CN113042936A - Spot welding processing equipment - Google Patents
Spot welding processing equipment Download PDFInfo
- Publication number
- CN113042936A CN113042936A CN201911374021.9A CN201911374021A CN113042936A CN 113042936 A CN113042936 A CN 113042936A CN 201911374021 A CN201911374021 A CN 201911374021A CN 113042936 A CN113042936 A CN 113042936A
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- Prior art keywords
- seat
- driving mechanism
- manipulator
- supporting plate
- spot welding
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- 238000003466 welding Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000009434 installation Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention provides spot welding processing equipment, which comprises a machine body, wherein a workpiece is placed on a workbench of the machine body through a jig, an electric welding machine and a blanking box are arranged on a base body, the workpiece on the jig is clamped to the electric welding machine through a manipulator device for welding, and then the workpiece is put into the blanking box; the manipulator assembly comprises a manipulator body, a mounting seat and a second-stage driving mechanism, wherein the mounting seat is pushed by the first-stage driving mechanism, the second-stage driving mechanism is fixedly mounted on the mounting seat, and the manipulator body is mounted at the front end of the second-stage driving mechanism. According to the manipulator provided by the invention, the mounting frame is arranged on the fixing seat in a lifting manner, the lifting driving mechanism is used for adjusting the height direction, and the rotary driving mechanism drives the manipulator assembly to rotate, so that the multi-axis direction adjustment is realized, the structure is simple, the control is easy, the design of joints and mechanical arms is reduced, the structure is more compact, and meanwhile, the stability of the action process is high.
Description
Technical Field
The invention belongs to the technical field of automatic machining equipment, and particularly relates to spot welding machining equipment.
Background
A robot device is an automatic operating device that simulates some of the motion functions of a human hand and arm, and is used to grasp, carry objects or operate tools according to a fixed program. Although the conventional manipulator has the advantages of being capable of accomplishing various expected operations through programming and having both human and manipulator machines in structure and performance, if more dimensional actions are to be achieved, the conventional design form is to design the manipulator into a multi-axis structure form, so that when the manipulator device achieves the multi-dimensional actions, a plurality of joints need to be designed, and a manipulator arm is arranged at each joint, which results in a larger overall size, more occupied space and higher cost of the manipulator device. When the method is applied to equipment with high structural and space requirements, such as an automobile part production line, because parts are numerous, when the production line is arranged, the space for processing, transferring and assembling each part is limited, the processes are simplified as much as possible, the equipment is optimized, the production efficiency is improved, the manufacturing cost is reduced, the overall structural arrangement of the equipment is affected due to the overlarge size, and in order to avoid structural interference, the movement range of each joint and each mechanical arm needs to be avoided as much as possible for other parts, so that the equipment is relatively bulky. Therefore, there is a need for necessary optimization and improvement of the conventional robot.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides spot welding processing equipment.
In order to solve the technical problems, the technical scheme created by the invention is realized as follows:
a spot welding processing device is provided,
the welding machine comprises a machine body, a workpiece is placed on a workbench of the machine body through a jig, an electric welding machine and a blanking box are arranged on a base body, the workpiece on the jig is clamped to the electric welding machine through a manipulator device to be welded, and then the workpiece is put into the blanking box, the manipulator device comprises a fixed seat, the fixed seat comprises a base body and a top seat body, and the base body and the top seat body are supported and fixed through a vertical seat body; the top seat body is provided with an installation frame, and the installation frame is provided with a manipulator assembly;
the mounting frame comprises a lower base frame and an upper base frame at the upper end of the lower base frame; a top column is arranged between the lower supporting plate of the lower foundation frame and the upper supporting plate of the upper foundation frame; a linear bearing matched with the top column is arranged on the top seat body of the fixed seat;
the manipulator assembly comprises a manipulator body, a mounting seat pushed by a first-stage driving mechanism and a second-stage driving mechanism which is fixedly mounted on the mounting seat, wherein the manipulator body is mounted at the front end of the second-stage driving mechanism;
the mounting bracket is installed on the fixing base through a lifting driving mechanism, the manipulator assembly is installed on the bottom plate, and the bottom plate is installed on the upper supporting plate through a rotary driving mechanism.
Further, the first-stage driving mechanism adopts an electric cylinder.
Further, the second-stage driving mechanism adopts an air cylinder.
Further, lift actuating mechanism is including passing the ball of basic frame down, and this ball lower extreme rotates the rotation seat of installing on the base body, is fixed with on the bottom plate with ball complex nut, and it is rotatory to be driven ball by first driving motor for the lower basic frame that is fixed with the nut realizes the lift action, and then drives the upper plate lift.
Further, a guide mechanism is arranged between the lower supporting plate and the top seat body, the guide mechanism comprises a guide column between the top seat body and the base body, and a linear bearing in sliding fit with the guide column is arranged on the lower supporting plate.
Furthermore, two groups of guide mechanisms are symmetrically arranged between the lower supporting plate and the top seat body by taking the lifting driving mechanism as a center.
Further, a first belt wheel is arranged at the output shaft end of the first driving motor, a second belt wheel is arranged at the upper end of the ball screw, a first driving belt is installed between the first belt wheel and the second belt wheel, and power transmission between the first belt wheel and the second belt wheel is realized through the first driving belt).
Further, the rotary driving mechanism comprises a second driving motor and a rotary seat between the upper supporting plate and the bottom plate, the lower end of the bottom plate is provided with a driving shaft, the lower end of the driving shaft penetrates through the upper supporting plate, and the end of the driving shaft is provided with a third belt wheel; and a fourth belt wheel is arranged at the output shaft end of the second driving motor, a second driving belt is arranged between the third belt wheel and the fourth belt wheel, and the second driving belt realizes power transmission between the third belt wheel and the fourth belt wheel.
Furthermore, the revolving bed includes the first roating seat of fixing at the upper side of the upper plate to and fix at the bottom plate downside, can with first roating seat normal running fit's second roating seat, the driving shaft passes first roating seat and with this first roating seat normal running fit, the drive shaft upper end is fixed on the second roating seat.
The invention has the advantages and positive effects that:
according to the manipulator provided by the invention, the mounting frame is arranged on the fixing seat in a lifting manner, the lifting driving mechanism is used for adjusting the height direction, and the rotary driving mechanism drives the manipulator assembly to rotate, so that the multi-axis direction adjustment is realized, the structure is simple, the control is easy, the design of joints and mechanical arms is reduced, the structure is more compact, meanwhile, the stability of the action process is high, the reliability is high, and the adjustment of the manipulator can be quickly realized.
Drawings
FIG. 1 is a schematic structural diagram of the invention;
fig. 2 is a schematic structural diagram of a manipulator device in the invention;
FIG. 3 is a schematic view of the embodiment of the present invention in which the lifting adjustment is performed with respect to FIG. 2;
fig. 4 is a schematic perspective view of a robot device in the invention;
FIG. 5 is a schematic view of a portion of a rotary drive mechanism in the creation of the present invention;
figure 6 is a schematic view of a robot assembly portion of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
The following detailed description of the embodiments of the invention is provided.
A spot welding processing apparatus, as shown in FIGS. 1 to 6,
including organism 02, lay the work piece through tool 03 on the workstation of organism to be equipped with electric welding 04 and workbin on the base member, press from both sides the work piece on with the tool through the manipulator device and get to electric welding department and weld, later put in the workbin again.
The manipulator device 01 comprises a fixed seat 1, the fixed seat comprises a base body 2 and a top seat body 3, and the base body 2 and the top seat body 3 are supported and fixed through a vertical seat body 4; the top seat body is provided with an installation frame, and the installation frame is provided with a manipulator assembly; the manipulator is at first the tool department clamp get the work piece, later with manipulator subassembly and rotary driving mechanism drive to rise to electric welding machine operating position at lift guiding mechanism, through first order actuating mechanism with the work piece propelling movement of manipulator subassembly front end to welding position, after the welding is accomplished, rotary driving mechanism continues to drive the work piece and rotates to the feed inlet department of workbin, and the action of second actuating mechanism drops into the workbin with the work piece.
The mounting frame comprises a lower base frame 5 and an upper base frame 6 at the upper end of the lower base frame; a top column 9 is arranged between the lower supporting plate 7 of the lower basic frame and the upper supporting plate 8 of the upper basic frame; a linear bearing 10 matched with the top column is arranged on the top seat body of the fixed seat; it should be noted that the upper and lower ends of the top pillar can be fixed simultaneously (fixed with the top seat body and the base body respectively), or can be fixed on the top seat body or the base body on one side, as long as the top pillar can be fixed in a vertical state.
The manipulator assembly comprises a manipulator body 11, a mounting seat 13 pushed by a first-stage driving mechanism 12 and a second-stage driving mechanism 14 fixedly mounted on the mounting seat, wherein the manipulator body is mounted at the front end of the second-stage driving mechanism;
the mounting bracket is installed on the top seat plate of the fixing seat through a lifting driving mechanism, the manipulator body is installed on the bottom plate 15, and the bottom plate is installed on the upper supporting plate through a rotating driving mechanism.
Typically, the first stage drive mechanism described above employs an electric cylinder. The second-stage driving mechanism adopts a cylinder. Through two-stage actuating mechanism, can divide twice (two sections) to carry out the feeding action to the manipulator body, adapt to the demand of the different actions and the station of subsequent spot welding equipment and transfer chain, twice action is separately gone on, and the controllability is strong, and job stabilization nature is also better. The manipulator body can adopt a pneumatic clamping jaw, and the clamping jaw can be driven by a cylinder of the pneumatic clamping jaw to perform clamping action.
The second-stage driving mechanism (cylinder) may be a cylinder in which the pneumatic clamping jaw drives the clamping finger to act, and may be selected as needed. If multi-stage driving is required, a separate second-stage driving mechanism (air cylinder) is additionally arranged outside the pneumatic clamping jaw.
The lifting driving mechanism comprises a ball screw 16 penetrating through a lower base frame, the lower end of the ball screw rotates to be installed on a rotating seat 17 on a base body, it needs to be explained that the rotating seat is generally a bearing seat, the ball screw can rotate as long as the ball screw is guaranteed, a nut 18 matched with the ball screw is fixed on a lower supporting plate, the ball screw is driven to rotate by a first driving motor 19, lifting action (forward or reverse rotation of the first driving motor can drive the ball screw to rotate forward or reversely) is achieved on the lower base frame fixed with the nut, and then the upper supporting plate is driven to lift.
A guide mechanism is arranged between the lower supporting plate and the top seat body, the guide mechanism comprises a guide post 20 between the top seat body and the base seat body, and a linear bearing 21 in sliding fit with the guide post is arranged on the lower supporting plate. In order to ensure the structural stability, two sets of guide mechanisms are generally symmetrically arranged between the lower supporting plate and the top seat body by taking the lifting driving mechanism as a center.
The first driving motor is usually mounted on the top base body, and a first pulley is provided at an output shaft end of the first driving motor, a second pulley is provided at an upper end of the ball screw, and a first driving belt 22 is mounted between the first pulley and the second pulley, and power transmission between the first pulley and the second pulley is realized by the first driving belt.
The rotary driving mechanism comprises a second driving motor 23 and a rotary seat 24 between the upper supporting plate and the bottom plate, the lower end of the bottom plate is provided with a driving shaft, the lower end of the driving shaft penetrates through the upper supporting plate, and the end is provided with a third belt wheel 25; a fourth pulley is provided at an output shaft end of the second drive motor, and a second drive belt 26 is installed between the third pulley and the fourth pulley, and power transmission between the third pulley and the fourth pulley is realized by the second drive belt. The second drive motor may typically be mounted to the upper plate.
It should be noted that, the first driving motor and the second driving motor may be additionally provided with a speed reducer as needed to obtain a more suitable speed reduction ratio, and since the rotation of the motor driving part is the category of the prior art, the rotation can be realized by a conventional technical means by those skilled in the art, and details are not described herein.
The rotary seat comprises a first rotary seat 27 fixed on the upper side of the upper supporting plate and a second rotary seat 28 fixed on the lower side of the bottom plate and capable of being in running fit with the first rotary seat, the driving shaft penetrates through the first rotary seat and is in running fit with the first rotary seat, and the upper end of the driving shaft is fixed on the second rotary seat. Of course, as long as the second driving motor can be used to drive the driving shaft to rotate, and further, the bottom plate (and the manipulator assembly on the bottom plate) can be rotated, in other alternative embodiments, a person skilled in the art may also design the robot by using a conventional technical means, as long as the robot can drive the bottom plate to rotate.
According to the manipulator provided by the invention, the mounting frame is arranged on the fixing seat in a lifting manner, the lifting driving mechanism is used for adjusting the height direction, and the rotary driving mechanism drives the manipulator assembly to rotate, so that the multi-axis direction adjustment is realized, the structure is simple, the control is easy, the design of joints and mechanical arms is reduced, the structure is more compact, meanwhile, the stability of the action process is high, the reliability is high, and the adjustment of the manipulator can be quickly realized.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The utility model provides a spot welding processing equipment, includes the organism, has laid the work piece through the tool on the workstation of organism to be equipped with electric welding and feed box on the base member, press from both sides the work piece on with the tool through manipulator device and get to electric welding department and weld, put into its characterized in that again later in the feed box:
the manipulator device comprises a fixed seat, the fixed seat comprises a base body and a top seat body, and the base body and the top seat body are supported and fixed through a vertical seat body; the top seat body is provided with an installation frame, and the installation frame is provided with a manipulator assembly;
the mounting frame comprises a lower base frame and an upper base frame at the upper end of the lower base frame; a top column is arranged between the lower supporting plate of the lower foundation frame and the upper supporting plate of the upper foundation frame; a linear bearing matched with the top column is arranged on the top seat body of the fixed seat;
the manipulator assembly comprises a manipulator body, a mounting seat pushed by a first-stage driving mechanism and a second-stage driving mechanism which is fixedly mounted on the mounting seat, wherein the manipulator body is mounted at the front end of the second-stage driving mechanism;
the mounting bracket is installed on the fixing base through a lifting driving mechanism, the manipulator body is fixed on the bottom plate, and the bottom plate is installed on the upper supporting plate through a rotary driving mechanism.
2. The spot welding processing apparatus according to claim 1, characterized in that: the first actuator mechanism employs an electric cylinder.
3. A spot welding processing apparatus according to claims 1 and 2, characterized in that: the second-stage driving mechanism adopts an air cylinder.
4. The spot welding processing apparatus according to claim 1, characterized in that: the lifting driving mechanism comprises a ball screw penetrating through the lower base frame, the lower end of the ball screw is rotatably mounted on a rotating seat on the base body, a nut matched with the ball screw is fixed on the lower supporting plate, and the ball screw is driven to rotate by a first driving motor, so that the lower base frame fixed with the nut can be lifted, and the upper supporting plate is driven to lift.
5. The spot welding processing apparatus according to claim 4, characterized in that: a guide mechanism is arranged between the lower supporting plate and the top seat body, the guide mechanism comprises a guide post between the top seat body and the base seat body, and a linear bearing in sliding fit with the guide post is arranged on the lower supporting plate.
6. The spot welding processing apparatus according to claim 5, characterized in that: two groups of guide mechanisms are symmetrically arranged between the lower supporting plate and the top seat body by taking the lifting driving mechanism as a center.
7. The spot welding processing apparatus according to claim 4, characterized in that: the output shaft end of the first driving motor is provided with a first belt wheel, the upper end of the ball screw is provided with a second belt wheel, and a first driving belt is arranged between the first belt wheel and the second belt wheel.
8. The spot welding processing apparatus according to claim 1, characterized in that: the rotary driving mechanism comprises a second driving motor and a rotary seat between the upper supporting plate and the bottom plate, the lower end of the bottom plate is provided with a driving shaft, the lower end of the driving shaft penetrates through the upper supporting plate, and the end of the driving shaft is provided with a third belt wheel; and a fourth belt wheel is arranged at the output shaft end of the second driving motor, and a second driving belt is arranged between the third belt wheel and the fourth belt wheel.
9. The spot welding processing apparatus according to claim 8, characterized in that: the rotary seat comprises a first rotary seat fixed on the upper side of the upper supporting plate and a second rotary seat fixed on the lower side of the bottom plate and capable of being in running fit with the first rotary seat, the driving shaft penetrates through the first rotary seat and is in running fit with the first rotary seat, and the upper end of the driving shaft is fixed on the second rotary seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911374021.9A CN113042936A (en) | 2019-12-27 | 2019-12-27 | Spot welding processing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911374021.9A CN113042936A (en) | 2019-12-27 | 2019-12-27 | Spot welding processing equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113042936A true CN113042936A (en) | 2021-06-29 |
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ID=76506261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911374021.9A Pending CN113042936A (en) | 2019-12-27 | 2019-12-27 | Spot welding processing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113042936A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0633690U (en) * | 1992-10-06 | 1994-05-06 | 日立精機株式会社 | Traverse robot |
| CN102848379A (en) * | 2012-08-31 | 2013-01-02 | 华南理工大学 | Automatic manipulator of caster support press line |
| CN203611404U (en) * | 2013-12-12 | 2014-05-28 | 益阳益神橡胶机械有限公司 | Manipulator lifting device for tire vulcanizing machine |
| CN105057937A (en) * | 2015-08-28 | 2015-11-18 | 深圳市鹏煜威科技有限公司 | Shell welding production device |
| CN108515296A (en) * | 2018-06-08 | 2018-09-11 | 浙江豪精机电有限公司 | A kind of welding machine |
| CN109434326A (en) * | 2018-10-18 | 2019-03-08 | 中国化学工程第六建设有限公司 | Device for automatic welding of pipelines |
| CN209035267U (en) * | 2018-10-26 | 2019-06-28 | 上海昶宏汽车配件有限公司 | A kind of automatic production line of automobile starter stator casing |
-
2019
- 2019-12-27 CN CN201911374021.9A patent/CN113042936A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0633690U (en) * | 1992-10-06 | 1994-05-06 | 日立精機株式会社 | Traverse robot |
| CN102848379A (en) * | 2012-08-31 | 2013-01-02 | 华南理工大学 | Automatic manipulator of caster support press line |
| CN203611404U (en) * | 2013-12-12 | 2014-05-28 | 益阳益神橡胶机械有限公司 | Manipulator lifting device for tire vulcanizing machine |
| CN105057937A (en) * | 2015-08-28 | 2015-11-18 | 深圳市鹏煜威科技有限公司 | Shell welding production device |
| CN108515296A (en) * | 2018-06-08 | 2018-09-11 | 浙江豪精机电有限公司 | A kind of welding machine |
| CN109434326A (en) * | 2018-10-18 | 2019-03-08 | 中国化学工程第六建设有限公司 | Device for automatic welding of pipelines |
| CN209035267U (en) * | 2018-10-26 | 2019-06-28 | 上海昶宏汽车配件有限公司 | A kind of automatic production line of automobile starter stator casing |
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Application publication date: 20210629 |
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