CN110170774A - A kind of mobile double welding robot workstations - Google Patents

Abstract

The invention discloses a mobile double-welding robot workstation, which includes a welding workbench. Guide rail support seats are arranged on both sides of the welding workbench. Ground linear guide rails are installed on the guide rail support seats. Robot mobile columns are connected to the ground linear guide rails. The robot moves A robot suspension beam is fixed on the column, and a lifting mounting base is installed on the robot suspension beam, and a welding robot is connected to the lower end of the lifting mounting base; a welding tooling platform is installed on the welding workbench, and a positioning fixture module is fixed on the welding tooling platform. The main beam limit baffle and the main beam tooling support frame are installed on the positioning fixture module; the propelling tooling module and the main beam positioning movement module are arranged alternately between multiple positioning fixture modules; the angle steel is passed between the guide rail support seat and the welding tooling platform Solder connection. The mobile double welding robot workstation provided by the invention improves the clamping and positioning accuracy of welding workpieces, and increases welding stability and precision.

Description

A mobile double welding robot workstation

technical field

The invention relates to the technical field of robot welding, in particular to a mobile double welding robot workstation.

Background technique

At present, with the continuous development and upgrading of industry and manufacturing industry, automatic welding technology has been more and more widely used in different processing and manufacturing fields, such as supporting beams, supporting frames and automobile chassis manufacturing welding. The welding process is a process that requires high precision and flexibility. With the acceleration of product upgrading, the demand for processing flexibility in welding is becoming stronger and stronger. However, due to the limitations of the current automatic welding technology , in the dual welding robot workstation, the welding robot is usually set to work at a fixed station, which seriously affects the flexibility of the automatic welding workstation for welding processing, reduces the effective range of welding work of the welding robot, and produces welding problems for large parts. At the same time, because the welding work range of large parts exceeds the maximum effective working range of the fixed-station welding robot, the welding work station of the fixed-station welding robot must be required to use the welding work when performing the welding work of large-scale parts The movement of the table is required to complete the welding work of large parts, which will seriously reduce the clamping and positioning accuracy of the welding workpiece, and reduce the stability and precision of the welding work.

Contents of the invention

The purpose of the present invention is to provide a mobile double welding robot workstation to solve the above-mentioned problems in the prior art, improve the clamping and positioning accuracy of the welding workpiece, and increase the welding stability and precision.

To achieve the above object, the present invention provides the following scheme:

The invention provides a mobile double welding robot workstation, which includes a welding workbench. Two symmetrical guide rail support seats are arranged on both sides of the welding workbench. The ground linear guide rails are installed on the guide rail support seats. A robot mobile column is connected to the guide rail, and a robot suspension beam is fixedly arranged on the robot mobile column. An elevating mounting seat is installed on one end of the robot suspension beam located above the welding workbench, and the lower end of the elevating mounting base is connected to There is a welding robot; a welding tooling platform is installed on the welding workbench, and a plurality of positioning fixture modules are fixedly arranged on the welding tooling platform, and main beam limit baffles are installed on the positioning fixture modules at both ends. The main beam tooling support frame is installed on the positioning fixture module between the main beam limit baffles; the propelling tooling module and the main beam positioning movement module are arranged alternately between the multiple positioning fixture modules; the welding tooling platform It is connected with the support seat of the guide rail by angle steel line cable-stayed welding.

Optionally, the outer sides of the two mobile columns of the robot are fixedly provided with a mobile column support plate, and the inert gas storage bottle, the robot control cabinet, the workstation master control cabinet and the workstation backup power supply are sequentially arranged on the mobile column support plates. The robot control cabinet and the workstation master control cabinet are respectively electrically connected to the backup power supply of the workstation.

Optionally, a teaching pendant and a lubricating oil box are provided on the side wall of the moving column of the robot, and the teaching pendant is electrically connected to the robot control cabinet.

Optionally, a moving column cable drag chain is connected below the moving column of the robot.

Optionally, a beam safety fence is fixedly installed on the suspension beam of the robot, and a digital welding power supply is arranged on the suspension beam of the robot located in the safety fence of the beam, and the digital welding power supply is connected to the lifting mounting base respectively. It is electrically connected with the welding robot; a running status indicator light is set on the safety fence of the beam.

Optionally, the lifting mounting seat includes a lifting guide rail installation base fixed and vertically connected to the robot suspension beam, the lifting guide rail installation base is provided with a robot lifting guide rail, and the welding robot is installed on the lifting guide rail. A welding torch is connected to the end of the welding robot, and a wire feeder is installed at one end of the welding robot away from the welding torch; a lifting motor mounting base is arranged between the robot suspension beam and the lifting guide rail mounting base, and the The lifting motor installation base is provided with a robot lifting motor, and the robot lifting motor is connected with a lifting cable drag chain; the robot lifting motor is used to control the welding robot to rise and fall on the robot lifting guide rail.

Optionally, the bottom of the mobile column of the robot is arranged on the installation base of the mobile column, the installation base of the mobile column is provided with a driving motor for the mobile column, and the motor shaft at the lower end of the driving motor of the mobile column passes through the installation of the mobile column The base is connected with the driving gear of the moving column, and the driving gear of the moving column is engaged with the rack of the ground guide rail, and the rack of the ground guide rail is fixedly arranged on the support seat of the guide rail; The slider is connected to the ground linear guide rail, and ground guide rail limit blocks are fixedly installed at both ends of the ground linear guide rail.

Compared with the prior art, the present invention has achieved the following technical effects:

The present invention sets the ground linear guide rail for the two welding robots, through which the two welding robots can move freely and complete the welding work at the same time, and the free movement of the welding robot on the ground linear guide rail expands the working range of the welding work , so that the welding workstation can complete the welding work of large parts, the flexibility of the welding work is improved, and the accuracy and efficiency of the welding of large parts are improved. The present invention is provided with a lubrication system, which can be used for mobile The movement of the mechanism column on the ground linear track provides sufficient lubrication and prolongs the maintenance cycle.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic plan view of the moving guide rail of the welding robot;

Fig. 3 is a schematic diagram of the lifting mechanism of the welding robot;

Fig. 4 is a schematic diagram of the moving mechanism of the mobile column of the robot;

Figure 5 is a structural schematic diagram of the welding tooling platform and the guide rail support seat;

Reference signs:

1-First welding robot; 2-Second welding robot; 3-Elevating mounting base; 4-Digital welding power supply; 5-Beam safety fence; 6-Robot suspension beam; 7-Workstation backup power supply; 8-Robot control cabinet ;9-inert gas storage tank; 10-teaching device; 11-movable column cable drag chain; 12-welding workbench; 13-rail support seat; 14-lubricating oil box; General control cabinet; 17-robot moving column; 18-running status indicator light; 19-welding torch; 20-wire feeder; 21-lifting motor installation base; 22-robot lifting motor; 23-lifting cable drag chain; Lifting guide rail; 25-lifting guide rail installation base; 26-ground guide rail slider; 27-ground guide rail rack; 28-moving column drive motor; 29-moving column drive gear; 30-moving column installation base; 32-ground linear guide rail; 33-base; 34-main beam tooling support frame; 35-main beam limit baffle; 36-main beam positioning movement module; 37-propelling tooling module; 38-positioning fixture module.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The purpose of the present invention is to provide a mobile double welding robot workstation to solve the above-mentioned problems in the prior art, improve the clamping and positioning accuracy of the welding workpiece, and increase the welding stability and precision.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

The present invention provides a mobile double welding robot workstation, as shown in Fig. 1-t Fig. 5, including a first welding robot 1, a second welding robot 2, a lifting mounting base 3, a digital welding power supply 4, and a beam safety fence 5 , robot suspension beam 6, workstation backup power supply 7, robot control cabinet 8, inert gas storage tank 9, teach pendant 10, mobile column cable drag chain 11, lubricating oil box 14, robot mobile column 17, mobile column support plate 15, Guide rail support base 13 and welding workbench 12, mobile column support plate 15, workstation master control cabinet 16, operating status indicator light 18, the first welding robot 1 is on the side of the second welding robot 2, the first welding robot 1 and the second welding robot The welding robot 2 is connected with the robot suspension beam 6 through the lifting mounting base 3, the beam safety fence 5 is fixedly connected with the robot suspension beam 6, the robot suspension beam 6 is fixedly connected with the robot mobile column 17, and the mobile column support plate 15 is connected with the robot The mobile column 17 is fixedly connected, the bottom of the robot mobile column 17 is connected to the guide rail support seat 13 through the ground linear guide rail 32, the mobile column drive motor 28 is fixedly connected to the mobile column installation base 30, and the mobile column drive motor 28 passes through the mobile column drive gear 29 Engaged with the ground guide rail rack 27, the guide rail support seat 13 is fixedly connected with the welding workbench 12 using angle steel cable stays, and the guide rail support seat 13 is fixedly connected with the concrete ground.

Fig. 2 is a schematic plan view of the moving guide rail of the welding robot, including the first welding robot 1, the second welding robot 2, the robot suspension beam 6, the mobile column cable drag chain 11, the welding workbench 12, the guide rail support seat 13, the first welding robot 1 and the second welding robot 2 are all hung upside down on the robot suspension beam 6, the robot suspension beam 6 is fixedly connected with the robot mobile column 17, and the robot mobile column 17 moves left and right on the guide rail support seat 13 through the ground linear guide rail 32, and then welding The robot is driven by the robot moving column 17 and moves left and right to carry out welding work.

Fig. 3 is a schematic diagram of the lifting mechanism of a welding robot, including a welding torch 19, a wire feeder 20, a lifting motor mounting base 21, a robot lifting motor 22, a lifting cable drag chain 23, a robot lifting guide rail 24, a lifting guide rail mounting base 25, the first welding robot 1. A welding gun 19 is installed on the wrist, and the welding robot is fixedly linked with the lifting guide rail mounting base 25. The lifting guide rail mounting base 25 is provided with a robot lifting guide rail 24, and the robot lifting motor 22 is fixedly installed on the lifting motor mounting base 21. The robot lifting motor 22 passes Drive the rack and pinion to drive the welding robot to move up and down, the wire feeder 20 is installed on the welding robot arm, and the welding robot cable is protected by the lifting cable drag chain 23 to move up and down.

Fig. 4 is a schematic diagram of the moving mechanism of the mobile column of the robot, including a ground guide rail slider 26, a ground guide rail rack 27, a mobile column drive motor 28, a mobile column drive gear 29, a mobile column mounting base 30, a ground guide rail limit block 31, and a ground straight line Guide rail 32, mobile column drive motor 28 is fixed on the mobile column installation base 30, the ground guide rail slider 26 is fixedly installed under the mobile column installation base 30, the ground guide rail slider 26 is connected with the ground linear guide rail 32 using a low pair, and the ground guide rail teeth The bar 27 is fixedly connected with the guide rail support seat 13, the mobile column drive gear 29 is engaged with the ground guide rail rack 27, and the mobile column drive motor 28 drives the mobile column drive gear 29 to move to drive the robot to move the column 17. The two ends of the ground linear guide rail 32 A ground guide rail limiting block 31 is installed. The invention successfully avoids the deformation in the welding process caused by the asymmetric welding through the dual welding robots moving on the guide rails at the same time and working together, and improves the welding precision and quality. When performing welding work, the first welding robot and the second welding robot will move towards each other along their respective moving rails and perform welding work, and perform symmetrical welding from both ends of the workpiece at the same time, thus avoiding asymmetrical welding when welding symmetrical workpieces When the workpiece is deformed due to heat and uneven force.

As shown in Figure 5, a welding tooling platform is installed on the welding workbench 12, and a base 33 is fixedly arranged on the welding tooling platform, and a plurality of positioning fixture modules 38 are arranged on the base 33, and the positioning fixture modules 38 at both ends are equipped with main Beam limit baffles 35, main beam tooling support frames 34 are installed on the positioning fixture modules 38 between the main beam limit baffles 35; propelling tooling modules 37 and main beam The positioning movement module 36; the welding tooling platform and the guide rail support seat 13 are connected by angle steel cable-stayed welding.

The base uses a three-dimensional flexible welding platform to install the main beam tooling support frame, main beam limit baffle, main beam positioning movement module, propulsion tooling module and positioning fixture module to improve accuracy.

The main beam tooling support frame 34 is fixedly installed with five positioning fixture modules except the positioning fixture module 38 at the front end of the Y axis, to support the main beam;

The main beam limit baffle 35 is fixedly installed with the positioning fixture module 38 at the front end of the Y axis to limit the position of the main beam in the Y direction;

The main beam positioning movement module 36 includes an air pressure valve, an air pressure valve, a main beam support movement frame 43, a main beam support frame guide post and a main beam support frame guide rail. Among them, control the air pressure valve to drive the main beam support movement frame to move in the Y direction on the main beam support frame guide rail; control the air pressure valve to drive the main beam support movement frame to move in the Z direction on the main beam support frame guide column to drag the solar energy. The photothermal main beam moves to the accurate welding processing position.

The advancing tooling module 37 includes an air pressure valve, advancing clamping plates, advancing clamping plate guide rails and clamp blocks. Among them, half of the welded parts are fixed on the push clamping plate by fast locking bolts, and the air pressure valve drives the push clamping plate to move in the X direction on the guide rail of the push clamping plate to drag half of the welded parts and the solar light. The thermal main beam is closely attached, and the other half of the welded part is fixed by the clamp block and is closely attached to the solar thermal main beam.

The positioning fixture module 38 includes an air valve, an air valve, an air valve, a clamping device, a clamping device, a clamping device and a positioning plate. Among them, the air pressure valve is controlled to drive the clamping device to operate in the X direction to clamp the welded part so that it is closely attached to the solar thermal main beam, and the air pressure valve and the air pressure valve are controlled to drive the clamping device and the clamping device to operate in the Y direction. The direction clamps the welded part so that it will not move, and the bottom of the welded part is placed on the positioning plate to ensure that it will not fall during the welding process with the solar thermal main beam.

In the present invention, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, for those of ordinary skill in the art, according to the present invention The idea of the invention will have changes in the specific implementation and scope of application. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (7)

1. A mobile dual welding robot workstation, characterized in that: it comprises a welding workbench, two symmetrical guide rail support seats are arranged on both sides of the welding workbench, and a ground linear guide rail is installed on the guide rail support seat, so that The ground linear guide rail is connected with a robot mobile column, and the robot mobile column is fixedly provided with a robot suspension beam. A welding robot is connected to the lower end of the seat; a welding tooling platform is installed on the welding workbench, and a plurality of positioning fixture modules are fixedly arranged on the welding tooling platform, and main beam limit stops are installed on the positioning fixture modules at both ends The main beam tooling support frame is installed on the positioning fixture module located between the main beam limit baffles; the propelling tooling module and the main beam positioning movement module are arranged alternately between the multiple positioning fixture modules; The support base of the guide rail is connected to the welding tool platform by angle steel welding. 2. The mobile double-welding robot workstation according to claim 1, characterized in that: the outer sides of the two moving columns of the robot are fixedly provided with moving column support plates, and the inert gas storage bottles are sequentially arranged on the mobile column support plates , the robot control cabinet, the workstation master control cabinet and the workstation backup power supply, the robot control cabinet and the workstation master control cabinet are respectively electrically connected to the workstation backup power supply. 3. The mobile double welding robot workstation according to claim 2, characterized in that: a teaching pendant and a lubricating oil box are arranged on the side wall of the moving column of the robot, and the teaching pendant is electrically connected to the robot control cabinet. connect. 4. The mobile double-welding robot workstation according to claim 1, characterized in that: a moving column cable drag chain is connected below the moving column of the robot. 5. The mobile double-welding robot workstation according to claim 1, characterized in that: a beam safety fence is fixedly installed on the robot suspension beam, and a number is set on the robot suspension beam located in the beam safety fence. Welding power supply, the digital welding power supply is electrically connected with the lifting mounting base and the welding robot respectively; the safety fence of the beam is provided with a running status indicator light. 6. The mobile double welding robot workstation according to claim 1, characterized in that: the lifting mounting base includes a lifting guide rail mounting base fixed and vertically connected to the robot suspension beam, and the lifting guide rail mounting base is set There is a robot lifting guide rail, the welding robot is installed on the robot lifting guide rail, a welding torch is connected to the end of the welding robot, and a wire feeder is installed at the end of the welding robot away from the welding torch; A lifting motor mounting base is arranged between the lifting guide rail mounting bases, a robot lifting motor is arranged on the lifting motor mounting base, and a lifting cable drag chain is connected to the robot lifting motor; the robot lifting motor is used to control the The welding robot lifts on the robot lifting guide rail. 7. The mobile double welding robot workstation according to claim 1, characterized in that: the bottom of the mobile column of the robot is arranged on the installation base of the mobile column, and the installation base of the mobile column is provided with a drive motor for the mobile column, and the The motor shaft at the lower end of the mobile column drive motor passes through the installation base of the mobile column and is connected with a mobile column drive gear. The mobile column drive gear is engaged with a ground guide rail rack, and the ground guide rail rack is fixed on the guide rail. On the support base; the two ends of the installation base of the mobile column are respectively connected to the ground linear guide rail through the ground guide rail sliders, and the ground guide rail limit blocks are fixedly installed at both ends of the ground linear guide rail.