WO2022257228A1 - 基于工业机器人的焊接系统及其焊接方法 - Google Patents

基于工业机器人的焊接系统及其焊接方法 Download PDF

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Publication number
WO2022257228A1
WO2022257228A1 PCT/CN2021/106749 CN2021106749W WO2022257228A1 WO 2022257228 A1 WO2022257228 A1 WO 2022257228A1 CN 2021106749 W CN2021106749 W CN 2021106749W WO 2022257228 A1 WO2022257228 A1 WO 2022257228A1
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moving
welding
workpiece
drives
move
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PCT/CN2021/106749
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English (en)
French (fr)
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杨青
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南京涵铭置智能科技有限公司
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Publication of WO2022257228A1 publication Critical patent/WO2022257228A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element

Definitions

  • the invention relates to the field of welding technology, in particular to an industrial robot-based welding system and a welding method thereof.
  • the ordinary welding machine can only realize the welding of the fixed surface of the workpiece, and cannot realize the arc or ring welding. Therefore, the ordinary welding machine cannot be used for welding the arc-shaped workpiece.
  • manual welding is often used, but this operation method is likely to cause problems of low welding accuracy and poor quality; of course, there are also robotic arms for welding, but there are also problems of poor welding flexibility and high purchase costs. .
  • the present invention provides a welding system based on an industrial robot, and further provides a welding method based on the above-mentioned welding system, so as to solve the above-mentioned problems existing in the prior art.
  • the welding system based on industrial robots includes three parts: clamping components, moving components and lifting components.
  • the clamping assembly includes a first power module, a sliding mechanism fixedly connected to the first power module, and a clamping member connected to the sliding mechanism for clamping the workpiece;
  • the moving component is fixedly connected with the sliding mechanism, including a moving part, which is rotatably connected with the moving part to drive the first rotating part to move the moving part at the same distance;
  • the lifting assembly includes a second power module, a lifting mechanism that is connected to the second power module and drives the workpiece to lift;
  • the first power module drives the sliding mechanism and the moving assembly to move toward the outer surface of the workpiece at the same distance, so as to center the workpiece.
  • the sliding mechanism includes a moving plate, and a moving block fixedly connected to the moving plate, driven by the first power module to move the moving plate, and the first power module drives the moving block connected to it It moves, and then drives the moving plate fixedly connected with the moving block to move, so as to realize the movement of the clamping part connected to the moving plate, and is used for positioning the workpiece.
  • the lifting mechanism includes a base, the base is arranged on the first rotating part and fixedly connected with the lifting mechanism, the workpiece is arranged on the base, and the first rotating part is arranged below, the base and
  • the connection of lifting components is used to support the workpiece and facilitate the clamping and positioning of the workpiece to improve the welding quality.
  • the lifting mechanism includes a second rotating member, a first transmission member that is rotatably connected to the second rotating member and the base, and realizes up and down reciprocating movement through rotation, and the second rotating member drives the first transmission member Rotation realizes the lifting of the first transmission member, further realizes the arc shape of the workpiece and the welding of some irregular shapes, improves the utilization rate of the welding machine, and saves processing costs.
  • the welding system further includes a bracket, the bracket is provided with a chute along the length direction, the moving plate moves along the chute, when the first power module drives the moving block to move At the same time, it drives the moving plate to move, and the design of the chute further guides the movement of the moving plate, making the moving track more accurate, and further improving the clamping accuracy and positioning accuracy of the workpiece.
  • the welding system further includes a guide and limit mechanism, and the guide and limit mechanism is rollingly connected with the moving part.
  • the guide and limit mechanism is rollingly connected with the moving part.
  • the lifting mechanism includes a socket, the socket is rotatably connected to the first transmission member, and when the first power module drives the first transmission to rotate up or down, the socket Parts are used to support the workpiece to rotate and move up and down.
  • the lifting mechanism includes a connecting piece, and the connecting piece is arranged between the socket piece and the first rotating member and is in close contact with each other.
  • the first rotating member rotates, it does not It will drive the first transmission part to rotate.
  • the first transmission part rotates up or down, it will not drive the first rotating part to move. It is used to limit the position of the first rotating part and the socket, and further improve the processing quality and precision.
  • the welding method of the welding system based on the industrial robot comprises the following steps:
  • the first power module drives the moving block connected to it to move, and the moving block drives the moving plate connected to it to move in the chute on the bracket, and the moving component Mesh and connect with the first rotating part.
  • the moving assembly arranged on one end of the moving plate will drive the moving assembly at the other end to rotate through the rotation of the first rotating part.
  • the limit mechanism will limit the moving assembly, and the moving assembly will Drive the clamping parts set on the moving plate to move towards the workpiece equidistantly, clamping tightly to center the workpiece;
  • the lifting mechanism drives the second rotating part to rotate, the second rotating part drives the first transmission part to move up and down, and the chassis connected to the transmission mechanism drives the workpiece to rotate and move up and down.
  • the socket on the piece restricts the rotation of the first rotating piece, and then the welding machine performs welding work on the rotating and rising workpiece to realize arc-shaped or curved welding of the workpiece.
  • the lifting mechanism drives the workpiece to reset, the clamping component drives the moving component to move backward, and the welded workpiece is transferred to the next station;
  • the invention relates to a welding system and welding method based on an industrial robot, which consists of three parts: a clamping component, a moving component and a lifting component.
  • the first power module in the clamping component drives the sliding mechanism to move, and then drives the sliding mechanism connected
  • the clamping part and the moving component on the mechanism move, and the moving component is arranged symmetrically.
  • the movement of the moving component drives the first rotating part to rotate at the same time, and then the symmetrical moving component moves equidistantly, so as to realize the centering of the workpiece Positioning;
  • the second power module in the lifting assembly drives the second rotating part to rotate, and then drives the first transmission part to rotate and move up and down, thereby driving the chassis connected to the first transmission part to rotate and move up and down at the same time, thereby realizing the workpiece
  • the rotation and up and down movement of the welding machine realize the arc welding of the welding machine. This design greatly saves the cost and further improves the quality and efficiency of welding.
  • Fig. 1 is the assembly schematic diagram of overall structure of the present invention
  • Fig. 2 is a schematic cross-sectional structure diagram of the first rotating part and the socket part of the present invention
  • Fig. 3 is a top view structural diagram of the first rotating part and the socket part of the present invention.
  • Fig. 4 is a partial structural schematic diagram of the lifting assembly of the present invention.
  • Fig. 5 is an enlarged schematic diagram of part A of the limit mechanism in Fig. 1 of the present invention.
  • Fig. 6 is an enlarged schematic diagram of the mobile plate in Fig. 1 of the present invention at part B of the bracket chute.
  • each reference sign is: chassis 1, workpiece 2, first rotating part 3, clamping part 4, moving part 5, moving plate 6, cylinder 7, motor 8, screw rod 9, leading screw 10, support 11, slide Groove 11a, limit mechanism 12, roller 12a, moving part 12b, support plate 12c, ball bearing 13, socket 14.
  • the applicant designed a welding system and its welding method based on industrial robots.
  • the automatic clamping and automatic rotating welding system replaces the mechanical arm and manual welding, which greatly reduces the welding quality problems caused by manual operation, and further Save costs and improve production efficiency.
  • the welding system based on industrial robots involved in the present invention mainly includes three parts: a clamping assembly, a moving assembly and a lifting assembly, wherein the clamping assembly includes a first power module, and The moving block fixedly connected to the first power module, the moving plate 6 fixedly connected to the moving block, the clamping part 4 arranged on the moving plate 6, the moving assembly includes the moving part 5 and the first rotating part 3, and one end of the moving part 5 Fixedly arranged on the moving plate 6, the other end is meshed with the first rotating member 3.
  • the lifting assembly includes a second power module, a second rotating member that is rotatably connected with the second power module, and a second rotating member that is connected at one end to the second rotating member.
  • the first transmission member, and the base provided at the other end of the first transmission member; the first power module in this embodiment is a cylinder 7, and the moving plate 6 and the moving block are symmetrically arranged in two relative to the first rotating member 3, and the moving assembly
  • the second power module is a motor 8
  • the second rotating part is a screw 9
  • the first transmission part is a lead screw 10 .
  • the cylinder 7 drives the moving block to move forward, and the moving block drives the moving plate 6 to move in the same direction.
  • the moving components arranged on the moving plate 6 also move. movement, the moving part 5 on the moving assembly also moves forward, and at the same time drives the first rotating part 3 engaged with it to start rotating, and the rotation of the rotating part drives another moving part 5 connected to it to also start to move toward the first rotating part.
  • the motion assembly adopted in this embodiment only needs one power source to realize the synchronous two-way movement of the two clamping parts 4, realize the centered positioning, save costs, and improve the clamping accuracy.
  • the forward rotation and reverse rotation of the motor drive the screw rod to perform forward rotation and reverse rotation.
  • the motor 8 in the motor drives the screw rod 9 connected to it to rotate, and the rotation of the screw rod 9 drives the lead screw 10 engaged with it to move up and down, and the lead screw 10 drives the base connected to it to separate from the first rotating member 3 to rotate and rise.
  • the workpiece 2 is driven to rotate and rise.
  • the welding machine fixed on one side of the workpiece 2 can realize circular arc or spiral welding, or welding of other curves when the workpiece 2 rotates and rises.
  • the lifting assembly drives the workpiece 2 on the chassis 1 to reset, and the welded workpiece 2 is transferred to the next station along with the conveyor. This embodiment further reduces the problems caused by manual operation caused by welding quality, and further improves Save costs and improve welding quality.
  • slide grooves 11a are respectively arranged on both sides of the bracket 11 of the welding system, and the moving plate 6 on the clamping assembly is connected to the two sides.
  • the side chute 11a is clearance fit, and the moving plate 6 moves in the track of the chute 11a to ensure the accuracy of the movement track. The movement distance prevents the risk of the clamping part 4 colliding with the workpiece 2.
  • a guide limit mechanism 12 is provided in front of the moving part 5 and the first rotating part 3, wherein the guide limit mechanism 12 includes a support frame, and is arranged on the support frame. 1. Rotate the connected roller 12a.
  • the roller 12a is provided with an annular groove to cooperate with the raised block on the moving part 5.
  • the roller 12a is used to disperse the radial force generated by the moving part 5 when it moves, so that it can drive the clamping part 4 to clamp the workpiece 2 equidistantly to make it more stable and accurate.
  • a socket 14 is installed on the lead screw 10, and the socket 14
  • the inside is set as a helical shape matched with the lead screw 10, and a connecting piece is arranged between the socket piece 14 and the first rotating piece 3.
  • the connecting piece is a ball bearing 13.
  • the present invention proposes a welding method based on an industrial robot welding system, the specific steps are as follows:
  • the first power module drives the moving block connected to it to move, and the moving block drives the moving plate 6 connected to it to move in the chute 11a on the bracket 11. Movement, the moving assembly and the first rotating part 3 are meshed and connected. At this time, the moving assembly arranged on one end of the moving plate 6 passes through the rotation of the first rotating part 3, and at the same time drives the moving assembly at the other end to rotate. At this time, the limit mechanism 12 pairs The movement component is limited, and the movement component drives the clamping part 4 arranged on the moving plate 6 to move to the workpiece 2 at equal distances, and the workpiece 2 is clamped tightly to be centered;
  • the lifting mechanism drives the second rotating part to rotate
  • the second rotating part drives the first transmission part to move up and down
  • the chassis 1 connected to the transmission mechanism drives the workpiece 2 to rotate and move up and down.
  • the sleeve 14 on a transmission part restricts the rotation of the first rotating part 3 under the action of the connecting part, and then the welding machine performs welding work on the rotating and rising workpiece 2 to realize the arc-shaped or curved shape of the workpiece 2.
  • the lifting mechanism drives the workpiece 2 to reset, the clamping component drives the moving component to move backward, and the welded workpiece 2 is transferred to the next station, and then the welding system continues to carry out the next workpiece sent by the conveyor line continue with the welding operation;

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Resistance Welding (AREA)

Abstract

一种基于工业机器人的焊接系统及其焊接方法，焊接系统包括夹紧组件、运动组件和升降组件三部分组成，通过夹紧组件中第一动力模块带动滑动机构进行运动，进而带动连接在滑动机构上的夹持件(4)和运动组件进行运动，运动组件为对称设置，运动组件的运动同时带动第一转动件(3)进行转动，进而实现对称的运动组件等距离的进行运动，从而实现对工件(2)的对中定位；升降组件中的第二动力模块带动第二转动件进行转动，进而带动第一传动件进行转动和上下运动，从而带动与第一传动件连接的底盘(1)同时进行转动和上下移动，进而实现工件(2)的旋转和上下移动，进而实现焊机的圆弧焊接。

Description

基于工业机器人的焊接系统及其焊接方法 技术领域
本发明涉及焊接技术领域，具体涉及一种基于工业机器人的焊接系统及其焊接方法。
 背景技术
在焊接技术中，目前普通的焊接机只能实现对工件固定面的焊接，不能实现对圆弧或是环状焊接，因此在进行圆弧状的工件焊接时不能使用普通的焊接机进行焊接，目前往往使用人工进行焊接，但是这种操作方式容易造成焊接精度不高、质量较差的问题；当然也有采用机械手臂来进行焊接，但是也存在焊接柔性较差，同时购买的成本较高的问题。
因此，需要一种既可以节省成本，又可以提高焊接质量和效率的焊接系统来解决目前存在的问题。
 技术问题
本发明提供一种基于工业机器人的焊接系统，并进一步提供一种基于上述焊接系统的焊接方法，以解决现有技术存在的上述问题。
 技术解决方案
基于工业机器人的焊接系统，包括夹紧组件、运动组件和升降组件三部分。
其中，夹紧组件包括第一动力模块，与第一动力模块固定连接的滑动机构，以及与滑动机构连接，用于夹持工件的夹持件；
运动组件，与滑动机构固定连接，包括移动件，与移动件转动连接带动移动件同距离运动的第一转动件；
升降组件，包括第二动力模块，与第二动力模块连接、且带动工件升降的升降机构；
第一动力模块驱动滑动机构和运动组件同距离的向工件外表面运动，用于对工件进行居中定位。
在进一步的实施例中，所述滑动机构包括移动板，以及与所述移动板固定连接、通过所述第一动力模块带动移动板运动的移动块，第一动力模块带动与之连接的移动块进行运动，进而带动与移动块固定连接的移动板进行移动，从而实现连接在移动板上的夹持件进行运动，用于对工件进行定位。
在进一步的实施例中，所述升降机构包括底座，所述底座设置在所述第一转动件上面、且与升降机构固定连接，底座上设置有工件，下面设置有第一转动件，底座与升降组件连接，用于支撑工件并便于对工件进行夹持定位，提高焊接质量。
在进一步的实施例中，所述升降机构包括还第二转动件，与第二转动件和底座转动连接、且通过转动实现上下往复移动的第一传动件，第二转动件带动第一传动件转动，实现第一传动件的升降，进一步实现了工件的圆弧形状及一些不规则形状的焊接，提高焊接机的利用率，节省加工成本。
在进一步的实施例中，所述焊接系统还包括支架，所述支架上设置有沿长度方向的滑槽，所述移动板沿所述滑槽运动，当第一动力模块带动移动块进行移动时，同时带动移动板进行移动，滑槽的设计更进一步的对移动板的运动进行导向，使得移动轨迹更加的精确，更进一步提高了对工件的夹持精度和定位精度。
在进一步的实施例中，所述焊接系统还包括导向限位机构，所述导向限位机构与所述移动件滚动连接，当移动件的运动带动第一转动件进行转动时，由于移动件和第一转动件之间会有一个径向力，使得移动件会偏离转动件，容易导致夹持精度下降，导向限位机构设置在移动件的外侧，用于分散第一转动件在工作时所带来的径向力，减少所述第一转动件在运动过程中产生的径向力，防止移动件偏离所述转动件。
在进一步的实施例中，所述升降机构包括套接件，所述套接件与所述第一传动件转动连接，当第一动力模块带动第一传动件进行转动上升或下降时，套接件用于支撑工件进行转动和上下移动。
在进一步的实施例中，所述升降机构包括连接件，所述连接件设置在所述套接件和所述第一转动件之间、且紧密贴合，当第一转动件进行转动时不会带动第一传动件进行转动，当第一传动件进行旋转上升或是下降时不会带动第一转动件进行运动，用于限制第一转动件和套接件的位置，进一步提高加工质量和精度。
基于工业机器人的焊接系统的焊接方法，包括以下步骤：
S1、传送线中需要焊接的工件到达焊接工位时，第一动力模块带动与之连接的移动块进行运动，移动块带动与之连接的移动板在支架上的滑槽中进行运动，运动组件和第一转动件啮合连接，此时设置在移动板一端上的运动组件通过第一转动件的转动，同时带动另一端的运动组件进行转动，此时限位机构对运动组件进行限位，运动组件带动设置在移动板上的夹持件等距离的向工件进行运动，夹持紧对工件进行居中定位，；
S2、居中定位完成之后，升降机构带动第二转动件转动，第二转动件带动第一传动件进行上下移动，连接在传动机构上的底盘带动工件进行旋转上下移动，此时设置在第一传动件上的套接件在连接件的作用下，限制第一转动件进行转动，然后焊机进行对旋转上升的工件进行焊接工作，实现工件的圆弧状或是曲线的焊接，焊接完成后，升降机构带动工件进行复位，夹持组件带动运动组件向后运动，工焊接好的工件传送至下一个工位；
S3、重复S1至S2的工作，直到系统结束工作。
 有益效果
本发明涉及一种基于工业机器人的焊接系统及其焊接方法，包括夹紧组件、运动组件和升降组件三部分组成，通过夹紧组件中第一动力模块带动滑动机构进行运动，进而带动连接在滑动机构上的夹持件和运动组件进行运动，运动组件为对称设置，运动组件的运动同时带动第一转动件进行转动，进而实现对称的运动组件等距离的进行运动，从而实现对工件的对中定位；升降组件中的第二动力模块带动第二转动件进行转动，进而带动第一传动件进行转动和上下运动，从而带动与第一传动件连接的底盘同时进行转动和上下移动，进而实现工件的旋转和上下移动，进而实现焊机的圆弧焊接。本设计大大节省了成本，进一步的提高了焊接的质量和效率。
 附图说明
图1为本发明总体结构装配示意图；
图2为本实用第一转动件和套接件剖视结构示意图；
图3为本发明第一转动件和套接件俯视结构示意图；
图4为本发明升降组件部分结构示意图；
图5为本发明图1中限位机构A部放大示意图；
图6为本发明图1中移动板在支架滑槽B部放大示意图。
图中各附图标记为：底盘1、工件2、第一转动件3、夹持件4、移动件5、移动板6、气缸7、电机8、螺杆9、丝杠10、支架11、滑槽11a、限位机构12、滚轮12a、移动件12b、支撑板12c、滚珠轴承13、套接件14。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
申请人认为，传统的焊接方式在焊接圆弧等形状时，普通的焊接机不能进行焊接只能依靠人工进行手动焊接，这种操作方法质量不高而且效率不好，采用机械手臂进行焊接会导致焊接圆滑性不好，而且价格非常昂贵。
为此，申请人设计一种基于工业机器人的焊接系统及其焊接方法，由自动夹紧和自动旋转的焊接系统代替机械手臂和人工焊接，大大降低了人工操作产生的焊接质量问题，而且进一步的节省成本，提高生产效率。
实施例一：
在实际应用中，如图1至图6所示，本发明涉及的基于工业机器人的焊接系统主要包括夹紧组件、运动组件和升降组件三部分组成，其中夹紧组件包括第一动力模块，与第一动力模块固定连接的移动块，与移动块固定连接的移动板6，设置在移动板6上的夹持件4，运动组件包括移动件5和第一转动件3，移动件5的一端固定设置在移动板6上，另一端与第一转动件3进行啮合连接，升降组件包括第二动力模块，与第二动力模块转动连接的第二转动件，以及一端与第二转动件连接的第一传动件，以及设置在第一传动件另一端的底座；本实施例中的第一动力模块为气缸7，移动板6和移动块相对第一转动件3对称设置为2个，运动组件的移动件5相对第一转动件3也设置为2个，第二动力模块为电机8，第二转动件为螺杆9，第一传动件为丝杠10。
需要焊接的工件2进行焊接时，气缸7带动移动块向前运动，移动块带动移动板6同向进行运动，此时设置在移动板6上的运动组件也进行运动，随着移动板6的运动，运动组件上的移动件5也向前运动，同时带动与之啮合的第一转动件3开始进行转动，转动件的转动带动与之连接的另一个移动件5也开始向第一转动件3方向运动，进而带动与另一个移动件5连接的移动块和移动板6向第一转动件3方向运动，进而两个移动件5的运动通过第一转动件3上的齿轮啮合转动，带动设置在两个移动板6上的夹持件4同时向第一转动件3方向运动，此时工件2在第一转动件3上的底盘1上，在两个夹持件4的作用下实现居中定位，本实施例采用的运动组件只需要一个动力源就可以实现两个夹持件4同步双向运动，实现居中定位，节省成本，提高夹持精度，对工件2进行夹持居中之后，由于电机连接的螺杆与丝杠之间啮合连接，电机的正转和反转带动螺杆进行正转和反转，螺杆的正反转动带动与之啮合连接的丝杠进行往复的上下移动，本实施例中的电机8带动与之连接的螺杆9进行转动，螺杆9的转动带动与之啮合连接的丝杠10进行上下移动，丝杠10带动与之连接的底座脱离第一转动件3进行旋转上升，同时带动工件2进行旋转上升，固定在工件2一侧的焊接机在工件2进行旋转上升时就可以实现圆弧或是螺旋状的焊接，或是其他一些曲线的焊接工作，当焊接完成后，升降组件带动底盘1上的工件2进行复位，焊接好的工件2随着输送机传送至下一个工位，本实施例更进一步的减少人工操作带来的焊接质量造成的问题，同时更进一步的节省成本，提高焊接质量。
优选的，为了提高移动板6运动轨迹的精度，增加夹持件4对工件2的定位精度，在焊接系统的支架11两侧分别设置有滑槽11a，夹持组件上的移动板6与两侧的滑槽11a间隙配合，移动板6在滑槽11a的轨迹中进行运动，保证运动轨迹的精度，同时在移动板6支撑柱的两侧设置有限位块，限制移动块带动移动板6的运动距离，防止夹持件4与工件2发生碰撞的风险。
优选的，为了防止运动组件中的移动件5与第一转动件3转动时，导致工作过程中第一转动件3与移动件5产生的径向力，使得移动件5偏离第一转动件3造成夹持件4不能准确夹持工件2的问题，在移动件5和第一转动件3的前面设置导向限位机构12，其中导向限位机构12包括支撑架，以及与设置在支撑架上面、转动连接的滚轮12a，滚轮12a上设置有环形槽与移动件5上的凸起块进行配合，移动块与第一转动件3进行啮合运动时，其上面的凸起块与滚轮12a的环形槽中运动，滚轮12a用于分散移动件5在运动时所产生的径向力，使其更加稳定精确的带动夹持件4进行等距离的向工件2进行夹持。
优选的，为了解决升降组件带动工件2旋转升降时不会带动第一转动件3运动，可以实现工件2旋转升降的问题，在丝杠10上转动设置有一套接件14，套接件14的内部设置为与丝杠10相配合的螺旋状，以及在套接件14和第一转动件3之间设置有一连接件，连接件为滚珠轴承13，当电机8带动螺杆9进行转动，螺杆9带动与之连接的丝杠10进行上下移动，丝杠10通过套接件14进行转动升降，滚珠轴承13防止丝杠10转动时带动第一旋转件的位置移动，保证工件2的旋转升降精度，提高焊接质量。
在上述焊接系统的基础之上，本发明提出一种基于工业机器人的焊接系统的焊接方法，具体步骤如下：
首先，传送线中需要焊接的工件2到达焊接工位时，第一动力模块带动与之连接的移动块进行运动，移动块带动与之连接的移动板6在支架11上的滑槽11a中进行运动，运动组件和第一转动件3啮合连接，此时设置在移动板6一端上的运动组件通过第一转动件3的转动，同时带动另一端的运动组件进行转动，此时限位机构12对运动组件进行限位，运动组件带动设置在移动板6上的夹持件4等距离的向工件2进行运动，夹持紧对工件2进行居中定位，；
接着，居中定位完成之后，升降机构带动第二转动件转动，第二转动件带动第一传动件进行上下移动，连接在传动机构上的底盘1带动工件2进行旋转上下移动，此时设置在第一传动件上的套接件14在连接件的作用下，限制第一转动件3进行转动，然后焊机进行对旋转上升的工件2进行焊接工作，实现工件2的圆弧状或是曲线的焊接，焊接完成后，升降机构带动工件2进行复位，夹持组件带动运动组件向后运动，工焊接好的工件2传送至下一个工位，然后焊接系统继续进行传送线传送过来的下一个工件继续进行焊接操作；
最后，重复S1至S2的工作，直到系统结束工作。
如上所述，尽管参照特定的优选实施例已经表示和表述了本发明，但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下，可对其在形式上和细节上做出各种变化。

Claims (9)

  1. 基于工业机器人的焊接系统，其特征在于，包括：
    夹紧组件，包括第一动力模块，与第一动力模块固定连接的滑动机构，以及与滑动机构连接，用于夹持工件的夹持件；
    运动组件，与滑动机构固定连接，包括移动件，与移动件转动连接带动移动件同距离运动的第一转动件；
    升降组件，包括第二动力模块，与第二动力模块连接、且带动工件升降的升降机构；
    第一动力模块驱动滑动机构和运动组件同距离的向工件外表面运动，用于对工件进行居中定位。
  2. 根据权利要求1所述的基于工业机器人的焊接系统，其特征在于：所述滑动机构包括移动板，以及设置在所述移动板固定连接、通过所述第一动力模块带动移动板运动的移动块。
  3. 根据权利要求1所述的基于工业机器人的焊接系统，其特征在于：所述升降机构包括底座，所述底座设置在所述第一转动件上面、且与升降机构固定连接，用于对工件进行支撑。
  4. 根据权利要求1所述的基于工业机器人的焊接系统，其特征在于：所述升降机构包括还第二转动件，与第二转动件和底座转动连接、且通过转动实现上下往复移动的第一传动件，第二转动件带动第一传动件转动，实现第一传动件的升降，带动工件进行转动和上下移动。
  5. 根据权利要求2所述的基于工业机器人的焊接系统，其特征在于：所述焊接系统还包括支架，所述支架上设置有沿长度方向的滑槽，所述移动板沿所述滑槽运动，用于限制所述移动板的运动轨迹。
  6. 根据权利要求1所述的基于工业机器人的焊接系统，其特征在于：所述焊接系统还包括导向限位机构，所述导向限位机构与所述移动件滚动连接，用于减少所述第一转动件在运动过程中产生的径向力，防止移动件偏离所述转动件。
  7. 根据权利要求4所述的基于工业机器人的焊接系统，其特征在于：所述升降机构包括套接件，所述套接件与所述第一传动件转动连接，用于支撑所述第一传动件进行运动。
  8. 根据权利要求7所述的基于工业机器人的焊接系统，其特征在于：所述升降机构包括连接件，所述连接件设置在所述套接件和所述第一转动件之间、且紧密贴合，用于限制第一转动件和套接件的位置。
  9. 基于工业机器人的焊接系统的焊接方法，其特征在于，包括如下步骤：
    S1、第一动力模块带动滑动机构和运动组件沿着滑槽运动，夹持件对工件进行居中定位；
    S2、升降机构带动第二转动件转动，第二转动件带动第一传动件进行上下移动，连接在传动机构上的底盘带动工件进行旋转上下移动，焊机进行焊接工作；
    S3、重复S1至S2的工作，直到系统结束工作。
PCT/CN2021/106749 2021-06-10 2021-07-16 基于工业机器人的焊接系统及其焊接方法 WO2022257228A1 (zh)

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