WO2019127298A1

WO2019127298A1 - Pressure fitting-up device capable of performing welding by multiple robots cooperatively

Info

Publication number: WO2019127298A1
Application number: PCT/CN2017/119632
Authority: WO
Inventors: 史和生; 张杨; 李俊; 史航
Original assignee: 江苏润邦新材料集团有限公司
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2019-07-04

Abstract

A pressure fitting-up device capable of performing welding by multiple robots cooperatively, belonging to the field of welding, and aiming to provide a pressure fitting-up device capable of performing welding by multiple robots cooperatively. The technical solution is as follows: comprising a workbench (1), a pressing plate mechanism (2) located above the workbench (1) for pressing the composite plate, six-axis robots (3) located at two sides of the workbench (1) along the width direction, three-axis mechanical arms (4) located at two sides of the workbench (1) along the longitudinal direction, a first conveying mechanism (5) located at a feeding end of the workbench (1) for conveying the composite plate to the workbench (1), and a second conveying mechanism (6) located at a discharge end of the workbench (1) for conveying the composite plate out of the workbench (1), the six-axis robots (3) each being provided with a first welding gun (31) for welding one side of the composite plate along the longitudinal direction, and the three-axis mechanical arms (4) each being provided with a second welding gun (45) for welding one side of the composite plate along the width direction. The substrate and the shroud plate can be welded into a composite plate in an automatic, quick, convenient and labor-saving manner, thereby improving the production efficiency.

Description

Multi-robot collaborative welding pressure pair device

Technical field

The invention relates to the field of welding, in particular to a pressure pairing device for multi-robot cooperative welding.

Background technique

The metal composite board is generally formed by laminating and welding the substrate and the superimposed board. At present, the welding process of the metal composite board pressure group is performed by the welding personnel in cooperation with the press, manual spot welding and then transferring the workpiece for sealing welding, which is difficult to weld and weld. The accuracy depends on the skill level and working state of the welder, which makes the welding efficiency low and the quality stability cannot be guaranteed and the transfer and re-assembly of the workpiece wastes a lot of time, which is not conducive to the improvement of production efficiency.

Therefore, there is a need in the industry for a welding equipment for a metal composite panel that is rapidly welded and highly productive.

Summary of the invention

The object of the present invention is to provide a multi-robot cooperative welding pressure group-pairing device, which has the advantages that the substrate and the super-plate can be welded into a composite plate automatically, quickly and conveniently, thereby improving production efficiency.

The above technical object of the present invention is achieved by the following technical solutions: a workbench, a platen mechanism for pressing the substrate and the cover plate above the workbench, a six-axis robot located on both sides of the workbench in the width direction, and being located at work. a three-axis robot on both sides of the length of the table, a first conveying mechanism for conveying the substrate and the cover plate to the table at the feeding end of the table, and a discharging plate for conveying the composite plate out of the table at the discharge end of the table a second conveying mechanism, wherein the six-axis robot is provided with a first welding torch for welding one side of the substrate and the covering plate in the longitudinal direction, and the three-axis robot is provided with a first side for welding the substrate and the covering plate in the width direction Second welding torch.

Through the above solution, when the substrate and the cover plate need to be welded, the operator places the substrate and the cover plate on the first transport mechanism, and at this time, the first transport mechanism transports the substrate and the cover plate to the workbench, and then the six-axis robot And the three-axis robot respectively work to weld the substrate and the cover plate along the length direction and the width direction, thereby welding the substrate and the cover plate into a composite plate, and at this time, the second conveying mechanism works to convey the composite plate out of the work table, thereby being fast Convenient completion of the welding process improves the production efficiency of the composite panel.

Further, the first conveying mechanism includes a first conveying table, and the first conveying table is provided with a first conveying roller along a width direction of the table, and both ends of the first conveying roller are rotated by the first connecting block Connected to the first conveying table, the first conveying roller is provided in plurality along the length direction of the table, and the same end of each of the first conveying rollers is connected with a first synchronizing gear, and each of the first synchronizing gears Connected to the first conveyor, a first conveyor motor is connected to the first conveyor, and one end of one of the first conveyor rollers is connected to the output end of the first conveyor motor.

Through the above scheme, after the operator places the substrate and the superstrate on the first conveying roller, the first conveying motor is started, and the first conveying motor drives the first conveying roller connected thereto to rotate, and at this time, the first conveying roller The first synchronizing gear drives the other first synchronizing gears to rotate synchronously through the first chain, so that the other first conveying rollers rotate synchronously, thereby automatically and continuously conveying the substrate and the superstrate to the table. After the substrate and the cover plate are transported to the workbench, the first transport motor stops working, so that the substrate and the cover plate are stably placed on the workbench.

Further, one end of the first conveying table away from the working table is provided with a positioning block disposed in a vertical direction, the positioning block is set to an angle steel, and an inner side of the angle steel faces an end of the first conveying roller.

Through the above scheme, after the operator places the substrate and the cover plate on the first conveying roller, the two sides of the substrate and the covering plate can respectively interfere with the inner side walls of the angle steel, thereby quickly positioning the substrate and the covering plate. Function to improve processing accuracy.

Further, the platen mechanism comprises a platen block connected above the workbench by a plurality of columns, the platen block being connected to a side of the table with a plurality of hydraulic cylinders arranged in a vertical direction, the piston rod connection of the hydraulic cylinder On the platen block.

Through the above scheme, after the substrate and the cover plate are placed on the workbench, the operator starts the hydraulic cylinder, the hydraulic cylinder works and extends the piston rod, at which time the hydraulic cylinder moves downward and collides with the cover plate, thereby automatically and quickly The substrate and the cover plate are pressed against the table, thereby facilitating the welding of the substrate and the cover plate by the six-axis robot and the three-axis robot.

Further, the hydraulic cylinder is connected with an abutting block toward one end of the table.

Through the above scheme, the hydraulic cylinder is in conflict with the cover plate through the abutting block, thereby greatly reducing the possibility of wear of the hydraulic cylinder, thereby prolonging the service life of the hydraulic cylinder.

Further, the worktable is provided with a lifting groove along the conveying direction of the composite plate, the lifting groove is provided in a plurality of directions along the width direction of the table, and two rotating shafts are slidably connected in the vertical direction in the lifting groove. A roller is disposed on each of the two rotating shafts, and a pushing member that moves the driving roller in a vertical direction and interferes with the bottom of the composite plate is disposed between the two rollers.

Through the above scheme, after the substrate and the superstrate are welded into the composite plate, the pushing member pushes the roller to rise, so that the outer peripheral wall of the roller interferes with the bottom of the composite plate and lifts the composite plate, and the composite plate is separated from the table, and the second conveying is performed. The mechanism works to transport the composite board out of the workbench, and then the pushing piece drives the roller to descend into the lifting trough, so that the roller is lower than the working table to facilitate subsequent processing of the composite board.

Further, the pushing member includes a cylinder connected to the bottom of the lifting trough, and both ends of the cylinder are provided with a piston rod, and the piston rod of the cylinder is connected with a resisting wheel, and the peripheral wall of the abutting wheel and the roller The peripheral wall is in conflict; when the resisting wheel is directly below the roller, the peripheral wall of the roller is higher than the surface of the table.

Through the above scheme, after the substrate and the superstrate are welded into the composite plate, the cylinder works, and at this time, the piston rods at both ends of the cylinder are extended, and the peripheral wall of the anti-contact wheel on the piston rod of the cylinder is in conflict with the peripheral wall of the roller, thereby quickly and conveniently pushing the roller upward Jack up until the peripheral wall of the roller interferes with the bottom of the composite panel and lifts the composite panel away from the surface of the table. When the composite plate is transported out of the workbench, the piston rods at both ends of the cylinder are retracted, and the roller falls back into the lifting trough under the action of its own gravity. The whole process is automatic and fast, and the work efficiency is high.

Further, the second conveying mechanism includes a second conveying table, and the second conveying table is provided with a second conveying roller along the width direction of the table, and both ends of the second conveying roller are rotated by the second connecting block Connected to the second conveying table, the second conveying roller is provided in plurality along the length direction of the table, and the second synchronous gear is connected to the same end of each of the second conveying rollers, and each of the second synchronous gears Connected to the second conveyor, a second conveying motor is connected to the second conveying table, and one end of one of the second conveying rollers is connected to the output end of the second conveying motor.

Through the above scheme, after the substrate and the superstrate are welded into the composite plate, the operator activates the second conveying motor, and the second conveying motor drives the second conveying roller connected thereto to rotate, and the second synchronization on the second conveying roller at this time The gear drives the other second synchronizing gears to rotate synchronously through the second chain, so that the other second conveying rollers rotate synchronously, thereby automatically and continuously conveying the composite plate out of the table.

Further, the three-axis robot includes a horizontal plate connected to the pressure plate block, a first connecting plate slidably connected to the horizontal plate, a vertical plate slidably connected to the first connecting plate in a vertical direction, and a sliding plate. Moving a second connecting plate connected to one end of the vertical plate toward the table, the upper surface of the horizontal plate is connected with a first rack along the length of the table, and the first rack is provided with the first rack a first gear that is meshed, the first gear is driven by a first motor coupled to the first connecting plate; the vertical plate is coupled with a second rack disposed in a vertical direction, the second tooth The strip is provided with a second gear meshed with the second rack, the second gear is driven by a second motor connected to the first connecting plate; the second connecting plate is provided along the width direction of the table a third rack having a third gear meshed with the third rack, the third gear being driven by a third motor coupled to the vertical plate; the second torch Connected to the side of the second connecting plate facing the table.

Through the above solution, when the substrate and the sheathing plate are welded along the width direction of the table, the first motor can drive the first gear to rotate, and the first gear meshes with the first rack, thereby driving the first connecting plate along the first The length direction of a rack moves in the width direction of the table. Similarly, the second motor can drive the vertical plate to move along the height direction of the table, and the third motor can move the second connecting plate along the length of the table to accurately and automatically realize the three-axis movement of the second welding torch. .

In summary, the present invention has the following beneficial effects: the six-axis robot and the three-axis robot can automatically weld the substrate and the cover plate that are transported to the work table by the first transport mechanism, and the substrate and the cover plate are welded into a composite plate and then pass through the first The second conveying mechanism is conveyed out of the workbench, and the whole work process is highly automated, convenient and labor-saving, and the production efficiency is improved.

DRAWINGS

Figure 1 is a schematic view showing the overall structure of the embodiment;

2 is a schematic structural view of the first embodiment for embodying the first conveying mechanism;

Figure 3 is an enlarged view of a portion A of Figure 2;

4 is a schematic structural view of a second conveying mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a three-axis manipulator according to the embodiment; FIG.

Figure 6 is an enlarged view of a portion B of Figure 5;

Figure 7 is an enlarged view of a portion C of Figure 5;

FIG. 8 is a schematic structural view showing the first welding torch of the embodiment; FIG.

Figure 9 is an enlarged view of a portion D of Figure 8;

FIG. 10 is a schematic structural view of the embodiment for embodying a pushing member;

Figure 11 is an enlarged view of a portion E in Figure 10.

In the figure, 1, workbench; 11, lifting trough; 12, rotating shaft; 121, roller; 2, platen mechanism; 21, column; 22, pressure plate; 23, hydraulic cylinder; 231, resisting block; Robot; 31, first welding gun; 4, three-axis robot; 41, horizontal plate; 411, first rack; 412, first gear; 413, first motor; 42, first connecting plate; 43, vertical plate 431, second rack; 432, second gear; 433, second motor; 44, second connecting plate; 441, third rack; 442, third gear; 443, third motor; 444, fixed plate 45, the second welding gun; 5, the first conveying mechanism; 51, the first conveying table; 52, the first conveying roller; 521, the first synchronizing gear; 53, the first connecting block; 54, the first chain; a first conveying motor; 56, a positioning block; 6, a second conveying mechanism; 61, a second conveying table; 62, a second conveying roller; 621, a second synchronizing gear; 63, a second connecting block; 64, a second chain ; 65, second conveying motor; 7, pushing member; 71, cylinder; 711, piston rod; 72, against the wheel.

Detailed ways

The invention will be further described in detail below with reference to the accompanying drawings.

The same components are denoted by the same reference numerals. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, the words "bottom" and "top" "Face", "inner" and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

A multi-robot cooperative welding pressure pairing device, as shown in FIG. 1, includes a table 1, a platen mechanism 2 for pressing the substrate and the cover plate above the table 1, 2, 6 on both sides of the table 1 in the width direction The axis robot 3, the three-axis robot 4 located on both sides of the table 1 in the longitudinal direction, the first conveying mechanism 5 for conveying the substrate and the cover plate to the table 1 at the feeding end of the table 1, and the table 1 The discharge end is used to convey the composite sheet out of the second conveying mechanism 6 of the table 1. A first welding torch 31 (as shown in FIG. 8) is fixedly coupled to the six-axis robot 3, and a second welding torch 45 is fixedly coupled to the three-axis robot 4 (FIG. 5). The composite plate is welded by the substrate and the cover plate. After the substrate and the cover plate are transported to the table 1 by the first transport mechanism 5, the first welding torch 31 is welded to the substrate and the side of the cover plate along the longitudinal direction by the six-axis robot 3. The second welding torch 45 is welded to one side of the substrate and the covering plate in the width direction by the three-axis robot 4, thereby welding the substrate and the covering plate into a composite plate quickly, quickly and automatically, and then the second conveying mechanism 6 conveys the composite plate. Workbench 1, complete the welding process.

As shown in FIG. 2, the first conveying mechanism 5 includes a first conveying table 51. The first conveying table 51 is provided with a first conveying roller 52 along the width direction of the table 1, and both ends of the first conveying roller 52 pass through the first connecting block. 53 is rotatably connected to the first conveying table 51. The first conveying roller 52 is provided along the longitudinal direction of the table 1. After the substrate and the covering plate are placed on the first conveying roller 52, the first conveying roller 52 can be Automatically conveyed to the table 1 under rotation. A first synchronizing gear 521 (FIG. 3) is fixedly connected to the same end of each of the first conveying rollers 52. Each of the first synchronizing gears 521 is connected by a first chain 54 (FIG. 3), and the first conveying table 51 is connected with The first conveying motor 55, the output end of the first conveying motor 55 is connected to one end of one of the first conveying rollers 52. Therefore, when the first conveying motor 55 is operated, the first conveying rollers 52 can be synchronously rotated by the first chain 54 and the respective first synchronizing gears 521 at the same time.

As shown in FIG. 2, in order to position the substrate and the cover plate placed on the first transport roller 52, the one end of the first transport table 51 away from the workbench 1 is provided with a positioning block 56 disposed in the vertical direction, and the positioning block 56 is set to An angle steel, one end of the angle steel is fixedly coupled to the first conveying table 51, and the inner side of the angle steel faces one end of the first conveying roller 52. After the operator places the substrate and the cover plate on the first conveying roller 52, the two sides of the substrate and the covering plate can respectively interfere with the inner side walls of the angle steel, thereby quickly positioning the substrate and the covering plate to improve the positioning and improving the substrate and the covering plate. Precision.

As shown in FIG. 8, the platen mechanism 2 (FIG. 1) includes a platen block 22 connected to the table 1 by four uprights 21, and the press plate block 22 is fixedly connected to one side of the table 1 with six hydraulic cylinders 23, hydraulic cylinders. 23 is disposed in a vertical direction, the push rod of the hydraulic cylinder 23 is fixedly connected to the pressure plate block 22, and the hydraulic cylinder 23 is fixedly connected with the abutting block 231 (such as FIG. 9) toward the end of the work table 1, and the resisting block 231 faces away from the hydraulic cylinder 23. One side is set to a flat surface. After the substrate and the cover plate are transported to the table 1 by the first transport roller 52, the operator activates the hydraulic cylinder 23, and the hydraulic cylinder 23 operates and extends the push rod, at which time the hydraulic cylinder 23 moves downward until it abuts against the block 231. The superimposed plates are in contact with each other and the clad plate and the substrate are pressed to facilitate welding of the substrate and the superstrate, thereby reducing the possibility of displacement of the substrate and the superstrate during the welding process.

As shown in FIG. 4, the second conveying mechanism 6 includes a second conveying table 61. The second conveying table 61 is provided with a second conveying roller 62 along the width direction of the table 1, and both ends of the second conveying roller 62 pass through the second connecting block. 63 is rotatably connected to the second conveying table 61. The second conveying roller 62 is provided along the longitudinal direction of the table 1. After the substrate and the covering plate are welded into the composite plate, the second conveying roller 62 can be automatically rotated under the rotation of the second conveying roller 62. It is sent out of the workbench 1. A second synchronizing gear 621 is fixedly connected to the same end of each of the second conveying rollers 62. Each of the second synchronizing gears 621 is connected by a second chain 64, and a second conveying motor 65 is connected to the second conveying table 61. An output end of the motor 65 is coupled to both ends of the two second conveying rollers 62. Therefore, when the second conveying motor 65 is operated, the second conveying rollers 62 can simultaneously rotate the respective second conveying rollers 62 by the second chain 64 and the respective second synchronizing gears 621.

As shown in FIG. 10 and FIG. 11, in order to facilitate the conveyance of the composite plate to the table 1, the table 1 is provided with a lifting groove 11 along the conveying direction of the composite plate, and the lifting groove 11 is provided along the width direction of the table 1 with four lifting grooves. There are two rotating shafts 12 which are respectively slidably connected in the vertical direction. The two rotating shafts 12 are respectively located at two ends of the table 1 in the longitudinal direction, and the two rotating shafts 12 are respectively provided with rollers 121 and two rollers 121. A pusher 7 that drives the roller 121 to move in the vertical direction is provided. The pushing member 7 includes a cylinder 71 connected to the bottom of the groove of the lifting groove 11. The cylinder 71 is provided with a piston rod 711 at both ends thereof, and the piston rod 711 of the cylinder 71 is rotatably coupled with the abutting wheel 72. When the cylinder 71 is in operation, the piston rod 711 at both ends of the cylinder 71 is extended and the peripheral wall of the abutment wheel 72 is in contact with the peripheral wall of the roller 121. At this time, the piston rod 711 at both ends of the cylinder 71 continues to extend, and the counter wheel 72 lifts the roller 121. When the resisting wheel 72 is located directly under the roller 121, the peripheral wall of the roller 121 is in contact with the bottom of the composite plate and the composite plate is lifted off the surface of the table 1, thereby reducing the friction between the composite plate and the table 1. The second conveying roller 62 rotates and conveys the composite sheet out of the table 1. After the composite plate is conveyed out of the table 1, the piston rod 711 at both ends of the cylinder 71 is retracted, and the roller 121 is dropped back into the lifting groove 11 by the action of its own gravity, and the whole process is fast and efficient, and the working efficiency is high.

As shown in Fig. 5, the three-axis robot 4 includes a horizontal plate 41 connected to the platen block 22, a first connecting plate 42 slidably coupled to the horizontal plate 41 (Fig. 6), and a first sliding connection in the vertical direction. a vertical plate 43 on the connecting plate 42 and a second connecting plate 44 slidably connected to one end of the vertical plate 43 toward the table 1 (as shown in FIG. 1), and the upper surface of the horizontal plate 41 is connected along the length direction of the table 1. The first rack 411 (FIG. 6) is provided with a first gear 412 (FIG. 6) that meshes with the first rack 411, and the first gear 412 is connected to the first connecting plate 42. The upper first motor 413 is driven such that the first motor 413 can be driven to move the vertical plate 43 along the length of the table 1.

As shown in FIG. 7, the vertical plate 43 is connected with a second rack 431 disposed in a vertical direction, and the second rack 431 is provided with a second gear 432 that meshes with the second rack 431, and the second gear 432 passes The second motor 433 connected to the first connecting plate 42 is driven so that when the second motor 433 operates, the vertical plate 43 can be driven to move in the height direction of the table 1 (Fig. 1).

As shown in FIG. 9, the second connecting plate 44 is provided with a third rack 441 disposed along the width direction of the table 1 (as shown in FIG. 8), and the third rack 441 is provided with a third meshing engagement with the third rack 441. The gear 442, the vertical plate 43 is connected to the end of the table 1 via the fixing plate 444, and the third motor 443 is driven. The third gear 442 is driven by the third motor 443, so that when the third motor 443 is in operation, the second connecting plate 44 can be driven. Moving in the width direction of the table 1; the second welding gun 45 is fixedly coupled to the side of the second connecting plate 44 facing the table 1. In summary, by the driving of the first motor 413 (FIG. 6), the second motor 433 (FIG. 7), and the third motor 443, the second welding torch 45 fixedly connected to the second connecting plate 44 can be automatically and conveniently realized. The movement in the three-axis direction is performed to weld the substrate and the side of the sheath in the width direction.

Operation process: the operator places the substrate on the first conveying roller 52, then places the covering plate on the substrate, and respectively adheres the adjacent sides of the substrate and the covering plate to the inner side walls of the positioning block 56, thereby Quickly position the substrate and the cover. Then, the first conveying motor 55 operates, the first conveying roller 52 rotates and conveys the substrate and the cover plate to the table 1, at which time the hydraulic cylinder 23 operates, the hydraulic cylinder 23 moves downward and the resisting block 231 is pressed against the substrate and the cover. The plate, then the first welding torch 31 on the six-axis robot 3 and the second welding torch 45 on the three-axis robot 4 weld the substrate and the cover plate. After the substrate and the cover plate are welded into the composite plate, the cylinder 71 works to lift the roller 121 through the resisting wheel 72. The roller 121 opposes the composite plate and separates the composite plate from the surface of the table 1, and the operator pushes the composite toward the second conveying table 61. The plate causes the composite plate to fall onto the second conveying roller 62. At this time, the second conveying motor 65 operates to drive the second conveying roller 62 to rotate, thereby quickly and automatically conveying the composite plate out of the table 1 to complete the welding of the entire composite plate. Process.

The present invention is only an explanation of the present invention, and is not intended to limit the present invention. Those skilled in the art can make modifications without innovating the present embodiment as needed after reading the present specification, but as long as the present invention is in the right of the present invention. All requirements are protected by patent law.

Claims

A multi-robot cooperative welding pressure pairing device, comprising: a work table (1), a pressure plate mechanism (2) located above the work table (1) for pressing the substrate and the cover plate, and is located at the work table (1) a six-axis robot (3) on both sides in the width direction, a three-axis robot (4) on both sides of the table (1) along the length direction, and a feeding end on the table (1) for conveying the substrate and the cover plate a first conveying mechanism (5) to the table (1) and a discharge end at the table (1) for conveying the composite plate out of the table (1) a second conveying mechanism (6), the six-axis robot (3) a first welding torch (31) for welding one side of the substrate and the cover plate in the longitudinal direction, wherein the three-axis robot (4) is provided with a second surface for soldering the substrate and the cover plate in the width direction Welding torch (45).
The multi-robot cooperative welding pressure grouping device according to claim 1, wherein the first conveying mechanism (5) comprises a first conveying table (51), and the first conveying table (51) upper edge a first conveying roller (52) is disposed in the width direction of the table (1), and both ends of the first conveying roller (52) are rotatably connected to the first conveying table (51) through the first connecting block (53). The first conveying roller (52) is provided along the longitudinal direction of the table (1), and the same end of each of the first conveying rollers (52) is connected with a first synchronizing gear (521), each of which is The first synchronizing gear (521) is connected by a first chain (54), and the first conveying table (51) is connected with a first conveying motor (55), wherein one end of one of the first conveying rollers (52) is connected At the output of the first conveyor motor (55).
The multi-robot cooperative welding pressure grouping device according to claim 2, characterized in that: the one end of the first conveying table (51) remote from the table (1) is provided with a positioning block disposed in a vertical direction (56). The positioning block (56) is set to an angle steel, and the inner side of the angle steel faces one end of the first conveying roller (52).
The multi-robot cooperative welding pressure grouping device according to claim 1, wherein the platen mechanism (2) comprises a platen block (22) connected to the table (1) through a plurality of columns (21), The press plate block (22) is connected to a side of the table (1) with a plurality of hydraulic cylinders (23) arranged in a vertical direction, and a piston rod (711) of the hydraulic cylinder (23) is connected to the pressure plate block (22). )on.
The multi-robot cooperative welding pressure grouping device according to claim 4, characterized in that the hydraulic cylinder (23) is connected with an abutting block (231) toward one end of the table (1).
The multi-robot cooperative welding pressure grouping device according to claim 1, wherein the working table (1) is provided with a lifting groove (11) along a conveying direction of the composite plate, and the lifting groove (11) is along A plurality of width directions are arranged in the working platform (1), and two rotating shafts (12) are slidably connected in the vertical direction in the lifting groove (11), and the two rotating shafts (12) are sleeved There is a roller (121), and between the two rollers (121), a pushing member (7) is provided which drives the roller (121) to move in the vertical direction and collide with the bottom of the composite plate.
The multi-robot cooperative welding pressure grouping device according to claim 6, wherein the pushing member (7) comprises a cylinder (71) connected to the bottom of the lifting groove (11), the cylinder (71) Both ends are provided with a piston rod (711), and a piston rod (711) of the cylinder (71) is connected with an abutting wheel (72), and a peripheral wall of the abutting wheel (72) is opposite to a peripheral wall of the roller (121). The surface of the roller (121) is higher than the surface of the table (1) when the resisting wheel (72) is located directly below the roller (121).
The multi-robot cooperative welding pressure grouping device according to claim 1, wherein the second conveying mechanism (6) comprises a second conveying table (61), and the second conveying table (61) upper edge a second conveying roller (62) is disposed in the width direction of the table (1), and both ends of the second conveying roller (62) are rotatably connected to the second conveying table (61) through the second connecting block (63). The second conveying roller (62) is provided along the longitudinal direction of the table (1), and the same end of each of the second conveying rollers (62) is connected with a second synchronizing gear (621), each of which is The second synchronizing gear (621) is connected by a second chain (64), and the second conveying table (61) is connected to a second conveying motor (65), wherein one end of one of the second conveying rollers (62) is connected At the output of the second conveyor motor (65).
A multi-robot cooperative welding pressure grouping apparatus according to claim 4, wherein said three-axis robot (4) comprises a horizontal plate (41) attached to the platen block (22), and the sliding connection is horizontal. a first connecting plate (42) on the plate (41), a vertical plate (43) slidably coupled to the first connecting plate (42) in a vertical direction, and a sliding connection facing the vertical plate (43) a second connecting plate (44) at one end of the table (1), the upper surface of the horizontal plate (41) is connected with a first rack (411) along a length direction of the table (1), the first rack ( 411) is provided with a first gear (412) meshing with the first rack (411), the first gear (412) being driven by a first motor (413) connected to the first connecting plate (42) a second rack (431) disposed in a vertical direction is coupled to the vertical plate (43), and the second rack (431) is provided with a second mesh (431) a second gear (432), the second gear (432) is driven by a second motor (433) connected to the first connecting plate (42); and the second connecting plate (44) is provided along the working table ( 1) a third rack (441) disposed in the width direction, the third rack (441) a third gear (442) meshing with the third rack (441), the third gear (442) being driven by a third motor (443) coupled to the vertical plate (43); The welding gun (45) is connected to the side of the second connecting plate (44) facing the table (1).