CN118404273B - Welding robot production line for conveyor structural parts - Google Patents
Welding robot production line for conveyor structural parts Download PDFInfo
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- CN118404273B CN118404273B CN202410684830.4A CN202410684830A CN118404273B CN 118404273 B CN118404273 B CN 118404273B CN 202410684830 A CN202410684830 A CN 202410684830A CN 118404273 B CN118404273 B CN 118404273B
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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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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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 for a procedure covered by only one of the other main groups of this subclass
-
- 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a welding robot production line for conveyor structural parts, and belongs to the technical field of welding equipment. Comprising the following steps: the three-axis sliding table system comprises a three-axis sliding table system, a multi-axis welding mechanical arm, a lifting position changing machine and a dust remover, wherein the three-axis sliding table system comprises an X-axis beam transversely arranged through a stand column, a Y-axis beam slidingly connected with the X-axis beam through a sliding table device, a Z-axis lifting shaft slidingly connected with the Y-axis beam through the sliding table device, the multi-axis welding mechanical arm is fixedly mounted at the bottom end of the Z-axis lifting shaft, the lifting position changing machine is provided with a plurality of groups and sequentially distributed along the direction of the X-axis beam, and the dust remover is mounted on the Y-axis beam. The invention solves the problems of low welding precision and high labor intensity of workers in the prior art.
Description
Technical Field
The invention relates to a welding robot production line for conveyor structural parts, and belongs to the technical field of welding equipment.
Background
With the national proposal of the industrial 4.0 concept, the domestic response to the national call and the promotion of the self competitiveness in the industry, more and more factories begin to use industrial robots to replace manual work, and the appearance of welding robots is a great progress to replace manual welding. The appearance of the welding robot represents that welding enters an automatic assembly era, and an automatic clamping tool is needed to replace manual line drawing positioning. Because the angle steel type carrier roller bracket of the belt conveyor belongs to various small-batch workpieces, the tooling design needs to be more flexible and has stronger compatibility. Robotic welding has led to increasingly high welding accuracy and speed requirements for many welded structures, which has been difficult for average workers to adequately perform. In addition, the electric arc, spark, smoke and the like during welding can cause harm to human bodies, and the requirements of complexity, labor intensity, product quality, batch and the like of a welding manufacturing process are very urgent for the requirements of automation and mechanization.
In the past, manual operation is often adopted to weld structural members of a conveyor, and the structural members are heavy and heavy in welding amount, so that the requirements on welding precision and speed of the welded structural members are higher and higher, and the welding precision and speed of the welded structural members are difficult for general workers to cope with the heavy work. In addition, the electric arc, spark, smoke and the like during welding can cause harm to human bodies, and the requirements of complexity, labor intensity, product quality, batch and the like of a welding manufacturing process are difficult to meet in a manual welding mode.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the welding robot production line for the conveyor structural parts solves the problems of lower automation degree and unstable welding precision in the prior art.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
The utility model provides a conveyer structure welding robot production line, includes triaxial slip table system, multiaxis welding arm, goes up and down to shift machine and dust remover, wherein, triaxial slip table system include through the X axle crossbeam of stand horizontal, through slip table device slide connect in the Y axle crossbeam of X axle crossbeam, through slip table device slide connect in the Z axle lift axle of Y axle crossbeam, multiaxis welding arm fixed mounting in the bottom of Z axle lift axle, go up and down to shift the machine and be equipped with the multiunit and arrange in proper order along X axle crossbeam direction, the dust remover install in Y axle crossbeam.
The invention is further provided with: the lifting position changing machine comprises a first lifting position changing machine and a second lifting position changing machine;
The first lifting positioner comprises a first driven seat and a first driving seat which are opposite, two first rotary supporting seats which are respectively arranged on the first driven seat and the first driving seat, a first bearing frame which is respectively and fixedly arranged on the two sides of the first rotary supporting seats at two ends, and a tool clamp which is arranged on the first bearing frame, wherein lifting lead screws are respectively arranged on the first driven seat and the first driving seat, and the first rotary supporting seats are respectively connected with the lifting lead screws;
The second lifting position changing machine comprises a second driven seat and a second driving seat which are opposite, two second rotary supporting seats which are respectively arranged on the second driven seat and the second driving seat, a second bearing frame which is respectively fixedly arranged on two sides of the second rotary supporting seats at two ends, and a tool clamp which is arranged on the second bearing frame.
The invention is further provided with: the tool clamp comprises a mounting plate, a pair of sliding tables connected with the mounting plate in a sliding manner, a locking piece detachably mounted on the sliding tables, and a first bidirectional screw rod rotatably supported on the mounting plate, wherein the first bidirectional screw rod is provided with a positive thread section and a reverse thread section, and the two sliding tables are respectively in threaded connection with the positive thread section and the reverse thread section.
The invention is further provided with: the first bearing frame is provided with turnover devices, and the turnover devices are provided with two groups and are symmetrically arranged on two sides of the tool clamp;
The turnover device comprises a U-shaped frame connected to the bottom of the first bearing frame in a sliding manner, a lifting driving cylinder fixedly installed at the bottom of the U-shaped frame, a supporting shaft rotatably supported at the top end of a piston rod of the lifting driving cylinder, a cross rod fixedly connected to the supporting shaft and extending along the width direction of the first bearing frame, a longitudinal rod connected to the cross rod in a sliding manner and extending along the length direction of the first bearing frame, a pair of first clamping blocks respectively fixedly connected to the end parts of the longitudinal rod, and a driving mechanism arranged on the piston rod of the lifting driving cylinder and used for driving the supporting shaft to rotate;
The transverse rod is provided with a first T-shaped groove extending along the length direction of the transverse rod, the end part of the longitudinal rod is fixedly connected with a first T-shaped block which is arranged in the first T-shaped groove in a sliding manner, a second bidirectional threaded screw rod is rotationally connected in the first T-shaped groove, the two first T-shaped blocks are respectively in threaded connection with the two ends of the second bidirectional threaded screw rod, and the end part of the transverse rod is fixedly provided with a rotating motor which is connected with the second bidirectional threaded screw rod.
The invention is further provided with: the driving mechanism comprises a sliding sleeve, a ratchet, a plurality of elastic ratchets, a connecting frame and a supporting shaft, wherein the sliding sleeve is sleeved on the lifting driving cylinder in a sliding mode, the ratchet is fixedly connected with the top of the inner wall of the sliding sleeve, the elastic ratchets are uniformly distributed along the vertical direction, the connecting frame is fixedly connected to the top of the U-shaped frame, the sliding sleeve corresponds to the inner side of the connecting frame in the moving direction of the sliding sleeve, the bottom end of the outer wall of the sliding sleeve is fixedly connected with an abutting block, the abutting block is movably abutted to the bottom surface of the connecting frame, a supporting spring is arranged between the top end of the lifting driving cylinder and the top surface of the inner side of the sliding sleeve, and the sliding sleeve faces to the side wall of the cross rod to form a moving groove for the supporting shaft to pass through.
The invention is further provided with: the sliding sleeve is far away from the lateral wall of horizontal pole has been seted up and has followed the spacing groove that sliding sleeve length direction extends, the upset groove has been seted up at the top of the relative both sides of spacing groove, fixedly connected with on the back shaft sliding connection in the stopper in the spacing groove, the stopper both sides with be transition fit between the spacing inslot wall, upset groove width is greater than stopper length.
The invention is further provided with: the first clamping block is semi-cylindrical, the tangent plane of the first clamping block faces towards the direction of the fixture, the first clamping block tangent plane is rotationally connected with two second clamping blocks, the second clamping blocks are semi-cylindrical, the tangent plane of the second clamping block faces towards the direction of the fixture, two mounting grooves matched with the peripheral wall of the second clamping block are formed in the tangent plane of the first clamping block, second T-shaped grooves are formed in the inner wall of the mounting groove along the extending direction of the mounting groove, the peripheral wall of the second clamping block is fixedly connected with second T-shaped blocks in the second T-shaped grooves in a sliding mode, the second clamping block tangent plane is fixedly connected with an upper wedge block and a lower wedge block through bolts along the two axial ends of the second clamping block, and the upper wedge block and the lower wedge block are symmetrically arranged.
The invention is further provided with: the two sides the opposite surface of vertical pole all articulates there is the bracing piece, two the bracing piece is kept away from the one end of vertical pole articulates altogether has the third grip block, the third grip block is half column, its tangent plane orientation frock clamp direction, third grip block tangent plane is gone up wedge and lower wedge through bolt fixedly connected with respectively along its axial both ends.
The invention is further provided with: the support rod comprises a fixed sleeve, an extension rod connected in the fixed sleeve in a sliding manner, and an abutting spring arranged in the fixed sleeve and abutting against the end part of the extension rod.
The invention is further provided with: the U-shaped plate is fixedly connected with sliding sleeves respectively on two sides of the connecting frame and arranged on the side edge of the first bearing frame, a threaded hole is formed in the U-shaped plate, and a locking bolt is connected in the threaded hole in a threaded mode.
The beneficial effects of the invention are as follows:
1. The three-axis sliding table system is arranged, the multi-axis welding mechanical arm is matched, the workpiece can be welded at any angle, the degree of freedom is high, the workpiece is supported and positioned through the lifting positioner, the repeated positioning accuracy and the service life of the workpiece are effectively ensured under the matching of the lifting positioner, the workpiece is turned over through the first rotary supporting seat, the lifting positioning of the workpiece is realized through the upgrading screw rod, the first bearing frame can be lowered to the bottom during feeding, the tool fixture clamps the workpiece and then lifts to a certain height, the workpiece is welded by the multi-axis welding mechanical arm, the degree of mechanization is high, the welding accuracy is high through mechanical automatic welding, manual matching is basically not needed, and the welding efficiency is greatly improved;
2. Through setting up turning device, when the front welding of large-scale structure is accomplished, when need carry out the turn-over and carry out reverse welding, through making frock clamp carry out the unblock to the work piece, at this moment, lift actuating cylinder in two sets of turning device, make lift actuating cylinder drive back shaft and both sides's horizontal pole upwards move, and correspond to the both ends of work piece, at this moment, through starting rotating motor, make rotating motor pass through the two bidirectional screw thread lead screw, drive two first T type pieces of fixed connection on the longitudinal rod each other, in the in-process that two longitudinal rods are close, first grip block of fixed connection on two longitudinal rods respectively is in contact with the corner part of work piece gradually, and under the effect of second grip block, make two second grip blocks laminate in the side of work piece respectively, and at this moment and carry out spacing and support on the work piece through last wedge and lower wedge, at the cooperation whereabouts of four sets of second grip blocks, make the work piece from four corners department location and realization centre gripping, continue to drive lift actuating cylinder upwards move, thereby drive the work piece, take place the abutment block outside the sliding sleeve, in contact with the ratchet, in contact with the frame, and the ratchet is located in the opposite directions, and the ratchet rotates the side of a side of work piece is located in the opposite direction 180, and the ratchet is located in the opposite direction, and the side of a roll-over is rotated in the back shaft is rotated in the opposite direction of the support groove, 180, can take place in the opposite side 180, and can rotate the opposite side of the ratchet, and rotate in the opposite direction, and can rotate in the opposite direction, and rotate the back shaft is located in the back shaft, and can rotate, and rotate 180, and can rotate in the opposite place in the opposite direction and rotate, and can rotate the end inside the opposite side 180, unlocking the workpiece, and locking the workpiece by the tool clamp again, so that the multi-axis welding mechanical arm can continue welding the back surface of the workpiece, and the automation degree of the production line is improved;
3. Through setting up the third grip block, when the in-process that two longitudinal bars are close to each other, promote the third grip block through two bracing pieces and be close to towards the work piece direction, and because the bracing piece is the elastic expansion link to make the third supporting shoe can self-adaptation butt in the lateral wall of work piece, support the work piece, make the work piece more stable at upset in-process.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
FIG. 2 is a schematic view of the first elevating positioner portion of the present invention.
FIG. 3 is a schematic view of the construction of a second elevator system according to the present invention.
Fig. 4 is a schematic structural view of the turnover device and the first carrier part in the present invention.
Fig. 5 is a schematic structural view of a driving mechanism portion in the present invention.
Fig. 6 is a cross-sectional view of a portion of a drive mechanism in the present invention.
Fig. 7 is a schematic view of the structure of the cross bar and the first clamp block section of the present invention.
Fig. 8 is a cross-sectional view of a cross-bar and a first clamp block section of the present invention.
Fig. 9 is a schematic structural view of a first clamping block and a second clamping block in the present invention.
Fig. 10 is a schematic view of the structure of the first clamping block portion in the present invention.
Fig. 11 is a schematic structural view of a second clamping block portion in the present invention.
Fig. 12 is a cross-sectional view of a portion of a drive mechanism in the present invention.
Fig. 13 is a cross-sectional view of a portion of a drive mechanism in the present invention.
Fig. 14 is a schematic view of the structure of the turning device portion in the present invention.
In the figure: 1. a three-axis sliding table system; 2. a multi-axis welding mechanical arm; 3. a column; 4. an X-axis beam; 5. a Y-axis beam; 6. a Z-axis lifting shaft; 7. a dust remover; 8. a first lifting positioner; 9. a second lifting positioner; 10. a first driven seat; 11. a first driving seat; 12. a first rotary support base; 13. a first carrier; 14. a fixture clamp; 15. lifting a screw rod; 16. a second driven seat; 17. a second driving seat; 18. the second rotary supporting seat; 19. a second carrier; 20. a mounting plate; 21. a sliding table; 22. a locking member; 23. the first bidirectional threaded screw rod; 24. a turnover device; 25. a U-shaped frame; 26. a lifting driving cylinder; 27. a support shaft; 28. a cross bar; 29. a longitudinal bar; 30. a first clamping block; 31. a driving mechanism; 32. a connection frame; 33. a U-shaped plate; 34. a locking bolt; 35. a first T-shaped slot; 36. a first T-block; 37. a second bidirectional threaded screw; 38. a rotating motor; 39. a second clamping block; 40. a mounting groove; 41. a second T-shaped slot; 42. a second T-block; 43. an upper wedge; 44. a lower wedge; 45. a support rod; 46. a fixed sleeve; 47. an extension rod; 48. abutting against the spring; 49. a third clamping block; 50. a sliding sleeve; 51. a ratchet wheel; 52. an elastic ratchet; 53. an abutment block; 54. a support spring; 55. a moving groove; 56. a limit groove; 57. a turnover groove; 58. and a limiting block.
Detailed Description
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-14, the welding robot production line for the structural parts of the conveyor comprises a three-shaft sliding table system 1, a multi-shaft welding mechanical arm 2, a lifting position changing machine and a dust removing system, wherein the three-shaft sliding table system 1 comprises an X-shaft cross beam 4 transversely arranged through a stand column 3, a Y-shaft cross beam 5 slidingly connected with the X-shaft cross beam 4 through a sliding table device, and a Z-shaft lifting shaft 6 slidingly connected with the Y-shaft cross beam 5 through the sliding table device, and the dust removing system comprises a plurality of groups of dust removers 7 which are installed on the Y-shaft cross beam 5 in a one-to-one correspondence manner.
The multi-axis welding mechanical arm 2 is preferably set to be a three-axis welding mechanical arm, and is realized by adopting a mode of matching the three-axis mechanical arm with an automatic welding gun, the multi-axis welding mechanical arm 2 is fixedly installed at the bottom end of the Z-axis lifting shaft 6, lifting is driven by the Z-axis lifting shaft 6, and large-stroke movement of the multi-axis welding mechanical arm 2 in three axes of XYZ-axis can be realized under the matching of the X-axis cross beam 4, the Y-axis cross beam 5 and the Z-axis lifting shaft 6, namely, each multi-axis welding mechanical arm 2 can simultaneously correspond to a plurality of stations for welding, or a plurality of multi-axis welding mechanical arms 2 can realize cooperative welding on the same station.
The lifting position shifters are provided with a plurality of groups and are sequentially arranged along the direction of the X-axis beam 4, and preferably, the lifting position shifters comprise a first lifting position shifter 8 and a second lifting position shifter 9; the first lifting positioner 8 is mainly used for positioning and clamping a large structural member, and the second lifting positioner 9 is mainly used for positioning and clamping a small-sized large structural member.
The first lifting positioner 8 comprises a first driven seat 10 and a first driving seat 11 which are opposite, two first rotary supporting seats 12 which are respectively arranged on the first driven seat 10 and the first driving seat 11, a first bearing frame 13 which is respectively and fixedly arranged on the first rotary supporting seats 12 on two sides at two ends, and a tool clamp 14 which is arranged on the first bearing frame 13, wherein lifting screw rods 15 are respectively arranged on the first driven seat 10 and the first driving seat 11, the first rotary supporting seats 12 are respectively connected with the lifting screw rods 15, and the lifting screw rods 15 and the first rotary supporting seats are respectively driven by high-precision servo motors.
The second lifting positioner 9 comprises a second driven seat 16 and a second driving seat 17 which are opposite, two second rotary supporting seats 18 which are respectively arranged on the second driven seat 16 and the second driving seat 17, a second bearing frame 19 with two ends respectively fixedly arranged on the second rotary supporting seats 18 at two sides, and a tool clamp 14 arranged on the second bearing frame 19, wherein the two second rotary supporting seats are driven by a high-precision servo motor.
The tool clamp 14 comprises a mounting plate 20, a pair of sliding tables 21 connected to the mounting plate 20 in a sliding manner, a locking piece 22 detachably mounted on the sliding tables 21, and a first bidirectional screw rod 23 rotatably supported on the mounting plate 20, wherein the first bidirectional screw rod 23 is provided with a positive thread section and a reverse thread section, the first bidirectional screw rod 23 is driven by a high-precision servo motor and a speed reducer, and the two sliding tables 21 are respectively in threaded connection with the positive thread section and the reverse thread section.
In order to realize automatic overturning of the large structural member, the first bearing frame 13 is provided with overturning devices 24, and the overturning devices 24 are provided with two groups and are symmetrically arranged at two sides of the tool clamp 14; the turning device 24 includes a U-shaped frame 25 slidably connected to the bottom of the first carrier 13, a lifting driving cylinder 26 fixedly mounted to the bottom of the U-shaped frame 25, a supporting shaft 27 rotatably supported on the top end of a piston rod of the lifting driving cylinder 26, a cross bar 28 fixedly connected to the supporting shaft 27 and extending in the width direction of the first carrier 13, a vertical bar 29 slidably connected to the cross bar 28 and extending in the length direction of the first carrier 13, a pair of first clamping blocks 30 fixedly connected to the ends of the vertical bar 29, and a driving mechanism 31 disposed on the piston rod of the lifting driving cylinder 26 and used for driving the supporting shaft 27 to rotate.
Wherein, in order to increase the joint strength between the U-shaped frame 25 and the first bearing frame 13, the top of the U-shaped frame 25 is fixedly connected with a connecting frame 32, two sides of the connecting frame 32 are respectively fixedly connected with a U-shaped plate 33 which is sleeved on the side edge of the first bearing frame 13 in a sliding way, a threaded hole is formed in the U-shaped plate 33, and a locking bolt 34 is connected in the threaded hole in a threaded way.
In order to facilitate the relative movement of the first clamping blocks 30 at the two sides to clamp a workpiece, a first T-shaped groove 35 extending along the length direction of the workpiece is formed in the cross rod 28, the end part of the longitudinal rod 29 is fixedly connected with a first T-shaped block 36 which is positioned in the first T-shaped groove 35 in a sliding connection manner, the first T-shaped groove 35 is rotationally connected with a second bidirectional screw rod 37, the two first T-shaped blocks 36 are respectively in threaded connection with the two ends of the second bidirectional screw rod 37, and the end part of the cross rod 28 is fixedly provided with a rotating motor 38 connected with the second bidirectional screw rod 37.
For improving the stability to work piece centre gripping, first grip block 30 is semi-cylindrical, its tangent plane is towards frock clamp 14 direction, first grip block 30 tangent plane rotation is connected with two second grip blocks 39, second grip block 39 is semi-cylindrical, its tangent plane is towards frock clamp 14 direction, two mounting grooves 40 with second grip block 39 perisporium matched with are seted up to first grip block 30 tangent plane, second T type groove 41 has been seted up along its extending direction to mounting groove 40 inner wall, second grip block 39 perisporium fixedly connected with sliding connection is in the second T type piece 42 in second T type groove 41, second grip block 39 tangent plane is respectively through bolt fixedly connected with upper wedge 43 and lower wedge 44 along its axial both ends, upper wedge 43 and lower wedge 44 are the symmetry setting.
The opposite surfaces of the longitudinal bars 29 are hinged with support bars 45, and the support bars 45 comprise fixed sleeves 46, extension bars 47 slidably connected in the fixed sleeves 46, and abutting springs 48 arranged in the fixed sleeves 46 and abutting against the ends of the extension bars 47. The two ends of the supporting rods 45 far away from the longitudinal rods 29 are hinged with a third clamping block 49, the third clamping block 49 is semi-cylindrical, the tangential plane faces the direction of the tool clamp 14, and the tangential plane of the third clamping block 49 is fixedly connected with an upper wedge-shaped block 43 and a lower wedge-shaped block 44 along the two axial ends of the third clamping block 49 through bolts respectively.
Through setting up third grip block 49, when the in-process that two vertical poles 29 are close to each other, promote third grip block 49 through two bracing pieces 45 and be close to towards the work piece direction, and because bracing piece 45 is the elasticity telescopic link to make the third supporting shoe can self-adaptation butt in the lateral wall of work piece, support the work piece, make the work piece more stable at upset in-process.
The driving mechanism 31 comprises a sliding sleeve 50 sleeved on the lifting driving cylinder 26 in a sliding manner, a ratchet wheel 51 fixedly connected to the supporting shaft 27, and a plurality of elastic ratchets 52 fixedly connected to the top of the inner wall of the sliding sleeve 50 and uniformly distributed along the vertical direction, the sliding sleeve 50 corresponds to the inner side of the connecting frame 32 in the moving direction, an abutting block 53 is fixedly connected to the bottom end of the outer wall of the sliding sleeve 50, the abutting block 53 is movably abutted to the bottom surface of the connecting frame 32, a supporting spring 54 is arranged between the top end of the lifting driving cylinder 26 and the top surface of the inner side of the sliding sleeve 50, and a moving groove 55 for the supporting shaft 27 to pass through is formed in the side wall of the sliding sleeve 50 facing the cross rod 28.
The lateral wall that sliding sleeve 50 kept away from horizontal pole 28 has seted up along sliding sleeve 50 length direction extension's spacing groove 56, and turning groove 57 has been seted up at the top of the opposite both sides of spacing groove 56, and fixedly connected with sliding connection is in the stopper 58 in spacing groove 56 on the back shaft 27, is transition fit between stopper 58 both sides and the spacing groove 56 inner wall, and turning groove 57 width is greater than stopper 58 length.
The implementation principle of the invention is as follows:
The three-axis sliding table system 1 is arranged, the multi-axis welding mechanical arm 2 is matched, the workpiece can be welded at any angle, the degree of freedom is high, the workpiece is supported and positioned through the lifting positioner, the repeated positioning precision and the service life of the workpiece are effectively ensured under the matching of the lifting positioner, the workpiece is turned over through the first rotary supporting seat, the lifting positioning of the workpiece is realized through the upgrading screw rod, the first bearing frame 13 can be lowered to the bottom during feeding, the tool clamp 14 clamps the workpiece and then is lifted to a certain height, the workpiece is welded through the multi-axis welding mechanical arm 2, the degree of mechanization is high, the welding precision is high through the automatic mechanical welding, and manual matching is basically not needed, so that the welding efficiency is greatly improved;
By arranging the turnover devices 24, when the front welding of the large structural member is completed and the reverse welding is required, the work piece is unlocked by the tool fixture 14, at the moment, lifting driving cylinders 26 in the two groups of turnover devices 24 are started, the lifting driving cylinders 26 drive supporting shafts 27 and transverse rods 28 on two sides to move upwards and correspond to two ends of the work piece, at the moment, by starting a rotating motor 38, the rotating motor 38 drives two first T-shaped blocks 36 fixedly connected to the longitudinal rods 29 to mutually approach through second bidirectional threaded screw rods 37, in the approaching process of the two longitudinal rods 29, first clamping blocks 30 fixedly connected to the two longitudinal rods 29 gradually butt against corner parts of the work piece, and under the action of second clamping blocks 39, the two second clamping blocks 39 are respectively attached to the side edges of the work piece, at this time, the workpiece is limited and supported in the up-down direction by the upper wedge block 43 and the lower wedge block 44, the workpiece is positioned and clamped from four corners by the cooperation of the four groups of second clamping blocks 39, at this time, the lifting driving cylinder 26 is continuously driven to move upwards, so as to drive the workpiece to lift, when the abutting block 53 with the outer side of the sliding sleeve 50 abuts against the connecting frame 32, at this time, the sliding sleeve 50 and the piston rod of the lifting driving cylinder 26 relatively move, the ratchet wheel 51 in the sliding sleeve 50 rotates under the action of the elastic ratchet teeth 52, so that the supporting shaft 27 can be driven to rotate 180 degrees, the limiting block 58 enters the overturning groove 57 and overturns 180 degrees along with the supporting shaft 27, after the workpiece rotates 180 degrees, the lifting driving cylinder 26 falls, the ratchet wheel 51 does not rotate in the falling process due to the action of the elastic ratchet teeth 52, the limiting block 58 reenters the limiting groove 56 to limit the supporting shaft 27, when the workpiece falls on the first bearing frame 13, the second bidirectional screw rod 37 is turned over to unlock the workpiece, and the work fixture 14 locks the workpiece again, so that the multi-axis welding mechanical arm 2 can continue welding the back surface of the workpiece, and the automation degree of the production line is improved.
Finally, it should be noted that: the foregoing description of the preferred embodiments of the present invention is not intended to be limiting, but rather, it will be apparent to those skilled in the art that the foregoing description of the preferred embodiments of the present invention can be modified or equivalents can be substituted for some of the features thereof, and any modification, equivalent substitution, improvement or the like that is within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (7)
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| CN202410684830.4A CN118404273B (en) | 2024-05-30 | 2024-05-30 | Welding robot production line for conveyor structural parts |
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| CN202410684830.4A CN118404273B (en) | 2024-05-30 | 2024-05-30 | Welding robot production line for conveyor structural parts |
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| CN118404273B true CN118404273B (en) | 2024-11-19 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234383A (en) * | 2017-06-11 | 2017-10-10 | 湖南蓝天机器人科技有限公司 | Boiler heat-exchanger welding robot workstation |
| CN112935687A (en) * | 2021-03-25 | 2021-06-11 | 广西建工集团建筑机械制造有限责任公司 | Flexible welding tool and welding construction method for main stand column structure of elevator cage |
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| JPH0679461A (en) * | 1992-09-02 | 1994-03-22 | Shin Meiwa Ind Co Ltd | Automatic welding equipment |
| JP3017173B2 (en) * | 1998-08-27 | 2000-03-06 | 有限会社新成キャストエンジニアリング | Molding apparatus and molding method for self-hardening mold |
| KR20140146325A (en) * | 2013-06-17 | 2014-12-26 | 대우조선해양 주식회사 | Positioner for all position welding and work method using the same |
| US20240009781A1 (en) * | 2020-11-09 | 2024-01-11 | Fanuc Corporation | Industrial machine provided with pair of positioners for holding workpiece |
| KR102682561B1 (en) * | 2022-07-18 | 2024-07-08 | 주식회사 에이치케이 | Apparatus for suporting workpieces and laser machining apparatus including the same |
| CN117719854A (en) * | 2023-09-11 | 2024-03-19 | 江苏大学扬州(江都)新能源汽车产业研究所 | Lithium battery test turning device |
| CN117260309A (en) * | 2023-09-27 | 2023-12-22 | 江苏冠安机电有限公司 | Machine tool part positioning fixture control system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234383A (en) * | 2017-06-11 | 2017-10-10 | 湖南蓝天机器人科技有限公司 | Boiler heat-exchanger welding robot workstation |
| CN112935687A (en) * | 2021-03-25 | 2021-06-11 | 广西建工集团建筑机械制造有限责任公司 | Flexible welding tool and welding construction method for main stand column structure of elevator cage |
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