

In this embodiment, the horizontal section of the column 4.2 adopts a rectangular structure, which has four sides, which are respectively close to the first side of one of the turning tools, the second side of the other turning tool, and the third side of the control cabinet 2. side and a fourth side opposite the third side.

In this embodiment, the types of the first servo motor 4.2.1 and the first reducer 4.2.2 can be set according to actual needs, and will not be described in detail here.

A lifting mechanism is installed on the fourth side of the column 4.2, and the lifting mechanism is fixedly connected with one end of the swing arm 4.3, and the lifting mechanism can drive the swing arm 4.3 to perform lifting motion.

In this embodiment, the lifting mechanism includes a lifting plate 4.3.7, and the lifting plate 4.3.7 is slidingly connected with the column 4.2. Specifically, both sides of the fourth side of the column 4.2 are provided with vertically arranged guide rails 4.3 .6, the lifting plate 4.3.7 is provided with a sliding block 4.3.4 matching the guide rail 4.3.6, and the sliding block 4.3.4 is slidingly connected with the guiding rail 4.3.6, thereby realizing the sliding connection between the lifting plate 4.3.7 and the column 4.2 .

The outer surface of the lifting plate 4.3.7 is provided with a lifting drive, the lifting drive adopts the second servo motor 4.3.1 and the second reducer 4.3.2, the second servo motor 4.3.1 and the second reducer 4.3. The housing of 2 is fixed to the lifting plate 4.3.7, the output shaft of the second servo motor 4.3.1 is connected to the second reducer 4.3.2, and the output shaft of the second reducer 4.3.2 is fixed to the second gear 4.3.3 , can drive the second gear 4.3.3 to rotate, and the second gear 4.3.3 meshes with the vertically arranged rack 4.3.5 fixed on the fourth side of the column 4.2.

The second servo motor 4.3.1 can drive the second gear 4.3.3 to rotate, and under the meshing effect of the second gear 4.3.3 and the rack 4.3.5, the lifting plate 4.3.7 is driven to perform lifting motion.

In this embodiment, the second servo motor 4.3.1 and the second reducer 4.3.2 can be selected according to actual needs, and will not be described in detail here.

One end of the swing arm 4.3 is fixed with the lifting plate 4.3.7 by bolts, the swing arm 4.3 is perpendicular to the column 4.2, the robot body 6 of the welding robot is installed on the other end of the swing arm 4.3, the swing arm 4.3 adopts a cavity structure, and the cover Hold the second servo motor 4.3.1 and the second reducer 4.3.2, reduce the area of the lifting plate 4.3.7 on the one hand, and protect the second servo motor 4.3.1 and the second reducer 4.3.2 on the other hand effect.

Welding robot adopts existing equipment, and its robot body 6 includes a rotating machine table and a working arm, and the rotating machine table is connected with the working arm in rotation, and drives the working arm to work within the radius range with its arm length, and the end of the working arm The part is provided with a fixing part for fixing the welding torch. The control box, voltage regulator and inverter gas shielded welding machine in the supporting facilities of the robot body are arranged in the control cabinet 2, and the above-mentioned equipment has an I/O interface for communication with the robot body.

The connection and communication between the control box, the voltage stabilizer and the inverter gas shielded welding machine and the robot body can be based on the existing welding robot technology, and will not be described in detail here.

The controller in the control box is also connected with the first servo motor 4.2.1 and the second servo motor 4.3.1 for controlling the work of the first servo motor 4.2.1 and the second servo motor 4.3.1.

Both sides of the displacement mechanism 4 are respectively provided with a first turning tool 1 and a second turning tool 3, and the turning tools on both sides are arranged symmetrically with respect to the displacement mechanism 4, and the installation position of the turning tool needs to meet the requirements of the working range of the welding robot.

The structures of the first turning tool 1 and the second turning tool 3 are exactly the same, and the first turning tool 1 is used as an example for illustration:

As shown in FIG. 4 , the first overturning tool 1 includes a frame 1.1, and the frame 1.1 is used to be fixed on the ground foundation.

The frame 1.1 is provided with an overturn driving part. In this embodiment, the overturn driving part includes a first AC servo motor 1.2.1 and a first RV displacement reducer 1.2.2. The first AC servo motor 1.2.1 It is used to brake the motor to prevent mechanical safety accidents caused by sudden endpoints.

The output shaft of the first RV displacement reducer 1.2.2 protrudes to the outside of the frame 1.1 and is fixedly connected with the turning arm 1.2, which can drive the turning arm 1.2 to rotate.

In this embodiment, the turning arm 1.2 adopts an L-shaped structure, including a first turning part and a second turning part vertically connected to the bottom of the first turning part, wherein the first turning part and the first RV displacement reducer 1.2. 2, the end of the second turning part is provided with a second turning mechanism, and the second turning mechanism can output a rotational movement around an axis perpendicular to the second turning part.

In this embodiment, the second rotary mechanism includes a second rotary driving member, which is connected to the workpiece fixing plate and can drive the workpiece fixing plate to rotate, and the workpiece fixing plate is used to fix the workpiece. There are threaded holes on the workpiece fixing plate, and the tooling corresponding to the workpiece can be fixed through the threaded holes and bolts. The tooling can be used to fix the workpiece. The tooling can be set according to the type of the workpiece, and the existing tooling can be used, which will not be described in detail here. .

The second rotary drive includes a second AC servo motor 1.3.1 and a second RV displacement reducer 1.3.2, the second AC servo motor 1.3.1 and the housing of the second RV displacement reducer 1.3.2 Fixed with the second overturning part, the output shaft of the second RV displacement reducer 1.3.2 protrudes to the outside of the second overturning part and is fixed with the center of the workpiece fixed disk 1.3, which can drive the workpiece fixed disk to rotate.

The side of the base 4.1 away from the control cabinet 2 is provided with a connection plate 4.1.1, one end of the connection plate 4.1.1 is fixed to the side of the base 4.1, and the upper surface of the connection plate is fixed with a wire cutter 5 for clearing the gun and cutting the wire. Device 5 adopts existing equipment and gets final product, collects gun clearing, wire cutting, fuel injection as a whole, and its concrete structure is not described in detail at this, and gun cleaning wire cutter is connected with controller, can accept the instruction work of controller.

The controller can control the cooperation between the welding robot and the torch cleaning wire cutter 5, and only one signal is needed to complete the torch cleaning and fuel injection actions, which reduces the labor intensity of the staff.

The working method of the robot welding workstation of the present embodiment is:

Fix the workpiece to be welded on the workpiece fixed plate 1.3, the first rotary mechanism drives the robot body 6 to rotate, so that the workpiece fixed plate 1.3 is located within the working range of the robot body 6, and the controller controls the turning drive, the lifting drive, the first The slewing drive, the second slewing drive and the welding robot work to continuously adjust the poses of the workpiece and the robot body to weld the workpiece.

In this embodiment, due to the setting of the lifting mechanism, the flexibility of the entire displacement mechanism is higher. Compared with the fixed installation of the welding robot, it meets the welding requirements of larger or higher workpieces, and the applicability of the entire workstation is stronger. .

When the workpiece on one flipping tool is being welded, the workpiece to be welded can be installed on the other tool simultaneously, and there is no need to wait for one workpiece to be welded before installing another workpiece, which saves waiting time and improves work efficiency.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (10)

1. The utility model provides a robot welding workstation, its characterized in that, including the mechanism that shifts, the mechanism that shifts includes the base, and the base is provided with first rotation mechanism, and first rotation mechanism is connected with the stand, and the stand is equipped with elevating system, and elevating system is connected with the one end of swing arm, and the other end of swing arm is equipped with welding robot, and the both sides of mechanism that shifts all are provided with the upset frock that is used for fixed work piece.

2. The robot welding station of claim 1, wherein the first swing mechanism comprises a first swing driving member mounted on the base, an output shaft of the first swing driving member is connected with a gear, the gear is meshed with a gear ring arranged on an outer peripheral surface of the swing support, the swing support is rotatably connected with the base, and a bottom end of the upright post is fixedly connected with the swing support.

3. A robotic welding station as claimed in claim 2 in which the upper surface of the slewing support is provided with a turntable, the slewing support being fixedly connected to the bottom end of the upright by means of the turntable.

4. A robotic welding station as claimed in claim 1 in which the lifting mechanism comprises a lifting plate slidably connected to the upright, the lifting plate being provided with a lifting drive member, an output shaft of the lifting drive member being connected to a gear wheel which is in engagement with a rack provided on the upright.

5. The robot welding workstation of claim 1, wherein the turnover fixture comprises a frame, a turnover driving member is arranged in the frame, an output shaft of the turnover driving member extends out of the frame and is connected with a turnover arm, and a second rotation mechanism is arranged on the turnover arm.

6. The robotic welding station of claim 5, wherein the flip drive comprises a first ac servo motor and a first RV shift reducer secured within the frame, an output shaft of the first ac servo motor is coupled to the first RV shift reducer, and an output shaft of the first RV shift reducer is coupled to the flip arm.

7. A robotic welding station as claimed in claim 5 in which the second swing mechanism includes a second swing drive member mounted to the swing arm, the second swing drive member being coupled to the workpiece holding pan.

8. The robotic welding station of claim 7, wherein the second rotary drive comprises a second ac servo motor and a second RV shift reducer secured to the invert arm, an output shaft of the second ac servo motor being coupled to the second RV shift reducer, an output shaft of the second RV shift reducer being coupled to the workpiece fixture.

9. The robot welding station of claim 5, wherein the turnover arm is of an L-shaped structure and comprises a first turnover part and a second turnover part which are vertically arranged, the first turnover part is connected with the output shaft of the turnover driving member, one end of the second turnover part is connected to the first turnover part, and the other end of the second turnover part is provided with the second slewing mechanism.

10. The robot welding station of claim 1, wherein a connecting plate is disposed on a side of the base, and a gun cleaning wire cutter is fixed on the connecting plate.

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