CN111843266A

CN111843266A - Upright post welding system

Info

Publication number: CN111843266A
Application number: CN202010724761.7A
Authority: CN
Inventors: 张文元; 王鲜团
Original assignee: Suzhou Zhongju Green Building Technology Co ltd
Current assignee: Huayuan Modular Building Technology Shanghai Co ltd
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2020-10-30
Anticipated expiration: 2040-07-24
Also published as: CN111843266B

Abstract

The invention provides an upright post welding system which comprises a truss mechanism, a positioner and a welding robot, wherein the truss mechanism is arranged on the upper portion of a frame; the truss mechanism comprises a three-axis sliding table and a clamp arranged on the three-axis sliding table, and the three-axis sliding table and the clamp can be matched to move to transfer the workpiece to the positioner; the positioner comprises two groups of displacement assemblies which are distributed at intervals and used for clamping the left side and the right side of a workpiece, each displacement assembly comprises a base, a first clamping piece, a second clamping piece, a connecting piece and a pressing driving device, the first clamping piece is installed at the top of the base, the second clamping piece and the first clamping piece are closed to form a clamping piece with a clamping hole, the workpiece can be flatly placed in the two clamping holes by the clamp, the connecting piece is connected with the second clamping piece, the pressing driving device is hinged to the base, an output rod of the pressing driving device is hinged to the connecting piece, and the pressing driving device can be turned up or pressed down on the second. The welding system can be operated continuously and has high welding efficiency.

Description

Upright post welding system

Technical Field

The invention belongs to the technical field of welding equipment, and particularly relates to an upright post welding system.

Background

In the course of working of stand, need weld the end panel in the both ends of stand, still need each apex angle of welding stand in addition, consequently need carry out multi-angle welding to the work piece, current welding system can adopt machine of shifting to accomplish with the welding robot cooperation, and machining efficiency is higher.

However, the existing upright welding system usually adopts intermittent machining, cannot realize continuous production from workpiece feeding to workpiece discharging, and has long waiting time in the middle, so that the machining efficiency still needs to be improved.

In addition, the existing upright post welding system clamps the workpiece in an enclosing manner, if the vertex angle of the workpiece needs to be welded, the workpiece cannot be welded due to the blocking of the clamping piece, the clamping position of the workpiece needs to be adjusted, and the welding efficiency of the workpiece is influenced.

Disclosure of Invention

The invention aims to provide an upright post welding system to solve the problems of low welding efficiency and unsmooth welding operation of the existing upright post.

The invention provides the following technical scheme:

an upright post welding system comprises a truss mechanism, a positioner and a welding robot; the truss mechanism comprises a three-axis sliding table and a clamp arranged on the three-axis sliding table, and the three-axis sliding table and the clamp can cooperate to move to transfer the workpiece to the positioner; the positioner comprises two groups of displacement assemblies which are distributed at intervals and used for clamping the left side and the right side of a workpiece, each displacement assembly comprises a base, a first clamping piece, a second clamping piece, a connecting piece and a pressing driving device, the first clamping piece is mounted at the top of the base, the second clamping piece and the first clamping piece are closed to form the clamping piece with a clamping hole, a clamp can horizontally place the workpiece in the two clamping holes, the connecting piece is connected with the second clamping piece, the pressing driving device is hinged to the base, an output rod of the pressing driving device is hinged to the connecting piece, and the pressing driving device can turn up or press down the second clamping piece.

Preferably, the clamping member is of a copper wire type structure as a whole, a first clamping head, a second clamping head and a third clamping head are mounted on the first clamping member, the first clamping head is fixed on the first clamping member and can clamp the front side wall of the workpiece, the second clamping head and the third clamping head respectively clamp the bottom wall and the rear side wall of the workpiece, and the third clamping head is driven by the clamping mechanism to extend or retract relative to the workpiece; and a fourth chuck which can clamp the top wall of the workpiece is arranged on the second clamping piece and comprises a rubber block which can clamp the top wall of the workpiece.

Preferably, the clamping mechanism comprises a motor, a rotating shaft driven by the motor to rotate, and a first driving wheel and a second driving wheel which are respectively connected with the upper side and the lower side of the rotating shaft in a key mode; the third chuck comprises a third chuck body and a first rack fixedly connected with the third chuck body and meshed with the first driving wheel, the second chuck comprises a second chuck body and a second rack fixedly connected with the second chuck body and meshed with the second driving wheel, the first rack and the second rack are both horizontally arranged, and the motor can simultaneously drive the first rack and the second rack to move horizontally in the same direction.

Preferably, the initial position of the second chuck is offset from the center of the cross section of the workpiece toward the rear side of the workpiece.

Preferably, a driven bevel gear is mounted in the middle of the rotating shaft, and a driving bevel gear meshed with the driven bevel gear is mounted on an output shaft of the motor.

Preferably, the first clamping member is provided with a first positioning groove and a second positioning groove for positioning the first rack and the second rack respectively, and the first rack and the second rack can respectively translate along the first positioning groove and the second positioning groove.

Furthermore, the fixture comprises a fixing frame arranged on a Z-axis sliding table of the three-axis sliding table, and at least two electromagnets arranged on the fixing frame, and the electromagnets can adsorb workpieces after being electrified.

Furthermore, double stations are arranged below the truss mechanism, and each station is provided with a set of positioner; the welding robot is arranged on the ground rail and can alternately walk between two stations along the ground rail; the welding robot is a six-axis robot.

Further, still include the buffer memory station, can place a plurality of work pieces on the buffer memory station, the ground rail with the buffer memory station is located the front and back both sides of machine of shifting respectively, the X axle slip table of triaxial slip table can the buffer memory station with move between the machine of shifting.

Preferably, the pressing driving device is a pneumatic cylinder or a hydraulic cylinder.

The invention has the beneficial effects that:

the welding method is used for welding the upright post with the rectangular cross section, and can weld the end panel of the upright post on the upright post body and also weld four top corners of the upright post. The truss mechanism adopts a three-axis sliding table structure, can flexibly transfer workpieces between the caching station and the positioner, and has high working efficiency.

The positioner comprises a first clamping piece and a second clamping piece which are split, wherein the first clamping piece is fixed on a base, and the second clamping piece can be driven by a pressing driving device to turn upwards to be separated from the first clamping piece, so that a workpiece cannot be prevented from being placed in a clamping hole; after the workpiece is positioned, the pressing driving device drives the second clamping piece to turn downwards to be closed with the first clamping piece, so that the four sides of the workpiece are clamped.

The invention adopts a split copper wire type position changing machine, four chucks are arranged in the position changing machine to clamp a workpiece, welding seams at the edge of the workpiece cannot be shielded, and loading and unloading are convenient. The third chuck is driven by the clamping mechanism to stretch and retract so as to clamp workpieces of different sizes, the second chuck can move in the same direction as the third chuck, and the initial position of the second chuck deviates from the middle of the cross section of the workpiece towards one side of the rear side of the workpiece.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

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

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic structural view of the welding robot and the ground rail of the present invention;

FIG. 4 is a schematic structural diagram of the positioner of the present invention;

FIG. 5 is a schematic view of the present invention as a workpiece is loaded into the indexing machine;

FIG. 6 is a schematic structural view of the truss mechanism and clamp of the present invention;

FIG. 7 is a schematic diagram of a side tipping skew of a workpiece prior to clamping in the indexing machine.

Labeled as: 1. a truss mechanism; 2. a position changing machine; 3. a welding robot; 4, a Y-axis sliding table; an X-axis sliding table; 6, a Z-axis sliding table; 8. a ground rail; 9. a base; 10. a first clamping member; 11. a second clamping member; 12. a connecting member; 13. a compression drive device; 14. a clamping hole; 15. a support; 16. a connecting portion; 18. positioning the convex strip; 19. a first chuck; 20. a second chuck; 21. a third chuck; 22. a fourth chuck; 23. a motor; 24. a rotating shaft; 25. a first drive wheel; 26. a second drive wheel; 27. a third chuck body; 28. a first rack; 29. a second chuck body; 30. a second rack; 31. a driven bevel gear; 32. a drive bevel gear; 33. a bearing; 34. a first positioning groove; 35. a second positioning groove; 36. a fixed mount; 37. an electromagnet; 38. a workpiece; 39. and caching the station.

Detailed Description

As shown in fig. 1 to 6, an upright post welding system includes a truss mechanism 1, a positioner 2, and a welding robot 3. As shown in fig. 6, the truss mechanism 1 comprises a three-axis sliding table and a clamp arranged on a Z-axis sliding table 5 of the three-axis sliding table, and the three-axis sliding table and the clamp can cooperate to move a workpiece to a position changer; specifically, the anchor clamps of this system are including installing mount 36, two at least electro-magnets 37 of installing on mount 36 on Z axle slip table 5, but the work piece that relates to in this system also is the material of magnetism correspondingly for the material is inhaled, the adsorbable work piece after electro-magnet 37 circular telegram, this anchor clamps simple structure is practical.

As shown in fig. 1 and 2, the welding system further comprises a cache station 39, a plurality of workpieces 38 can be placed on the cache station 39, the cache station 39 is located on the rear side of the positioner 2, and the Y-axis sliding table 4 of the three-axis sliding table can drive the X-axis sliding table 5 to move between the cache station 39 and the positioner 2, so that the workpieces on the cache station 39 are transferred to the positioner 2 one by one.

The lower part of the truss mechanism 1 is provided with double stations, and each station is provided with a set of positioner 2. As shown in fig. 3, the system further includes a ground rail 8 located in front of the positioner 2 and parallel to the workpiece placement direction, the welding robot 3 is mounted on the ground rail 8 and can alternately walk between two stations along the ground rail 8, which is a known technology and therefore is not described in detail. When the system is used for feeding/discharging materials at one station, the other workpiece is welded, so that the welding efficiency is improved; the welding robot 3 is a six-axis robot, can change welding angles and coordinates, and is flexible and accurate in action.

As shown in fig. 4 and 5, each set of positioner 2 comprises two sets of displacement assemblies which are distributed at intervals and clamp the left and right sides of a workpiece, each displacement assembly comprises a base 9, a first clamping member 10, a second clamping member 11, a connecting member 12 and a pressing driving device 13, the first clamping member 10 is mounted at the top of the base 9, the second clamping member 11 and the first clamping member 10 are closed to form a clamping member with copper clamping holes 14, and when the first clamping member 10 is opened, the workpiece 38 is horizontally placed in the two clamping holes 14 by the clamp. A support 15 is fixed on the base 9, the top of the support 15 is hinged with a connecting piece 12, one end of the connecting piece 12 extends above the second clamping piece 11 and is fixedly connected with the second clamping piece 11, the other end of the connecting piece 12 is provided with a connecting part 16 protruding horizontally, the pressing driving device 13 can be selected from an air cylinder or a hydraulic cylinder, the bottom of the pressing driving device is hinged on the base 9, the output rod is hinged with the connecting part 16, and the pressing driving device 13 can be turned up or pressed down on the second clamping piece 11. The positioning groove can be set at the top of the first clamping piece 10, the bottom of the second clamping piece 11 is provided with a positioning convex strip 18 matched with the positioning groove, and when the pressing driving device 13 presses the second clamping piece 11 on the first clamping piece 10, the positioning convex strip 18 is embedded into the positioning groove, so that the clamping effect between the first clamping piece 10 and the second clamping piece 11 is tighter and more accurate.

In order to reliably clamp a workpiece, a first clamping head 19, a second clamping head 20 and a third clamping head 21 are arranged on the first clamping member 10, the first clamping head 19 is fixed on the first clamping member 10 and can clamp the front side wall of the workpiece, the second clamping head 20 and the third clamping head 21 respectively clamp the bottom wall and the rear side wall of the workpiece, and the third clamping head 21 is driven by a clamping mechanism to extend or retract relative to the workpiece, so that clamping action and loosening action are respectively realized. The fourth clamping head 22 capable of clamping the top wall of the workpiece is arranged on the second clamping part 11, and a rubber block capable of clamping the top wall of the workpiece is arranged on the fourth clamping head 22 and can be telescopically deformed after being pressed so as to press the workpiece with the thickness difference. The system adopts four-point type clamping work piece, the chuck can avoid the welding seam on the edge of the vertex angle of the work piece, and the welding is more convenient.

Specifically, as shown in fig. 5, the clamping mechanism includes a motor 23, a rotating shaft 24 driven to rotate by the motor 23, and a first driving wheel 25 and a second driving wheel 26 respectively keyed on upper and lower sides of the rotating shaft 24. The third chuck comprises a third chuck body 27 and a first rack 28 fixedly connected with the third chuck body 27 and meshed with the first driving wheel 25, the second chuck 20 comprises a second chuck body 29 and a second rack 30 fixedly connected with the second chuck body 29 and meshed with the second driving wheel 26, the first rack 28 and the second rack 30 are both horizontally arranged, and the motor 23 can simultaneously drive the first rack 28 and the second rack 30 to horizontally move in the same direction. Fig. 7 shows a schematic view of clamping a workpiece without using the clamping mechanism of the present invention, wherein the second chuck is fixedly installed and is close to the first chuck, so that the workpiece is easily tilted to one side of the third chuck during loading, which results in the workpiece toppling and inaccurate loading position. Since the initial position of the second chuck 20 of the present invention is offset from the middle of the cross-section of the workpiece toward the rear side of the workpiece, when the workpiece 38 is placed on the second chuck 20, the workpiece can be more stably supported because the second chuck 20 is spaced apart from the first chuck 19 by a relatively large distance, preventing the workpiece from being tilted or tilted toward the rear side. When the workpiece is placed stably, the motor 23 drives the rotating shaft 24 to rotate, the rotating shaft 24 drives the first driving wheel 25 and the second driving wheel 26 to rotate in the same direction, the two driving wheels drive the first rack 28 and the second rack 30 to move in the same direction respectively, so that the third chuck 21 presses the rear side wall of the workpiece, the second chuck 20 moves to the middle part close to the cross section of the workpiece, the workpiece is continuously and reliably supported, and the second chuck 20 is far away from the edge position of the workpiece at the moment and does not interfere with welding of the top corner of the workpiece. Similarly, during the unloading, motor 23 drive pivot 24 antiport, second chuck 20 moves to initial position, third chuck 21 retracts, the downstream work piece 38 that adsorbs of anchor clamps on truss mechanism 1 this moment, because second chuck 20 can support the position of keeping away from first chuck side of work piece bottom, consequently under the prerequisite that the rear side wall of work piece has lost the clamp force, even unstable phenomena such as vibration appear in the adsorption affinity of anchor clamps, the work piece is also difficult to topple over or skew towards the rear side, the stability and the continuity of unloading have been guaranteed.

The middle part of the rotating shaft 24 is provided with the driven bevel gear 31, and the output shaft of the motor 23 is provided with the drive bevel gear 32 meshed with the driven bevel gear 31, so that the driving point of the motor 23 on the rotating shaft 24 is positioned in the middle part of the rotating shaft, the driving effect of the first driving wheel 25 and the second driving wheel 26 is more balanced, and the problem that the output forces of two ends of the rotating shaft are different in magnitude can not occur.

The tooth spaces of the first rack 28 and the second rack 30 may be the same or different, and may be adjusted according to actual conditions. The first clamping member 10 is provided with a first positioning slot 34 and a second positioning slot 35 for positioning and guiding the first rack 28 and the second rack 30, respectively, and the first rack 28 and the second rack 30 can respectively move in a translational manner along the first positioning slot 34 and the second positioning slot 35. The first clamping member 10 is further provided with bearings 33 matched with the rotating shaft 24, and the upper end and the lower end of the rotating shaft 24 are respectively arranged in the two bearings 33.

The working process of the invention is as follows:

arranging a plurality of workpieces 38 on a cache station 39, moving a clamp to the cache station 38 by the action of a Y-axis sliding table 4 of the truss mechanism 1, moving a Z-axis sliding table 6 downwards, and after an electromagnet of the clamp is electrified to adsorb the workpieces stably, moving the clamp to the position changing machine 2 by the Y-axis sliding table 4, at the moment, turning a second clamping part 11 upwards by a pressing driving device 13 to open the position changing machine, moving the Z-axis sliding table 6 downwards again, powering off the electromagnet of the clamp to release the workpieces, placing the workpieces 38 in clamping holes 14 of the position changing machine, and moving the clamp by the three-axis sliding table. The clamping mechanism drives the third clamping head 21 to clamp the rear side wall of the workpiece, the pressing drive 13 flips the second clamping member 11 over and presses it against the first clamping member 10, and at the same time the fourth clamping head 22 presses the top of the workpiece 38 to hold it in place. The welding robot 3 walks to the position corresponding to the positioner along the ground rail to start welding the workpiece. And when the workpiece is welded, the three-shaft sliding table and the clamp move another workpiece to a second station to wait for welding.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A column welding system is characterized by comprising a truss mechanism, a positioner and a welding robot; the truss mechanism comprises a three-axis sliding table and a clamp arranged on the three-axis sliding table, and the three-axis sliding table and the clamp can act in a matched mode to transfer a workpiece to the positioner; the positioner comprises two groups of displacement components which are distributed at intervals and used for clamping the left side and the right side of a workpiece, each displacement component comprises a base, a first clamping piece, a second clamping piece, a connecting piece and a pressing driving device, the first clamping piece is mounted at the top of the base, the second clamping piece and the first clamping piece are closed to form the clamping piece with clamping holes, and the workpiece can be flatly placed in the two clamping holes by the clamp; the connecting piece is fixedly connected with the second clamping piece, the pressing driving device is hinged to the base, an output rod of the pressing driving device is hinged to the connecting piece, and the pressing driving device can be turned up or pressed down on the second clamping piece.

2. The stud welding system according to claim 1, wherein the clamping members are of a copper coin type structure, the first clamping member is provided with a first clamping head, a second clamping head and a third clamping head, the first clamping head is fixed on the first clamping member and can clamp the front side wall of the workpiece, the second clamping head and the third clamping head respectively clamp the bottom wall and the rear side wall of the workpiece, and the third clamping head is driven by the clamping mechanism to extend or retract relative to the workpiece; and a fourth chuck capable of clamping the top wall of the workpiece is arranged on the second clamping piece, and a rubber block capable of clamping the top wall of the workpiece is arranged on the fourth chuck.

3. The stud welding system according to claim 2, wherein the clamping mechanism comprises a motor, a rotating shaft driven by the motor to rotate, a first driving wheel and a second driving wheel respectively keyed on the upper side and the lower side of the rotating shaft; the third chuck comprises a third chuck body and a first rack fixedly connected with the third chuck body and meshed with the first driving wheel, the second chuck comprises a second chuck body and a second rack fixedly connected with the second chuck body and meshed with the second driving wheel, the first rack and the second rack are both horizontally arranged, and the motor can simultaneously drive the first rack and the second rack to move horizontally in the same direction.

4. The stud welding system of claim 3, wherein the initial position of the second collet is offset from a middle of the cross-section of the workpiece toward a rear side of the workpiece.

5. The stud welding system according to claim 3, wherein a driven bevel gear is mounted at the middle of the rotating shaft, and a driving bevel gear engaged with the driven bevel gear is mounted on the output shaft of the motor.

6. The stud welding system of claim 3, wherein the first clamping member has first and second detents for positioning the first and second racks, respectively, and wherein the first and second racks are translatable along the first and second detents, respectively.

7. The column welding system according to claim 1, wherein the fixture comprises a fixed frame arranged on a Z-axis sliding table of the three-axis sliding table, and at least two electromagnets arranged on the fixed frame, and the electromagnets can adsorb workpieces after being electrified.

8. The column welding system according to any one of claims 1 to 7, wherein double stations are arranged below the truss mechanism, and a set of positioner is arranged on each station; the welding robot is arranged on the ground rail and can alternately walk between two stations along the ground rail; the welding robot is a six-axis robot.

9. The column welding system according to claim 8, further comprising a buffer station, wherein a plurality of workpieces can be placed on the buffer station, the ground rail and the buffer station are respectively located on the front side and the rear side of the positioner, and an X-axis sliding table of the three-axis sliding table can move between the buffer station and the positioner.

10. The stud welding system of claim 1, wherein the compression drive is a pneumatic or hydraulic cylinder.