CN109483111B - Automatic welding equipment for double-robot roller - Google Patents
Automatic welding equipment for double-robot roller Download PDFInfo
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- CN109483111B CN109483111B CN201910009485.3A CN201910009485A CN109483111B CN 109483111 B CN109483111 B CN 109483111B CN 201910009485 A CN201910009485 A CN 201910009485A CN 109483111 B CN109483111 B CN 109483111B
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- 238000003466 welding Methods 0.000 title claims abstract description 79
- 230000000903 blocking effect Effects 0.000 claims abstract description 9
- 238000007599 discharging Methods 0.000 claims abstract description 8
- 230000005674 electromagnetic induction Effects 0.000 claims description 26
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000009977 dual effect Effects 0.000 claims description 2
- 230000002950 deficient Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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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 to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups 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)
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Abstract
The invention relates to double-robot type roller automatic welding equipment, which comprises an automatic feeding device, an automatic welding device and an automatic discharging device which are sequentially arranged, wherein the automatic feeding device comprises a feeding frame for bearing a roller, a first cylinder, a sliding block and a blocking hook, and the first cylinder moves upwards to enable the roller in the feeding frame to be upwards moved into the blocking hook; the automatic feeding device comprises a feeding bracket, a base device and a lifting and conveying device, wherein the lifting and conveying device drives the roller to move forward to the right one station after lifting, moving right and descending, and continuously feeds welding equipment; the automatic welding device comprises a clamping device for clamping the roller on the right end station, a driving device capable of rotating the roller and a welding robot for welding the roller; the automatic blanking device roller can automatically roll to the right for blanking. The device can automatically complete the feeding, welding and discharging operation of the roller, improves the production efficiency, reduces the defective rate of welding, and improves the aesthetic property of welding appearance.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to double-robot type roller automatic welding equipment.
Background
The roller is a common component in mechanical devices. The cylinder is usually in pipe fitting both ends welding end cover form, in the cylinder welding, is usually with end cover spot welding on the pipe fitting, then carries out the end cover welding, need constantly turn the welding of pipe fitting completion end cover in the welding process, and manual welding consumes the manpower, and inefficiency, and welding quality is difficult to control, and the cylinder outward appearance that welds out lacks aesthetic property, especially to big or heavier cylinder welding, manual welding is difficult for the operation more. In order to improve the working efficiency and the welding effect, welding is developed to an automatic welding direction. The automatic welding of the rollers is realized by feeding the rollers one by one, continuously feeding the rollers to the welding position, automatically welding, and then discharging the rollers from the welding position to the stacking position, so that a series of equipment for full-automatic welding of the rollers is required.
Disclosure of Invention
The invention aims to solve the defects of the technical problems, and provides double-robot type roller automatic welding equipment, which can automatically complete the feeding, welding and discharging operations of a roller without manual intervention, improve the production efficiency, reduce the defective rate of roller welding and improve the aesthetic property of welding appearance.
The technical scheme adopted by the invention for solving the technical problems is as follows: the automatic welding equipment for the double-robot roller comprises an automatic feeding device, an automatic welding device and an automatic discharging device which are sequentially arranged from left to right, wherein the automatic feeding device comprises a feeding frame for bearing the roller, a first cylinder, a sliding block and a catch hook, the contact surface of the feeding frame and the roller is obliquely arranged to the right lower side, the first cylinder is arranged on the right side of the feeding frame, the sliding block is sleeved on the upper side of the first cylinder, the upper surface of the sliding block is obliquely arranged to the right lower side, the catch hook is arranged on the right upper side of the first cylinder and is connected with the automatic feeding device, the first cylinder stretches and moves upwards to enable the roller in the feeding frame to be arranged in the catch hook, and then the first cylinder shortens return to continue feeding of the next roller; the automatic feeding device comprises a feeding bracket, a base device positioned above the feeding bracket and a lifting and transporting device, wherein a plurality of stations for firmly supporting the roller are arranged on the base device, the lifting and transporting device is arranged in the base device and below the roller stations, the lifting and transporting device drives the roller in the stop hook and the roller on the base device to move forward to the right by one station after lifting, right shifting and descending, and the lifting and transporting device starts the next cycle after moving back to the left position for continuously feeding welding equipment; the automatic welding device comprises a clamping device for clamping the roller on a right-end station, a driving device capable of enabling the roller to rotate and a welding robot for welding the roller, wherein the clamping device clamps the roller on the right-end station while guaranteeing rotatability of the roller, the driving device is convenient to rotate the roller, and the welding robot is used for welding the roller; the automatic blanking device is arranged to be a blanking frame comprising a cross beam and an upright post, the cross beam arranged above the blanking frame supports a roller through the inclined cross beam, and the roller can automatically roll and blanking right when the welded roller is conveyed to the blanking frame through the lifting and conveying device.
Further, the base device comprises a concave base support, two ends of the base support are respectively provided with a second roller conveying plate and a third roller conveying plate from inside to outside in sequence, the heights of the second roller conveying plate and the third roller conveying plate from the ground are sequentially increased, the second roller conveying plates and the third roller conveying plates are respectively symmetrically provided with a plurality of grooves, the rollers are limited between the two second roller conveying plates and the third roller conveying plates and supported by the second roller conveying plates, the middle of the base support is provided with a track mounting plate and a third cylinder capable of moving left and right, and the movable end of the third cylinder is connected with the lifting and conveying device to push the lifting and conveying device to horizontally move; the lifting and transporting device comprises a lifting and transporting support, a fourth air cylinder is arranged below the lifting and transporting support, a guide rail device is arranged below the fixing plate, the guide rail device is fixedly connected with a rail mounting plate, the guide rail device is formed by combining a rail and a sliding block, the rail is fixed on the rail mounting plate, after the fourth air cylinder stretches, the third air cylinder stretches to push the lifting and transporting device to horizontally move, the lifting and transporting device slides on the rail through the sliding block, first roller conveying plates for bearing transporting rollers are further arranged on two sides of the lifting and transporting support, grooves corresponding to the second roller conveying plates and the third roller conveying plates are formed in the first roller conveying plates, the height of the first roller conveying plates from the ground is lower than that of the second roller conveying plates, the first roller conveying plates correspond to the lower side of the second roller conveying plates, the rollers on the second roller conveying plates are lifted through lifting and then move rightwards, the rollers move downwards, the rollers fall on the second roller conveying plates again, the rollers are completed to feed forward along with the first roller conveying plates, and the first roller conveying plates return to the lower roller conveying device is continuously fed.
Further, the clamping device comprises a plurality of supporting bearings for supporting the roller, limiting bearings for clamping the bearings and a second air cylinder, wherein the supporting bearings are arranged on the side edges of the right side grooves of the second roller conveying plate and are used for supporting the roller, positioning plates are arranged at the two ends of the base support, which are close to the right side stations, of the base support, wherein the limiting bearings which are horizontally arranged are fixed on one positioning plate, the second air cylinder is fixed on the other positioning plate, the movable end of the second air cylinder is connected with the limiting bearings, and the roller on the supporting bearings can be clamped between the two limiting bearings under the pushing of the second air cylinder; the driving device comprises a vertical support arranged above the base support, a rotatable mechanical arm is arranged on the vertical support, a speed regulating motor and a driving roller driven by the speed regulating motor are arranged at the outer end of the mechanical arm, a fifth cylinder is further arranged at the upper end of the vertical support, the movable end of the fifth cylinder is connected with the middle part of the mechanical arm, the driving roller is telescopic through the fifth cylinder so as to adjust the position relation between the driving roller and a roller to be welded on a right station, the driving roller is pressed on the upper surface of the roller during roller welding, and the driving roller rotates to drive the roller to rotate, so that the roller is convenient to weld.
Further, the rubber ring is sleeved on the driving roller, so that the roller can rotate stably while the roller is driven by the driving roller, and the welding quality of the roller is guaranteed.
Furthermore, the blocking hook is arranged above the station at the left end of the first roller conveying plate and is of an inverted L shape, and the inner side surface of the blocking hook is obliquely arranged, so that the roller can roll from left to right to the blocking hook and can be blocked from rolling forward or shaking, and the roller is firmly arranged in the blocking hook.
The beneficial effects of the invention are as follows: the invention has simple structure, adopts automatic control to complete feeding, welding and discharging of the roller, provides full-automatic welding equipment for roller welding, does not need manual operation, improves welding efficiency, improves welding quality, and greatly improves the appearance of the welded part of the roller.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic structural view of the present invention.
Fig. 3 is a left-hand structural schematic of the present invention.
Fig. 4 is a schematic top view of the present invention.
Fig. 5 is a schematic view of the cross-sectional structure A-A in fig. 4.
Fig. 6 is a schematic view of the sectional structure B-B in fig. 4.
Fig. 7 is a schematic structural view of an automatic feeding apparatus.
Fig. 8 is a schematic view of the structure of the automatic feeding apparatus.
Fig. 9 is a schematic structural view of the base unit.
Fig. 10 is a schematic view of the structure of the lifting conveyor.
Fig. 11 is a schematic structural view of the driving device.
Fig. 12 is a schematic structural view of an automatic blanking apparatus.
Fig. 13 is a schematic diagram of the circuit control of the present invention.
The marks in the figure: 1. an automatic feeding device 11, a feeding frame 12, a first cylinder 13, a sliding block 14, a catch hook 15, a third infrared sensor 16, a first electromagnetic induction switch 2, an automatic feeding device 21, a feeding support 22, a base device 221, a base support 222, a second roller conveying plate 223, a third roller conveying plate 224, a track mounting plate 225, a third cylinder 226, a third electromagnetic induction switch 227, a seventh electromagnetic induction switch 228, a fifth infrared sensor 229, a sixth infrared sensor 230, a second infrared sensor 23, a lifting conveying device 231, a lifting conveying support, 232, a fourth cylinder, 233, a fixed plate, 234, a guide rail device, 235, a first roller conveying plate, 236, a first infrared sensor, 237, a second electromagnetic induction switch, 238, a fourth electromagnetic induction switch, 3, an automatic welding device, 31, a clamping device, 311, a support bearing, 312, a limit bearing, 313, a second cylinder, 314, a fifth electromagnetic induction switch, 32, a driving device, 321, a vertical support, 322, a mechanical arm, 323, a speed regulating motor, 324, a driving roller, 325, a fifth cylinder, 326, a sixth electromagnetic induction switch, 33, a welding robot, 4, an automatic blanking device, 41 and a fourth infrared sensor.
Detailed Description
The following describes the best mode of construction and use of the present invention with reference to the drawings.
As shown in fig. 1 to 4, a dual robot type roller automatic welding device comprises an automatic feeding device 1, an automatic feeding device 2, an automatic welding device 3 and an automatic discharging device 4 which are sequentially arranged from left to right.
As shown in fig. 1 and 7, the automatic feeding device 1 includes a feeding frame 11 for carrying a roller, a first cylinder 12, a sliding block 13, and a catch 14. The contact surface of the feeding frame 11 and the roller is obliquely arranged right below, as the feeding frame 11 is provided with a more reasonable inclination angle, when the feeding frame is provided with materials, the materials can automatically move right, the first cylinder 12 is arranged on the right side of the feeding frame 11, the sliding block 13 is sleeved above the first cylinder 12, the upper surface of the sliding block 13 is obliquely arranged right below, the catch hook 14 is arranged on the right upper side of the first cylinder 12 and is connected with the automatic feeding device 2, the catch hook 14 is of an inverted L shape, the inner side of the catch hook 14 is obliquely arranged right, the first cylinder 12 moves upwards to enable the roller in the feeding frame 11 to move to the left side of the catch hook 14 through the sliding block 13, and the roller can roll into the catch hook 14 from left to right on the sliding block 13. In order to stably convey the roller from the feeding frame 11 to the catch hook 14, the inclination angles of the contact surface of the feeding frame 11 and the roller, the supporting surface above the sliding block 13 and the inner side surface of the catch hook 14 can be kept consistent. In the whole feeding process, the roller automatically rolls to the upper side of the sliding block 13, and ascends to the left side of the catch hook 14 along with the sliding block 13 under the ascending action of the first air cylinder 12, rolls into the catch hook 14 under the action of the roller, and waits for the automatic feeding device to convey and feed the roller forwards. In this embodiment, a set of first cylinder 12 and sliding block 13 may be disposed at the middle part of the right side of the feeding frame 11, so as to fix the first cylinder 12 at the middle part of the right side of the feeding frame 11.
In the above embodiment, in order to further enhance the stability of the roller during the lifting and feeding of the sliding block 13, two sets of the first cylinder 12 and the sliding block 13 may be disposed at two ends of the right side of the feeding frame 11, that is, the first cylinder 12 is fixed at the front and rear sides of the right side of the feeding frame 11.
As shown in fig. 5 and 8 to 9, the automatic feeding device 2 comprises a feeding support 21, a base device 22 and a lifting and transporting device 23, wherein the base device 22 is located above the feeding support 21, the base device 22 comprises a base support 221, two ends of the base support 221 are respectively provided with a second roller conveying plate 222 and a third roller conveying plate 223 from inside to outside in sequence, the heights of the second roller conveying plate 222 and the third roller conveying plate 223 from the ground are sequentially increased, a plurality of grooves are symmetrically formed in the second roller conveying plate 222 and the third roller conveying plate 223, a station for supporting rollers is formed, the rollers are limited between the second roller conveying plate 223 and the third roller conveying plate 223, a track mounting plate 224 and a third cylinder 225 capable of moving left and right are arranged in the middle of the base support 221, and the movable end of the third cylinder 225 is connected with the lifting and transporting device 23 to push the lifting and transporting device 23 to horizontally move. As shown in fig. 5, 8 and 10, the lifting and transporting device 23 includes a lifting and transporting bracket 231, a fourth cylinder 232 is disposed below the lifting and transporting bracket 231, the fourth cylinder 232 is fixed on a fixed plate 233 below the lifting and transporting bracket 231, a guide rail device 234 is disposed below the fixed plate 233, the guide rail device 234 is formed by combining a rail and a sliding block, the rail is fixed on a rail mounting plate 224, two sides of the lifting and transporting bracket 231 are further provided with a first roller conveying plate 235 for carrying a transporting roller, grooves corresponding to the second roller conveying plate 222 and the third roller conveying plate 223 are disposed on the first roller conveying plate 235, and the height between the first roller conveying plate 235 and the ground is lower than the height between the second roller conveying plate 222 and the ground. In this embodiment, four grooves are formed on the first roller conveying plate 235, 4 stations including a first station, a second station, a third station and a fourth station are formed from left to right, the first station is located below the catch 14, three grooves and two grooves are respectively formed on the second roller conveying plate 222 and the third roller conveying plate 223, three stations formed on the second roller conveying plate 222 are located above the second station, the third station and the fourth station on the first roller conveying plate 235 and correspond to each other, and two stations formed on the third roller conveying plate 223 are located above the second station and the third station on the first roller conveying plate 235 and correspond to each other. When the roller is placed on the catch hook 14, the fourth cylinder 232 is extended, the lifting transportation support 231 is lifted, the first roller transportation plate 235 drives the roller to lift to a position higher than the second roller transportation plate 222, the third cylinder 225 is extended to push the lifting transportation device 23 to move one station to the right, the fourth cylinder 232 is shortened, the lifting transportation support 231 is lowered to the original height, the roller on the first roller transportation plate 235 stays on the second roller transportation plate 222 and the third roller transportation plate 223, the third roller transportation plate 223 limits the roller to prevent the roller from moving back and forth greatly, finally the third cylinder 225 shortens to pull the lifting transportation device 23 to return to the original position to finish the transportation of the roller to one station, and then the movement is repeated to continuously transport the roller to the right end to continuously feed equipment.
As shown in fig. 1, 8 and 11, the automatic welding apparatus 3 includes a clamping device 31 that clamps the drum at the right end station, a driving device 32 that can rotate the drum, and a welding robot 33 that welds the drum. The clamping device 31 includes a plurality of support bearings 311 supporting the drum, a limit bearing 312 clamping the bearings, and a second cylinder 313. The support bearings 311 are arranged on two sides of the four grooves of the station of the second roller conveying plate 222, the rollers are supported, positioning plates are arranged at two ends of the base support 221, which are close to the right station, of the support, wherein one positioning plate is fixedly provided with a limiting bearing 312 which is horizontally arranged, the other positioning plate is fixedly provided with a second air cylinder 313, the movable end of the second air cylinder 313 is connected with a limiting bearing 312, and the rollers on the four support bearings 311 of the station can be clamped between the two limiting bearings 312 under the pushing of the second air cylinder 313. The driving device 32 comprises a vertical support 321 arranged above the base support 221, a rotatable mechanical arm 322 is arranged on the vertical support, a speed regulating motor 323 and a driving roller 324 driven by the speed regulating motor are arranged at the outer end of the mechanical arm 322, a rubber ring is sleeved on the driving roller 324, the roller can be ensured to stably rotate while the roller is driven by the driving roller 324 to rotate, a fifth air cylinder 325 is further arranged at the upper end of the vertical support 321, the movable end of the fifth air cylinder 325 is connected with the middle part of the mechanical arm 322, and the position relationship between the driving roller 324 and the roller to be welded on the right station is regulated by stretching the fifth air cylinder 325. When the roller conveyed by the lifting and conveying device 23 is arranged on the fourth station, roller welding can be started, the roller is supported by the supporting bearing 311, the second air cylinder 313 stretches to push the roller to approach the limiting bearing 312 on the other side until the roller is clamped between the two limiting bearings 312, then the fifth air cylinder 325 stretches to lower the driving roller 324 onto the roller to be tightly pressed, the welding robot 33 starts to weld in place, meanwhile, the speed regulating motor 323 works to drive the driving roller 324 to rotate so as to drive the roller to rotate, the roller rotates for one circle to finish welding, finally, the speed regulating motor 323 stops working, the welding robot 33 lifts off the welding position, the second air cylinder 313 and the fifth air cylinder 325 shorten to return, the next roller is ready for welding, the roller welded on the fourth station is conveyed to the blanking device 4 through the lifting and conveying device 23, and meanwhile, the roller to be welded on the third station is conveyed to the fourth station to be welded.
The automatic blanking device 4 is arranged to be a blanking frame comprising a cross beam and an upright post, the cross beam above the blanking frame is used for supporting a roller through the inclined cross beam, and the roller can automatically roll to the right for blanking when the welded roller is conveyed to the blanking frame through the lifting and conveying device 23.
In the embodiment, the welding equipment adopts full-automatic control, does not need to participate in welding manually, and only needs to monitor manually. The implementation of the full-automatic control in this embodiment is realized by the following settings: a third infrared sensor 15 is arranged on the right side of the feeding frame 11 and is used for sensing whether the feeding frame 11 is provided with a stock; a first infrared sensor 236 is arranged at the first position of the first roller conveying plate 235, the first infrared sensor 236 is used for sensing whether a roller to be welded is arranged on the first position, a first electromagnetic induction switch 16 is arranged on the first cylinder 12, the first electromagnetic induction switch 16 can sense whether the first cylinder 12 is in place when being extended and moved upwards, a second electromagnetic induction switch 237 and a fourth electromagnetic induction switch 238 are arranged on the fourth cylinder 232, the second electromagnetic induction switch 237 can sense whether the fourth cylinder 232 is in place when being moved upwards, the fourth electromagnetic induction switch 238 can sense whether the fourth cylinder 232 is in place when being moved downwards, a third electromagnetic induction switch 226 and a seventh electromagnetic induction switch 227 are arranged on the third cylinder 225, the third electromagnetic induction switch 226 can sense whether the third cylinder 225 is in place when being moved rightwards, a fifth infrared sensor 228, a sixth infrared sensor 229 and a fifth infrared sensor 230 are respectively arranged at the fourth position and the fourth position of the fourth cylinder 232 when the second cylinder conveying plate 222 is in place when being extended, a fifth electromagnetic switch 326 is arranged between the fifth position and the fifth position of the fifth cylinder 325 when the fifth electromagnetic sensor 230 is in place when the fifth cylinder 325 is in place when the fifth electromagnetic sensor 326 is in place when the fifth cylinder 230 is in place when being extended, and the fifth electromagnetic sensor 326 is arranged on the fifth position and the fifth electromagnetic sensor 325 is used for being used for sensing to be in place when the fifth position and the fifth electromagnetic sensor 325 is in place when the fifth electromagnetic sensor switch 325 is in place, and the fifth electromagnetic sensor switch is in place when being used to be in place, and the third electromagnetic sensor switch position and the fifth electromagnetic sensor switch device is capable to sense device; a fourth infrared sensor 41 is arranged at the starting end of the automatic blanking device 4 and is used for sensing whether the blanking device 4 is full of materials. On the basis of the above arrangement, the above-described components are connected to a circuit through a circuit control schematic as shown in fig. 13. In this embodiment, the specific operation control process of the automatic welding device is as follows:
1. when the third infrared sensor 15 on the right side of the feeding frame 11 does not sense a signal, the first cylinder 12 pauses all actions;
2. When the third infrared sensor 15 senses a signal and the first infrared sensor 236 senses that the first cylinder 12 does not have a roller on the first station, the first cylinder 12 is controlled to extend to push the sliding block 13 to move upwards to convey the roller, and after the first electromagnetic induction switch 16 senses that the first cylinder 12 moves upwards in place, the roller rolls from the sliding block 13 to the stop hook 14 and above the first station, and the first cylinder 12 is controlled to move downwards to return;
3. When any one of the first infrared sensor 236, the fifth infrared sensor 228 and the sixth infrared sensor 229 senses the roller after the fourth infrared sensor 41 does not continuously sense, the fourth air cylinder 232 is controlled to move upwards to push the lifting conveying device 23, the roller on the catch hook 14 is driven to move upwards, the second electromagnetic induction switch 237 senses that the fourth air cylinder 232 moves upwards to the right, the third air cylinder 225 is controlled to move rightwards to push the lifting conveying device 23 to move rightwards to the upper part of the second station, the third electromagnetic induction switch 226 senses that the third air cylinder 225 moves rightwards to the right to the upper part of the second station, the fourth air cylinder 232 is controlled to move downwards to drop the roller on the lifting conveying device 23 to the second station on the second roller conveying plate 222, the fourth electromagnetic induction switch 238 senses that the fourth air cylinder 232 moves downwards to the upper part, the third air cylinder 225 is controlled to move leftwards to return, and whether the third air cylinder 225 returns to the original position or not is sensed through the seventh electromagnetic induction switch 227; during the operation of the lifting operation device 23, the first infrared sensor 236 will detect a no-material signal, but only after the movement of the transportation device is completed, that is, after the fourth electromagnetic induction switch 238 of the fourth cylinder senses the position, the first cylinder 12 will have a new feeding movement, and if the fourth infrared sensor 41 continuously senses the roller signal, all the movements of the lifting operation device 23 are suspended, and all the cylinders will not move until the signal is eliminated.
4. The second step of motion is circulated, the rollers are sequentially conveyed to the right, and the second step of motion is controlled to stop until the second infrared sensor 230 on the fourth station senses that the rollers are arranged on the second infrared sensor;
5. controlling the second cylinder 313 to push the roller to move close to the limit bearings 312, and positioning the roller between the two limit bearings 312;
6. after the fifth electromagnetic induction switch 314 senses that the second cylinder 313 is in place to position the roller, the fifth cylinder 325 is controlled to push the speed regulating motor 323 to move downwards to be close to the upper surface of the roller;
7. when the sixth electromagnetic induction switch 326 senses that the fifth air cylinder 325 is in place and the driving roller 324 is pressed on the surface of the roller, the speed regulating motor 323 is controlled to start to drive the driving roller 324 to rotate, the driving roller 324 drives the roller to rotate through the friction force of a rubber ring on the driving roller 324 and the roller, and the welding robot 33 is controlled to start welding;
8. After the welding is completed, the welding robot 33 is controlled to return to the original position, and the fifth cylinder 325 and the second cylinder 313 are controlled to return to the original position;
9. starting a third step of action;
10. the first to ninth steps are sequentially circulated.
The parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the drawings, the specific connection modes of the parts are not described by adopting conventional means such as mature bolts, rivets, welding and the like in the prior art, the machinery and the equipment are of conventional types in the prior art, the circuit connection of the equipment is in a conventional connection mode in the prior art, and the details which are not described in detail in the specification belong to the prior art which is known to the person skilled in the art.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (3)
1. A double-robot type roller automatic welding device is characterized in that: comprises an automatic feeding device (1), an automatic feeding device (2), an automatic welding device (3) and an automatic discharging device (4) which are sequentially arranged from left to right,
The automatic feeding device (1) comprises a feeding frame (11) for bearing a roller, a first air cylinder (12), a sliding block (13) and a blocking hook (14), wherein the contact surface of the feeding frame (11) and the roller is obliquely arranged right and downward, the first air cylinder (12) is arranged on the right side of the feeding frame (11), the sliding block (13) is sleeved above the first air cylinder, the upper surface of the sliding block (13) is obliquely arranged right and downward, the blocking hook (14) is arranged above the right of the first air cylinder (12) and is connected with the automatic feeding device (2), and the first air cylinder (12) moves upward to feed the roller in the feeding frame (11) into the blocking hook (14);
The automatic feeding device (2) comprises a feeding support (21), a base device (22) and a lifting and transporting device (23), wherein the base device (22) is arranged above the feeding support (21), a plurality of stations for firmly supporting rollers are arranged on the base device (22), the lifting and transporting device (23) is arranged inside the base device (22) and below the roller stations, the lifting and transporting device (23) drives the rollers in the catch hooks (14) and the rollers on the base device (22) to move to the right one station after lifting, right moving and descending, and the lifting and transporting device (23) starts the next cycle after moving to the left back position for continuously feeding welding equipment;
The automatic welding device (3) comprises a clamping device (31) for clamping the roller on the right end station, a driving device (32) capable of rotating the roller and a welding robot (33) for welding the roller, wherein the clamping device (31) clamps the roller on the right end station while guaranteeing rotatability of the roller, the driving device (32) is convenient to rotate the roller, and the welding robot (33) is used for welding the roller;
The automatic blanking device (4) is arranged to be a blanking frame comprising a cross beam and an upright post, the upper part of the blanking frame supports a roller through the cross beam which is obliquely arranged, and the roller can automatically roll to the right for blanking when the welded roller is conveyed to the blanking frame through the lifting and conveying device (23);
The base device (22) comprises a base support (221), wherein two ends of the base support (221) are sequentially provided with a second roller conveying plate (222) and a third roller conveying plate (223) from inside to outside, the heights of the second roller conveying plate (222) and the third roller conveying plate (223) from the ground are sequentially increased, a plurality of grooves are symmetrically formed in the second roller conveying plate (222) and the third roller conveying plate (223) and limit rollers between the two third roller conveying plates (223), a track mounting plate (224) and a third cylinder (225) capable of moving left and right are arranged in the middle of the base support (221), and the movable end of the third cylinder (225) is connected with a lifting conveying device (23) to push the lifting conveying device (23) to translate left and right; the lifting and transporting device (23) comprises a lifting and transporting bracket (231), a fourth cylinder (232) is arranged below the lifting and transporting bracket (231), the fourth cylinder (232) is fixed on a fixed plate (233) below the lifting and transporting bracket (231), a guide rail device (234) is arranged below the fixed plate (233), the guide rail device (234) is fixedly connected with a rail mounting plate (224), first roller conveying plates (235) for bearing transport rollers are further arranged on two sides of the lifting and transporting bracket (231), grooves corresponding to the second roller conveying plates (222) and the third roller conveying plates (223) are formed in the first roller conveying plates (235), and the height of the first roller conveying plates (235) from the ground is lower than that of the second roller conveying plates (222);
The clamping device (31) comprises a plurality of supporting bearings (311) for supporting the roller, limiting bearings (312) for clamping the bearings and a second air cylinder (313), wherein the supporting bearings (311) are arranged on the side edges of the right side grooves of the second roller conveying plate (222) for supporting the roller, positioning plates are arranged at the positions, close to the two ends of the right side station, of the base support (221), the limiting bearings (312) which are horizontally arranged are fixed on one positioning plate, the second air cylinder (313) is fixed on the other positioning plate, the movable end of the second air cylinder (313) is connected with one limiting bearing (312), and the roller on the supporting bearing can be clamped between the two limiting bearings (312) under the pushing of the second air cylinder (313); the driving device (32) comprises a vertical support (321) arranged above the base support (221), a rotatable mechanical arm (322) is arranged on the vertical support, a speed regulating motor (323) and a driving roller (324) driven by the speed regulating motor are arranged at the outer end of the mechanical arm (322), a fifth air cylinder (325) is further arranged at the upper end of the vertical support (321), the movable end of the fifth air cylinder (325) is connected with the middle part of the mechanical arm (322), and the position relation between the driving roller (324) and a roller to be welded on a right station is regulated by stretching the fifth air cylinder (325);
A third infrared sensor (15) is arranged on the right side of the feeding frame (11) and is used for sensing whether the feeding frame (11) is provided with a stock; a first infrared sensor (236) is arranged on the first roller conveying plate (235) at the first station, and the first infrared sensor (236) is used for sensing whether a roller to be welded exists on the first station; a fifth electromagnetic induction switch (314) is arranged on the second air cylinder (313), and the fifth electromagnetic induction switch (314) can sense whether the second air cylinder (313) stretches to clamp the roller between the two limit bearings (312) in place or not.
2. A dual robot type roller automatic welding apparatus according to claim 1, wherein: the rubber rings are sleeved on the driving rollers (324), so that the roller can rotate under the driving of the driving rollers (324) and can be guaranteed to rotate stably.
3. A twin robot roller autowelding apparatus as claimed in any one of claims 1 to 2, wherein: the catch hook (14) is arranged above the left end station of the first roller conveying plate (235), is of an inverted L shape, and is obliquely arranged on the inner side surface of the catch hook, so that the roller can roll into the catch hook (14) from left to right.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910009485.3A CN109483111B (en) | 2019-01-04 | 2019-01-04 | Automatic welding equipment for double-robot roller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910009485.3A CN109483111B (en) | 2019-01-04 | 2019-01-04 | Automatic welding equipment for double-robot roller |
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| CN109483111A CN109483111A (en) | 2019-03-19 |
| CN109483111B true CN109483111B (en) | 2024-05-28 |
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| CN110524393A (en) * | 2019-09-06 | 2019-12-03 | 南京奥特电气股份有限公司 | A kind of car-type numerical control cutting machine and its cutting method |
| CN111468912B (en) * | 2020-04-08 | 2021-09-10 | 湖南众盛机械设备有限公司 | Processing and unloading integration mechanism, sleeve processing equipment |
| CN114248983B (en) * | 2020-09-21 | 2023-08-01 | 广东天机工业智能***有限公司 | Automatic processing production line |
| CN113319497A (en) * | 2021-05-08 | 2021-08-31 | 南京昱晟机器人科技有限公司 | Automatic centering welding mechanism and welding method thereof |
| CN113334046B (en) * | 2021-06-02 | 2023-06-09 | 亚普汽车部件股份有限公司 | Method for automatically mounting parts on mechanism |
| CN113695830A (en) * | 2021-08-30 | 2021-11-26 | 涡阳阿科索机械有限公司 | Axle tube welding device |
| CN114378398B (en) * | 2022-03-07 | 2023-06-27 | 合肥舒实工贸有限公司 | Quick positioner is used in temperature controller welding |
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