CN111468866A

CN111468866A - Four-axis large-stroke moving device of four-robot of overhead crane

Info

Publication number: CN111468866A
Application number: CN201910061819.1A
Authority: CN
Inventors: 曹硕; 李永军; 许志明; 刘欣; 王庆文; 么新磊; 刘子岩; 杨轶民; 王志高; 马金亮; 赵东祥; 赵志勇; 周文
Original assignee: Tangshan Kaiyuan Autowelding System Co ltd
Current assignee: Tangshan Kaiyuan Autowelding System Co ltd
Priority date: 2019-01-23
Filing date: 2019-01-23
Publication date: 2020-07-31

Abstract

The four-axis large-stroke moving device comprises a bottom moving unit, a Z-axis lifting unit and a robot cantilever unit, can simultaneously support 4 arc welding robots to perform linkage welding, can complete the movement in the front-back direction and the lifting direction, is driven by a servo motor, and has the advantages of coordinated movement of the robots during welding, high welding precision and high welding speed. The control unit automatically controls the robot to move back and forth and lift through signal acquisition, and is suitable for efficient automatic production lines. The bottom moving unit is driven by two sets of servo motors and is driven by a gear rack to respectively drive the sliding seats to move in opposite directions or opposite directions; the Z-axis lifting unit consists of a lead screw driving assembly, an upright post, a welding wire barrel supporting assembly, a lifting sliding assembly and an automatic lubricating assembly, and ensures the stable lifting of the robot; two robots can be installed simultaneously to the cantilever unit of robot, installs limit switch subassembly on the cantilever beam, realizes the extreme position detection of robot.

Description

Four-axis large-stroke moving device of four-robot of overhead crane

Technical Field

The invention relates to a four-axis large-stroke moving device for a four-robot overhead crane.

Background

In the semi-trailer industry, the frame is the most important structural part of the vehicle body, and directly influences the overall quality of the vehicle body. When the frame is welded, the welding seam to be welded is large and long due to the large size of the frame, the welding seam is completely carried out manually, the efficiency is low, and the labor intensity is high; the traditional frame welding has low automation degree, the welding process and the like are carried out by manual operation, and the welding process is greatly influenced by human factors, so that the frame has poor consistency, low qualification rate and limited productivity. Under the background condition, a four-shaft large-stroke moving device of a four-robot overhead crane is designed, researched and developed. The moving device can realize linkage welding of four robots at the same time, so that the welding consistency is ensured, and the quality and the productivity of the frame are greatly improved; the adjustment of the direction is controlled by a heavy-duty positioner, and four robots are linked for welding, so that the robot is suitable for an efficient automatic production line; the control unit automatically controls the lifting and moving of the robot through collecting signals, and the intelligent degree is high.

Disclosure of Invention

In view of this, four-axis large-stroke moving device of four robots of sky crane has been designed.

The four-axis large-stroke moving device for the overhead four-robot comprises a bottom moving unit, a Z-axis lifting unit and a robot cantilever unit. The bottom of the first part of the moving device is provided with a moving unit, the unit is large in load and long in stroke, the sliding seats are driven to move in opposite directions or opposite directions through two sets of servo drives and gear-rack transmission, the sliding seats are positioned through an origin pin, a limit switch and a dead gear, and a working area is divided. The welding precision of the robot can be fully met, and the welding device is suitable for efficient welding of large structural members such as frames. The second part of the moving device is a Z-axis lifting unit which consists of a lead screw driving assembly, an upright post, a welding wire barrel supporting assembly and a lifting sliding assembly, so that the robot can be stably lifted. The screw driving assembly is driven by a servo motor, is vertically arranged in the upright post and is connected with the lifting sliding assembly through a screw nut and a screw nut seat; wherein the lifting sliding component is supported by the guide rail sliding blocks at two sides, so that the lifting process is more stable. The welding wire barrel supporting component is fixed on the side face of the stand column in a hanging mode, a guide frame and the like are added, and smooth wire feeding is guaranteed. And the cantilever unit of the robot of the third part of the mobile device has large cantilever length and large distance between the two robots, and two robot supports are arranged on the cantilever beam to finish the overhead crane installation of the robot. And a limit switch assembly is arranged on the cantilever beam to realize the limit position detection of the robot. The moving device and other peripheral equipment such as a positioner, a clamp and the like work in a cooperative mode to automatically control the loading and unloading of workpieces, and finally, the high-efficiency and high-quality automatic continuous production of the frame is realized.

Drawings

Fig. 1 is a perspective view of the four-axis large-stroke moving device of the overhead crane four-robot with the largest distance.

Fig. 2 is a perspective view of the four-axis large-stroke moving device of the overhead four-robot with the minimum space.

Fig. 3 is a perspective view of the bottom mobile unit.

Fig. 4 is a perspective view of the lifting unit.

Fig. 5 is a perspective view of a robot boom unit.

Detailed Description

Please refer to fig. 1, which is a perspective view of the four-axis large-stroke moving device of the overhead crane with the maximum distance. The device consists of a bottom moving unit 1, a Z-axis lifting unit 2 and a robot cantilever unit 3.

Please refer to fig. 2, which is a perspective view of the four-axis large-stroke moving device of the overhead crane with the minimum distance.

Referring to fig. 3, the bottom moving unit includes a base 1, a sliding base 2, a limit switch assembly 3, a dead stop 4, an origin pin 5, and a servo driving unit 6. The initial position of the device is the original point position of the original point pin 5, the slide seat 2 is driven by the servo driving part 6 to move, and the moving speed, the moving direction and the like of the slide seat are controlled by the detection of the control unit. When the two sliding seats move towards each other, the minimum distance is detected through the limit switch assembly 3, and the dead stop 4 plays a role in limiting position protection.

Referring to fig. 4, the lifting unit is composed of a screw driving assembly 1, a column 2, a welding wire barrel supporting assembly 3, a lifting sliding assembly 4, an automatic lubricating assembly 5, and a limit switch assembly 6. In the operation process of the equipment, the servo motor drives the screw component 1, and the screw component 1 is connected with the lifting sliding component 4 through the screw nut and the screw nut seat to drive the lifting sliding component 4 to lift on the upright post 2. The automatic lubricating component 5 is arranged on the side surface of the upright post, and the lubricating effect of the guide rail and the like can be fully ensured. The limit switch assembly 6 controls the upper limit position and the lower limit position of the lifting sliding assembly 4, and the control unit automatically controls the lifting height according to signal feedback.

Referring to fig. 5, the robot cantilever unit is composed of a cantilever beam 1 and a robot mounting base 2. The cantilever beam 1 is connected with the lifting sliding component 4 in fig. 4 through a bolt, so that the lifting movement of the robot is completed. The robot mounting seat 2 and the cantilever beam 1 are fixed through bolts, and the overhead crane mounting of the robot is completed.

It will be appreciated by persons skilled in the art that the above embodiments are illustrative only and not limiting to the invention, and that suitable modifications and variations to the above examples are within the spirit and scope of the invention as claimed.

Claims

1. A four-axis large-stroke moving device for a four-robot overhead crane comprises a bottom moving unit, a Z-axis lifting unit and a robot cantilever unit. The method is characterized in that: the moving device can simultaneously support 4 arc welding robots to perform linkage welding, can complete the movement in two directions of front and back movement and lifting movement, is driven by a servo motor, and coordinates with the robots during welding, so that the welding precision is high, the welding speed is high, and the welding efficiency is greatly improved. The control unit automatically controls the front-back movement and lifting of the robot by acquiring signals, and automatically controls the loading and unloading of workpieces and the like by cooperating with other peripheral equipment such as a positioner, a clamp and the like, so that the high-efficiency and high-quality automatic continuous production of the frame is finally realized.

2. The base mobile unit of claim 1, wherein: the load is large, the stroke is long, servo drive is adopted, and the gear and rack transmission drives the sliding seats to move in opposite directions or opposite directions respectively; and the sliding seat is positioned by adopting an original point pin, a limit switch and a dead gear, and a working area is divided. The welding precision of the robot can be fully met, and the welding device is suitable for efficient welding of large structural members such as frames.

3. The Z-axis lift unit of claim 1, wherein: the unit consists of a lead screw driving assembly, a stand column, a welding wire barrel supporting assembly, a lifting sliding assembly and an automatic lubricating assembly, and stable lifting of the robot is guaranteed. The screw driving assembly is driven by a servo motor, is vertically arranged in the upright post and is connected with the lifting sliding assembly through a screw nut and a screw nut seat; wherein the lifting sliding component is supported by the guide rail sliding blocks at two sides, so that the lifting process is more stable. The welding wire barrel supporting component is fixed on the side surface of the upright post in a suspension mode, a guide frame and the like are added, and smooth wire feeding is guaranteed; the automatic lubricating component can fully ensure the lubricating effect of the guide rail and the like. The structure adopts finite element analysis, and the most reasonable appearance structure is selected.

4. The robotic boom unit of claim 1, wherein: the cantilever has large length and is suitable for welding large workpieces such as a frame and the like; two robot supports are arranged on the cantilever beam of the unit to finish the overhead crane installation of the robot; and a limit switch assembly is arranged on the cantilever beam to realize the limit position detection of the robot.

5. A lift glide assembly as in claim 3 wherein a concertina shroud is added to provide protection to the rail.