CN108436350A - A kind of automatic welding machinery hand system - Google Patents
A kind of automatic welding machinery hand system Download PDFInfo
- Publication number
- CN108436350A CN108436350A CN201810544861.4A CN201810544861A CN108436350A CN 108436350 A CN108436350 A CN 108436350A CN 201810544861 A CN201810544861 A CN 201810544861A CN 108436350 A CN108436350 A CN 108436350A
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- China
- Prior art keywords
- automatic welding
- frame body
- machinery hand
- sliding block
- hand system
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Classifications
-
- 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 to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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 to a procedure covered by only one of the preceding main groups
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of automatic welding machinery hand system belongs to manipulator technical field；The present invention is in order to solve the problem of the complicated low production efficiency of welding manipulator in the prior art；The identical electroplating equipment wielding machine hand portion of structure is installed at left and right sides of the frame body of the present invention, transfer robot arm component is installed in the middle part of frame body, right side welding manipulator includes parallel setting and identical first weld assembly of structure and the second weld assembly, the first weld assembly include link, lifting unit, rotating part and crawl section；Structure of the invention is compact, and production efficiency is high.
Description
Technical field
A kind of welder belongs to arm-and-hand system technical field, relates generally to a kind of automatic welding machinery hand system.
Background technology
Welding operation is the very important link of automobile production process, the weldering of the more complicated small-sized weldment of some shapes
It is typically only capable to that manual welding, operator's hand torch is taken to observe to obtain joint geometry, the slope of workpiece by eyes in termination process
Mouthful the information such as size, the then subjective judgement of operator, make a response determining welding parameter and operation technique, in welding process
Operating personnel are needed to be subjected to adjust according to the operating experience that its own has, for the irregular weldment of weld seam
Production can substantially reduce its working efficiency, and different operating personnel have different practical operation experiences, and the quality of weldment is very
Difficulty is guaranteed, and welding manipulator, welding manipulator is used to have high-repetition-rate in the prior art, substantially increases production effect
Rate, but it is complicated for the welding system of complicated weldment, need accurate program development, low production efficiency to limit high-quality
Amount batch production needs.
Invention content
To solve the above-mentioned problems, the invention discloses a kind of automatic welding machinery hand system, simple in structure, production efficiencys
Height meets the needs of enterprise's high quality batch production.
The object of the present invention is achieved like this：
A kind of automatic welding machinery hand system, including frame body, the frame body left and right sides are equipped with the identical electroplating equipment wielding machine of structure
Hand portion, frame body middle part are equipped with transfer robot arm component, and the electroplating equipment wielding machine hand portion includes parallel setting and structure is identical
The first weld assembly and the second weld assembly, the first weld assembly includes link, lifting unit, rotating part and crawl section, is grabbed
The side in portion is taken to be hinged on link, the upper end of link is established by lifting unit and frame body top to be connected, and the one of rotating part
End is fixed on link, and the tache motorice of rotating part is established with crawl section to be connected, and the top of the transfer robot arm component passes through
The transfer orbit of front and back extension is established with frame body top and is connected, the company of rotation between the top and transfer orbit of transfer robot arm component
It connects.
Further, the lifting unit includes upper lifting motor, one end of the output connection rotating shaft of upper lifting motor, shaft
The other end is arranged with driving gear, and driven gear is equipped on frame body, and driving gear and driven gear are established by synchronization chain
Connection.
Further, the rotating part includes telescopic oil cylinder, and the fixing end of telescopic oil cylinder is mounted on link, and stretch oil
The tache motorice of cylinder is articulated and connected with crawl section.
Further, the crawl section includes linking arm and gripper jaw, and one end of linking arm and the output end of rotating part are cut with scissors
It connects in succession, the lower end of linking arm is articulated and connected by turntable and gripper jaw.
Further, trimming assembly is installed, trimming assembly includes the first fine tuning motor, second between turntable and gripper jaw
Fine tuning motor and adjusting block, the upper end of gripper jaw are fixed on adjusting block, and the bar shaped that two coplanar orthogonals are provided on adjusting block is recessed
Slot, output end the first fine adjustment block of connection of the first fine tuning motor, output end the second fine adjustment block of connection of the second fine tuning motor, first
Fine adjustment block and the second fine adjustment block slide movement in two strip grooves respectively.
Further, the gripper jaw includes hydraulic system, and hydraulic system includes oil cylinder, constant displacement pump, overflow valve, decompression
Valve, four way solenoid valve and sequence valve, oil cylinder are established by constant displacement pump and four way solenoid valve and are connected, and four way solenoid valve is separately connected the
One hydraulic cylinder and second hydraulic cylinder, sequence valve are mounted between first hydraulic cylinder and second hydraulic cylinder.
Further, the linking arm is hollow-core construction, and several positioning components are equipped on the side wall of linking arm.
Further, the transfer robot arm component includes sliding block, cursor and transfer robot arm, sliding block by pulley with
Transfer orbit foundation is slidably connected, and cursor is established with sliding block and is rotatablely connected, and is passed through between the cursor and transfer robot arm
It finely tunes gear structure and establishes rotation connection.
Further, it is established and is connected by adjustment structure between sliding block and cursor, adjustment structure includes rotary electric machine, water
Rotating disc, the first regulation motor, the second regulation motor and connecting seat, the upper end of cursor are fixed on connecting seat, connect seat tool
There are the guide rail of two coplanar orthogonals, the output end of the first regulation motor to connect the first sliding block, the output end of the second regulation motor connects
The second sliding block is connect, the first sliding block and the second sliding block are slidably connected with two guide rails respectively.
Further, the frame body includes the chassis of holder and installation at the lower end of the stand, and chassis is equipped with welding card holder.
The welding card holder includes several pneumatic card columns arranged with the shape, and card column top is equipped with by Medium-voltage Motor, by piezoelectricity
The output end of machine is equipped with by pawl.
Compared with prior art, the present invention having the advantages that：
1, there are electroplating equipment wielding machine hand system of the invention two group welding robot sections of left and right to be mutually redundant, wherein side
Carry out electroplating equipment wielding machine hand portion normal work in the other side in maintenance or maintenance process, when production capacity is not full, bilateral electroplating equipment wielding machine
Hand portion can be with rotation work, when production capacity is full, and bilateral electroplating equipment wielding machine hand portion works at the same time, and improves production efficiency；
2, there is front and back the first weld assembly arranged parallel and the second weld assembly to constitute per side electroplating equipment wielding machine hand portion,
Two relatively independent weld assemblies can pass through transfer according to actual conditions editor's track route, the workpiece after the completion of welding
The transfer of tool hand component is collected；
3, the transfer robot arm component is moved forward and backward by transfer orbit, and the shaft on transfer robot arm component makes
Finished work-piece at transfer robot arm collect components different location improves the compactedness of production efficiency and device.
Description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the electroplating equipment wielding machine hand portion of the embodiment of the present invention；
Fig. 3 is the gripper jaw hydraulic system principle figure of the present embodiment；
Fig. 4 is the Longitudinal cross section schematic of gripper jaw of the embodiment of the present invention；
The structural schematic diagram of Fig. 5 linking arms of the present invention；
Fig. 6 is the structural representation of gripper jaw trimming assembly in the embodiment of the present invention；
Fig. 7 is the overall structure diagram of transfer robot arm component of the embodiment of the present invention；
Fig. 8 is the internal structure schematic diagram of the parts E in Fig. 7；
Fig. 9 is the structural schematic diagram of welding card holder and weldment of the embodiment of the present invention.
Specific implementation mode
The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
A kind of automatic welding machinery hand system of the present embodiment, including frame body 1,1 left and right sides of frame body are equipped with structure phase
Same electroplating equipment wielding machine hand portion A, B, 1 middle part of frame body are equipped with transfer robot arm component C, and the right side welding manipulator includes simultaneously
Row setting and identical first weld assembly, 2 and second weld assembly 3 of structure, the first weld assembly 2 include link, lifting
The side of portion, rotating part and crawl section, crawl section is hinged on link, and the upper end of link is pushed up by lifting unit and frame body 1
Connection is established at end, and one end of rotating part is fixed on link, and the tache motorice of rotating part is established with crawl section to be connected, the transfer
The top of mechanical arm assembly C is established with 1 top of frame body by the transfer orbit 6 of front and back extension and is connected, transfer robot arm component C's
It is established and is rotatablely connected by rotational structure between top and transfer orbit.
The lifting unit includes upper lifting motor 5, one end of the output connection rotating shaft 7 of upper lifting motor 5, shaft 7 it is another
End cap is equipped with driving gear 8, is equipped with driven gear 9 on frame body 1, driving gear 8 and driven gear 9 are built by synchronization chain 10
Vertical connection, as shown in Fig. 2, the upper lifting motor 5 in the present embodiment is fixedly mounted on 1 top of frame body, the first weld assembly and second
The run trace of weld assembly is identical, therefore the connecting shaft of the first weld assembly and the shaft of the second weld assembly pass through shaft coupling
11 establish with the output end of upper lifting motor 5 and connect, and leading rod 13, the symmetrical cloth in both sides of leading rod 13 are installed in the upper end of link 12
Being equipped with the installation from guide rod 14, frame body 1, there are three guide sleeves 15, and the position of three guide sleeves 15 is corresponding with the location matches of guide rod, from
The central shaft of moving gear 9 is passed through to establish by gear structure with leading rod 13 in the guide sleeve 15 of leading rod 13 and be connected, the course of work
In, the rotation of upper lifting motor 5 drives connecting shaft rotation, driving gear 8 to be engaged with synchronization chain 10 after rotating and then drive driven tooth
9 rotation of wheel, driven gear 9 drive leading rod 13 to be moved upwardly or downwardly, reduce machinery among motion process by gear structure
Vibration, degree of regulation is high.
The rotating part includes telescopic oil cylinder 16, and the fixing end of telescopic oil cylinder 16 is mounted on link 12, telescopic oil cylinder
16 tache motorice is articulated and connected with crawl section, by the design feature of telescopic oil cylinder 16 itself drive crawl section in perpendicular
Upper angled rotation, could be used that freely the welding with angle workpiece such as frame, in the present embodiment in order to more preferable
The accessible accurate rotation of realization adjust, the fixing end of telescopic oil cylinder 16 is articulated and connected by swivel plate and link 12, and
The position of telescopic rod and crawl section is located at the top half of crawl section.
The crawl section includes linking arm 17 and gripper jaw 18, and one end of linking arm 17 and the output end of rotating part hingedly connect
It connects, the lower end of linking arm 17 is established by turntable and gripper jaw 18 to be connected, and the gripper jaw 18 includes fixture block 20 and bar 21, folder
Block 20 is realized by first hydraulic cylinder 24 compresses operation, and lever realizes retightening operation, first hydraulic cylinder by second hydraulic cylinder 25
24 telescopic end makes 20 relative motion of fixture block realize preliminary clamp operation by squeezing fixture block 20, and 21 side of bar protrudes outward shape
Wedgewise fixed block 22, the side of corresponding fixture block 20 are recessed inwardly to form fixing groove 23, and the telescopic end of second hydraulic cylinder 25 is logical
Crossing pulling bar 21 makes 22 intercalation of fixed block enter in fixing groove 23, and fixture block 20 and the cooperation of bar 21 can not only realize clamping behaviour
Make, and there is locating effect, coordinated using first hydraulic cylinder 24 and second hydraulic cylinder 25, realizes the accurate clamping behaviour of fixture block 20
Make.
In order to adapt to the welding of different gradient, different angle weld seam, needs to be finely adjusted soldering angle according to weld seam, turn
Trimming assembly is installed, trimming assembly includes that the first fine tuning motor 26, second is finely tuned motor 27 and adjusted between disk and gripper jaw 18
The upper end of locking nub 27-1, gripper jaw 18 are fixed on adjusting block 27-1, and the bar shaped of two coplanar orthogonals is provided on adjusting block 27-1
The output end of bumps 30, the first fine tuning motor 26 connects the first fine adjustment block 28, the output end connection second of the second fine tuning motor 27
The sliding movement in two bar shaped bumps 30 respectively of fine adjustment block 29, the first fine adjustment block 28 and the second fine adjustment block 29, utilizes turntable
Welding torch position in rotation adjustment gripper jaw 18, is accurately positioned, it is ensured that welding quality using trimming assembly Butt welding gun position.
As shown in figure 3, the gripper jaw 18 includes hydraulic system, hydraulic system includes fuel tank 31, constant displacement pump 32, overflow valve
33, pressure reducing valve 34, four way solenoid valve 35 and sequence valve 36 start constant displacement pump 32, and oil is sucked out from fuel tank 31, enters constant displacement pump 32,
It is fuel-displaced to be separately connected first hydraulic cylinder 24 and second hydraulic cylinder 25, sequence valve into 35 four way solenoid valve 35 of three position four-way electromagnetic valve
36 are mounted between first hydraulic cylinder 24 and second hydraulic cylinder 25.
First hydraulic cylinder 24 and second hydraulic cylinder 25 in the present embodiment are double-act-ing hydraulic J-Horner, pass through sequence valve reality
The priority that existing first hydraulic cylinder 24 and second hydraulic cylinder 25 act, after first hydraulic cylinder 24 reaches designated position, oil pressure increases, and reaches
To the opening pressure of sequence valve, second hydraulic cylinder 25 acts, and when backhaul, sequence valve check valve is opened, first hydraulic cylinder 24 and the
Two hydraulic cylinders 25 while emptying.
It needs to screen gripper components before welding operates, finished product is spot-check after welding operation, ruler
Very little examine usually requires artificial screening, and this mode labor intensive is larger, and human factor is likely to make in screening process
At the deviation of workpiece, therefore the linking arm 17 is hollow-core construction, and several positioning components are equipped on the side wall of linking arm 17, this
The region that the positioning component of the installation of linking arm 17 encloses in application is Examination region, and workpiece or product insertion positioning component enclose
It is monitored made of conjunction and carries out preliminary screening in region, since linking arm 17 is hollow-core construction in itself, so workpiece can be very square
Just the portion of being embedded within measures, and linking arm 17 can adjust angle under the drive of rotating part, for not ipsilateral
It is required that workpiece especially automobile sheet metal member etc., can be carried out measuring.Positioning component structure described in the present embodiment is identical,
Number is four, includes mounting plate 36, electric cylinder 37, slide bar 38 and template 39, and 37 ontology of electric cylinder is pacified by mounting plate 36
On linking arm 17, the telescopic end of electric cylinder 37 connects template 39, and template 39 is established by slide bar 38 and mounting plate 36 and slided
39 structure of template of connection, each positioning component is different according to the shape of workpiece and has shape difference, four 39 pairings of template
And it is shaped as Examination region.
The transfer robot arm component includes sliding block 40, cursor 49 and transfer robot arm 50, sliding block 40 by pulley with
The foundation of transfer orbit 51 is slidably connected, and sliding block 40 is mounted on synchronous belt 40-1, and synchronous belt 40-1 is set in by driving wheel 40-2
On the outside of driven wheel 40-3, driving wheel 40-2 drives rotation, cursor 49 to establish and rotate with sliding block 40 by shifting motor 40-4
Connection establishes rotation connection by finely tuning gear structure between the cursor 49 and transfer robot arm 50, utilizes transfer orbit
51 determine 50 position of transfer robot arm, resonate in transfer process few, transfer process is steady.
It is established and is connected by adjustment structure between sliding block 40 and cursor 49, adjustment structure includes rotary electric machine 41, level
Turntable 42, the first regulation motor 43, the second regulation motor 44 and connecting seat 45, the upper end of cursor 49 are fixed on connecting seat 45
On, similar to the trimming assembly structure, the connecting seat 45 has the guide rail 46 of two coplanar orthogonals, the first regulation motor 43
Output end connect the first sliding block 47, the output end of the second regulation motor 44 connects the second sliding block 48, the first sliding block 47 and second
Sliding block 48 is slidably connected with two guide rails 46 respectively, and in use, transfer robot arm 50 needs to capture finished work-piece, passes through
The transfer orbit 51 and idler wheel are built into coarse positioning, and electricity is adjusted using horizontal rotating disc 42 and by the first regulation motor 43, second
Machine 44 and connecting seat 45 cooperatively form accurate adjusting part, and rotary electric machine 41 drives horizontal rotating disc 42 to rotate, makes transfer robot arm
The jack direction of 50 alignment pieces lower ends, it is whole to the progress accurate adjustment of transfer robot arm 50 using accurate adjusting part, adapt to different welderings
The crawl hole of pipe fitting prevents the damage that workpiece is caused in being inserted into transfer process.
The frame body 1 includes chassis 52, and chassis 52 is equipped with welding card holder, and the welding card holder includes several with weldment 56
The pneumatic card column 53 of shape arrangement, 53 top of card column is equipped with by Medium-voltage Motor 54, is equipped with by pawl 55 by the output end of Medium-voltage Motor.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solutions in the various embodiments may also be suitably combined for bright book, and forming those skilled in the art can be with
The other embodiment of understanding.
Claims (10)
1. a kind of automatic welding machinery hand system, including frame body, it is characterised in that：It is identical that structure is installed at left and right sides of frame body
Electroplating equipment wielding machine hand portion, is equipped with transfer robot arm component in the middle part of frame body, the electroplating equipment wielding machine hand portion include parallel setting and
Identical first weld assembly of structure and the second weld assembly, the first weld assembly include link, lifting unit, rotating part and grab
Portion, the side of crawl section is taken to be hinged on link, the upper end of link is established by lifting unit and frame body top to be connected, rotation
The one end in portion is fixed on link, and the tache motorice of rotating part is established with crawl section to be connected, the top of the transfer robot arm component
End is established with frame body top by the transfer orbit of front and back extension and is connected, between the top and transfer orbit of transfer robot arm component
Rotation connection.
2. a kind of automatic welding machinery hand system according to claim 1, it is characterised in that：The lifting unit includes rising electricity
The other end of machine, one end of the output connection rotating shaft of upper lifting motor, shaft is arranged with driving gear, is equipped on frame body driven
Gear, driving gear and driven gear are established by synchronization chain and are connected.
3. a kind of automatic welding machinery hand system according to claim 1, it is characterised in that：The rotating part includes flexible oil
The fixing end of cylinder, telescopic oil cylinder is mounted on link, and tache motorice and the crawl section of telescopic oil cylinder are articulated and connected.
4. a kind of automatic welding machinery hand system according to claim 3, it is characterised in that：The crawl section includes linking arm
And gripper jaw, one end of linking arm and the output end of rotating part are articulated and connected, the lower end of linking arm is built by turntable and gripper jaw
Vertical connection.
5. a kind of automatic welding machinery hand system according to claim 4, it is characterised in that：It is installed between turntable and gripper jaw
It includes that the first fine tuning motor, the second fine tuning motor and adjusting block, the upper end of gripper jaw are fixed on tune to have trimming assembly, trimming assembly
The strip groove of two coplanar orthogonals is provided in locking nub, on adjusting block, the output end of the first fine tuning motor connects the first fine adjustment block,
Output end the second fine adjustment block of connection of second fine tuning motor, the first fine adjustment block and the second fine adjustment block are respectively in two strip grooves
Sliding movement.
6. a kind of automatic welding machinery hand system according to claim 4, it is characterised in that：The gripper jaw includes hydraulic pressure system
System, hydraulic system include oil cylinder, constant displacement pump, overflow valve, pressure reducing valve, four way solenoid valve and sequence valve, oil cylinder by constant displacement pump with
Four way solenoid valve establishes connection, and four way solenoid valve is separately connected first hydraulic cylinder and second hydraulic cylinder, and sequence valve is mounted on first
Between hydraulic cylinder and second hydraulic cylinder.
7. a kind of automatic welding machinery hand system according to claim 3, it is characterised in that：The linking arm is hollow knot
Structure is equipped with several positioning components on the side wall of linking arm.
8. a kind of automatic welding machinery hand system according to claim 1, it is characterised in that：The transfer robot arm component packet
Sliding block, cursor and transfer robot arm are included, sliding block is slidably connected by pulley and transfer orbit foundation, and cursor is established with sliding block
Rotation connection establishes rotation connection between the cursor and transfer robot arm by finely tuning gear structure.
9. a kind of automatic welding machinery hand system according to claim 8, it is characterised in that：Pass through between sliding block and cursor
Adjustment structure establishes connection, and adjustment structure includes rotary electric machine, horizontal rotating disc, the first regulation motor, the second regulation motor and company
The upper end of joint chair, cursor is fixed on connecting seat, connecting seat have two coplanar orthogonals guide rail, the first regulation motor it is defeated
Outlet connects the first sliding block, and the output end of the second regulation motor connects the second sliding block, and the first sliding block and the second sliding block are respectively with two
Guide rail is slidably connected.
10. a kind of automatic welding machinery hand system according to claim 1, it is characterised in that：The frame body include holder and
The chassis of installation at the lower end of the stand, chassis are equipped with welding card holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810544861.4A CN108436350A (en) | 2018-05-18 | 2018-05-18 | A kind of automatic welding machinery hand system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810544861.4A CN108436350A (en) | 2018-05-18 | 2018-05-18 | A kind of automatic welding machinery hand system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108436350A true CN108436350A (en) | 2018-08-24 |
Family
ID=63205906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810544861.4A Pending CN108436350A (en) | 2018-05-18 | 2018-05-18 | A kind of automatic welding machinery hand system |
Country Status (1)
| Country | Link |
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| CN (1) | CN108436350A (en) |
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