CN110919256A

CN110919256A - Robot welding device for loading motor-driven arm plate

Info

Publication number: CN110919256A
Application number: CN201911331427.9A
Authority: CN
Inventors: 孙云权; 齐立哲; 王祥海; 罗景龙; 夏捷; 赵建腾
Original assignee: Xuzhou Zhichang Robot System Co Ltd
Current assignee: Xuzhou Zhichang Robot System Co Ltd
Priority date: 2019-12-21
Filing date: 2019-12-21
Publication date: 2020-03-27

Abstract

The invention relates to the technical field of intelligent workshops, in particular to a robot welding device for loading a motor arm plate, which comprises a platform, and a feeding and discharging area, a workpiece shifting group, a mechanical arm and a flange feeding area which are distributed on the platform, wherein the feeding and discharging area is distributed on one side of the workpiece shifting group, the mechanical arm is arranged on the other side of the workpiece shifting group, the flange feeding area is arranged on one side of the mechanical arm far away from the workpiece shifting group, a worker loads a workpiece onto the workpiece shifting group through the feeding and discharging area, the workpiece shifting group rotates to the mechanical arm, the mechanical arm clamps a flange of the flange feeding area to the workpiece and is welded and fixed, the workpiece shifting group is reversed and reset after welding, and the worker takes the processed workpiece down to the feeding area.

Description

Robot welding device for loading motor-driven arm plate

Technical Field

The invention relates to the technical field of intelligent workshops, in particular to a robot welding device for loading a movable arm plate.

Background

The loader's swing arm plate is now assembled and welded for the human tool. The flange plate is manually assembled, spot-welded and welded. The assembly precision is poor, and flange hole is poor with swing arm board hole axiality, and manual welding seam quality is unstable, and welding time is long, and production efficiency is low.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention provides a system for automatically assembling flanges and automatically welding movable arm plates of a loader by a set of robots. The automatic positioning device mainly comprises a plurality of industrial robots, a workpiece positioner and a plurality of sets of robot front-end welding assembly tools. Each part works together to complete the welding work of the loading motor arm plate.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a welding set of robot for loading arm board, includes the platform and distributes last unloading district, work piece change position group, arm and flange material loading district on the platform, go up the unloading district and distribute in one side of work piece change position group, the other one side of work piece change position group is the arm, the arm is kept away from one side of work piece change position group and is established to flange material loading district, and the workman loads the work piece through going up the unloading district to work piece change position group on, work piece change position group rotates to arm department, and the flange of flange material loading district is got to work piece department welded fastening to the arm clamp, and the work piece change position group reversal resets after the welding is accomplished, and the workman takes off the work piece that the processing.

The workpiece displacement group comprises a mounting frame, a servo motor, a rotating frame, a workpiece, a buckle and a fixing plate, wherein the servo motor is fixedly mounted on one side of the mounting frame, the rotating shaft of the servo motor is fixedly connected with the rotating frame, the rotating frame is provided with the fixing plate for fixing the workpiece, and the buckle for fixing the workpiece is mounted on the fixing plate.

Furthermore, bolt holes for fixing the buckles are uniformly distributed in the fixing plate, the buckles are fixed on the fixing plate through bolt structures, the positions of the buckles on the fixing plate are matched according to the shapes and the sizes of the workpieces, and the proper buckles are selected to be installed at the corresponding positions on the fixing plate according to different workpieces to fix the workpieces.

Further, the arm includes base, stand, arm of force, rotating member, jack catch and automatic welder, the column mouting is on the base, the stand still is connected with the arm of force, the rotating member is installed to a tip of the arm of force, a tip of rotating member respectively with jack catch and automatic welder fixed connection. During work, the mechanical arm firstly clamps the flange plate in the flange feeding area, then the flange plate and the workpiece are placed in a matched mode, and then the rotating piece is controlled to rotate until the automatic welding gun is aligned with the joint of the flange and the workpiece to be welded.

Furthermore, the clamping jaws comprise air cylinders and clamping jaws, the air cylinders are used for driving the clamping jaws to move so as to clamp a workpiece, the clamping jaws move in the grooves in an oriented mode, and the clamping jaws are uniformly distributed along the circumference to uniformly clamp the flange plate.

Preferably, an industrial camera for identifying the clamping flange plate is arranged in the middle of the clamping jaw.

Further, the rotating part is of a rotatable plate-shaped structure driven by a servo motor, the clamping jaw and the automatic welding gun are fixedly mounted on the rotating part, and the rotating part rotates to switch the clamping jaw and the automatic welding gun.

Preferably, one end of the automatic welding gun is fed by a welding wire barrel, and the welding wire barrel is arranged on the mechanical arm.

Furthermore, the feeding and discharging area is divided into a feeding area and a discharging area, and the feeding area and the discharging area are distributed on one side of the workpiece variable bit group in parallel.

Furthermore, the flange feeding area is of a platform structure, and flange plates used for being welded with workpieces are evenly placed on the platform.

Furthermore, the position of the flange feeding area and the clamping position of the clamping jaws of the mechanical arm are matched in a real mode.

Compared with the prior art, the invention has the beneficial effects that:

according to the robot welding device for the loading arm moving plate, the labor cost is reduced, and the whole system is provided with a member for assisting in loading and unloading. Use industry camera discernment part type and part position during the assembly flange, then use the robot clamping jaw to snatch the part assembly, greatly improved the assembly precision of part. The welding robot has the advantages that the robot is used for automatic welding, welding time is shortened, meanwhile, the workpiece positioner is provided with double stations, feeding and discharging can be achieved during welding, and production efficiency is improved.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the configuration of the set of workpiece variables according to the present invention;

fig. 3 is a schematic view of the construction of the robot arm of the present invention.

In the figure: 1. the device comprises a platform, 2, a feeding and discharging area, 3, a workpiece shifting group, 4, a mechanical arm, 5 and a flange feeding area;

31. the device comprises a mounting frame 32, a servo motor 33, a rotating frame 34, a workpiece 35, a fastener 36 and a fixing plate;

41. base, 42, stand, 43, arm of force, 44, rotating member, 45, jack catch, 45a, cylinder, 45b, clamping jaw, 46, automatic welding torch.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

Example one

As shown in fig. 1, the robot welding device for loading a motor arm plate designed by the invention comprises a platform 1, and a feeding and discharging area 2, a workpiece shifting group 3, a mechanical arm 4 and a flange feeding area 5 which are distributed on the platform 1, wherein the feeding and discharging area 2 is distributed on one side of the workpiece shifting group 3, the mechanical arm 4 is arranged on the other side of the workpiece shifting group 3, a flange feeding area 5 is arranged on one side, away from the workpiece shifting group 3, of the mechanical arm 4, a worker loads a workpiece onto the workpiece shifting group 3 through the feeding and discharging area, the workpiece shifting group 3 rotates to the mechanical arm 4, the mechanical arm 4 clamps the flange of the flange feeding area 5 and welds and fixes the flange to the workpiece, the workpiece shifting group 3 is reversed and reset after welding, and the worker takes off the processed workpiece to the feeding area 2.

Furthermore, the feeding and discharging area 2 is divided into a feeding area and a discharging area, the feeding area and the discharging area are distributed on one side of the workpiece displacement group 3 in parallel, and the worker station is located in the middle of the feeding area and the discharging area, so that the material can be conveniently discharged and taken.

Furthermore, the flange feeding area 5 is of a platform structure, and flange plates used for being welded with workpieces are evenly placed on the platform.

Preferably, strip-shaped grooves are uniformly distributed on the platform of the flange feeding area 5 in the embodiment, so that the flange plates are conveniently and uniformly distributed.

Further, the position of the flange feeding area 5 and the clamping position of the clamping jaws of the mechanical arm are matched. This embodiment is through the clamp of the more accurate realization ring flange of the industrial camera in jack catch middle part.

As shown in fig. 2, the workpiece shifting group 3 includes a mounting frame 31, a servo motor 32, a rotating frame 33, a workpiece 34, a fastener 35 and a fixing plate 36, the servo motor 32 is fixedly mounted on one side of the mounting frame 31, a rotating shaft of the servo motor 32 is fixedly connected with the rotating frame 33, the fixing plate 36 for fixing the workpiece is mounted on the rotating frame 33, and the fastener 35 for fixing the workpiece is mounted on the fixing plate 36.

Furthermore, bolt holes for fixing the buckles 35 are uniformly distributed in the fixing plate 36, the buckles 35 are fixed on the fixing plate 36 through bolt structures, the positions of the buckles 35 on the fixing plate 36 are matched according to the shapes and the sizes of the workpieces, and the proper buckles 35 are selected to be installed at the corresponding positions on the fixing plate 36 according to different workpieces to fix the workpieces.

As shown in fig. 3, the robot arm 4 includes a base 41, a column 42, a force arm 43, a rotating member 44, a claw 45 and an automatic welding gun 46, the column 42 is mounted on the base 41, the column 41 is further connected with the force arm 43, the rotating member 44 is mounted at one end of the force arm 43, and one end of the rotating member 44 is respectively and fixedly connected with the claw 45 and the automatic welding gun 46. In operation, the mechanical arm 4 firstly clamps the flange plate of the flange feeding area 5, then controls the rotating part 44 to rotate to the automatic welding gun 46 after the flange plate and the workpiece are matched and placed, and aims at the joint of the flange and the workpiece to be welded.

As shown in fig. 3, the clamping jaw 45 comprises an air cylinder 45a and a clamping jaw 45b, wherein the air cylinder 45a is used for driving the clamping jaw 45b to move so as to clamp a workpiece, the clamping jaw 45a moves in a groove in an oriented mode, and the clamping jaws are uniformly distributed along the circumference and evenly clamp a flange plate.

Preferably, an industrial camera for recognizing the clamping flange is installed in the middle of the clamping jaw 45.

Further, the rotary member 44 is a rotatable plate-shaped structure driven by a servo motor, the jaws 45 and the automatic welding torch 46 are fixedly mounted on the rotary member 44, and the rotary member 44 rotates to switch the jaws and the automatic welding torch.

Preferably, one end of the automatic welding gun 46 is fed by a wire drum mounted on the robotic arm 4.

When the embodiment works, the laminated workpiece 34 is placed in the workpiece feeding area, the flange is uniformly placed in the flange feeding area, then a worker manually places the workpiece on the fixing plate 36 and clamps and fixes the workpiece through the buckle 35, after the workpiece is fixed, the servo motor is controlled to control the workpiece change group 3 to rotate, the workpiece is turned to one side of the mechanical arm 4, then the industrial camera of the mechanical arm 4 recognizes and clamps the flange plate, the flange plate and the workpiece are placed in a matched mode, then the rotating piece 44 is controlled, the automatic welding gun 46 is aligned to the welding seam, after the welding of the mechanical arm is controlled, the servo motor is controlled to rotate to the workpiece change group 3 to reset, and the worker takes down the workpiece and places the workpiece in the blanking area to complete the workpiece welding work.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The robot welding device for the loading motor arm plate is characterized by comprising a platform, and a feeding and discharging area, a workpiece changing group, a mechanical arm and a flange feeding area which are distributed on the platform, wherein the feeding and discharging area is distributed on one side of the workpiece changing group, the other side of the workpiece changing group is the mechanical arm, and one side of the mechanical arm, which is far away from the workpiece changing group, is set as the flange feeding area;

2. The robot welding device for the loader arm plate as claimed in claim 1, wherein bolt holes for fixing buckles are uniformly distributed on the fixing plate, the buckles are fixed on the fixing plate through bolt structures, and the positions of the buckles on the fixing plate are matched according to the shape and the size of a workpiece.

3. The robot welding device for the loader arm plate as claimed in claim 1, wherein the workpiece shifting group is rotated after being fixed by a fastener, the workpiece is rotated to one side of the mechanical arm, the mechanical arm processes the workpiece, and the workpiece shifting group is returned after the processing is completed.

4. The robot welding device for the loading robot arm plate according to claim 1, wherein the mechanical arm comprises a base, an upright, a force arm, a rotating part, a claw and an automatic welding gun, the upright is mounted on the base, the upright is further connected with the force arm, the rotating part is mounted at one end of the force arm, and one end of the rotating part is fixedly connected with the claw and the automatic welding gun respectively.

5. A robotic welding device for loading motor-arm plates, as claimed in claim 4, wherein the jaws include air cylinders for driving the jaws in motion to grip a workpiece and jaws.

6. A robotic welding device for loading robotic arm plates, as claimed in claim 4, wherein the rotary member is a rotatable plate-like structure driven by a servo motor, the jaws and automatic welding gun being fixedly mounted on the rotary member.

7. A robotic welding device for loading a motorised boom plate according to claim 6, wherein an end of said automatic welding gun is fed by a welding wire drum mounted on the boom.

8. A robotic welding device for loader arm panels as in claim 1 wherein said loading and unloading section is divided into a loading section and a unloading section, said sections being juxtaposed on one side of the set of workpiece displacements.

9. A robot welding device for loading motor-driven arm plates according to claim 1, characterized in that the flange loading area is of a platform structure, and flange plates for welding with workpieces are uniformly arranged on the platform.

10. A robotic welding device for loader arm panels as in claim 1 wherein the location of the flange loading area and the gripper location of the robotic arm are matched.