A roller end shaft robot welding device and method

Abstract

The present invention discloses a roller end shaft robot welding device and method in the welding field, comprising a welding base and a centering clamping base, wherein a welding robot is arranged on the welding base, and the welding robot can move back and forth along the welding base, and an active centering clamping mechanism is arranged on the centering clamping base, and the active centering clamping mechanism is matched with a driven centering clamping mechanism, the active centering clamping mechanism is fixedly arranged at one end of the centering clamping base, and the driven centering clamping mechanism can move back and forth along the centering clamping base, and the active centering clamping mechanism is coaxially arranged with the driven centering clamping mechanism; the roller and the end shaft can be centeringly clamped, so that the roller and the end shaft are welded concentrically and coaxially, and the welding precision is higher. The present invention is used for welding rollers and end shafts.

Description

Technical Field

[0001] The invention relates to a welding device and a welding method. Background Art

[0002] Various rollers are used in fishing net machines. There are end shafts at both ends of the rollers. In the prior art, the rollers and end shafts are usually welded on site. The two ends of the rollers are placed on two centering and coplanar bearing outer rings, and then the end shafts and the roller end faces are pre-welded at one point to pre-fix them. Then the rollers are rotated to visually adjust the coaxiality. After adjustment, two more points are pre-welded on the circumference. A total of three points are welded on the circumference to fix the end shafts, and then the full circumference is manually welded. However, due to the lack of clamping force, the welding of the first fixed point has determined that it is impossible to be coaxial, and can only reduce the skew. The welding stress of the second and third fixed points also determines that it is impossible to be coaxial. Therefore, such welding cannot ensure that the outer cylindrical surface of the roller is coaxial with the end shaft, and the error is large. Summary of the invention

[0003] The object of the present invention is to provide a roller end shaft robot welding device and method thereof, which can center and clamp the roller and the end shaft so that the roller and the end shaft are welded concentrically and coaxially with higher welding accuracy.

[0004] To achieve the above-mentioned purpose, the present invention provides a roller end shaft robot welding device, including a welding base and a centering clamping base, a welding robot is arranged on the welding base, the welding robot can move back and forth along the welding base, an active centering clamping mechanism is arranged on the centering clamping base, the active centering clamping mechanism is matched with a driven centering clamping mechanism, the active centering clamping mechanism is fixedly arranged at one end of the centering clamping base, the driven centering clamping mechanism can move back and forth along the centering clamping base, and the active centering clamping mechanism is coaxially arranged with the driven centering clamping mechanism.

[0005] Compared with the prior art, the beneficial effect of the present invention lies in that the roller to be welded is hoisted to the active centering clamping mechanism and the driven centering clamping mechanism for clamping and fixing, and then the end shaft is clamped by the active centering clamping mechanism and the driven centering clamping mechanism and then inserted into the two ends of the roller with welding, and the welding robot performs electric welding on multiple points preset on the circumferential surface of the connecting part of the roller and the end shaft, and the active centering clamping mechanism drives the end shaft and the roller to rotate synchronously, and the welding gun of the welding robot stops at a point on the circumference of the connecting part of the end shaft and the end of the roller and remains motionless, and the rotation of the end shaft and the roller enables the welding gun to automatically perform circumferential welding, and after welding one end of the roller, the welding robot moves to the other end of the roller for circumferential welding, and the welding of both ends of the roller is completed, then the active centering clamping mechanism and the driven centering clamping mechanism are released, the welded roller is hoisted away, and another unwelded roller is hoisted again. The present invention is used for welding rollers and end shafts.

[0006] As a further improvement of the present invention, the active centering clamping mechanism includes an active fixing frame fixedly mounted at one end of the centering clamping base, an active synchronous oil cylinder is arranged on the active fixing frame, the telescopic end of the active synchronous oil cylinder passes through the top of the active fixing frame and extends into an active centering installation box arranged on the top of the active fixing frame, an active cycloid cam is arranged in the active centering installation box, the active cycloid cam is connected to the telescopic end of the active synchronous oil cylinder, the active cycloid cam is equipped with a pair of active swing arms, and the active swing arms are symmetrically arranged on the active cycloid cam On both sides of the wheel, the active swing arm passes through the active support seat and is hinged with the active support seat arranged on the top of the active centering mounting box. The lower part of the active swing arm is provided with a lower active clamping bearing near the active cycloid cam, and the upper part of the active swing arm is provided with an upper active clamping bearing; the top of the active fixed frame is also provided with a driving box, and the driving box can move back and forth along the top of the active fixed frame. An active servo motor is arranged in the driving box, and the active servo motor is connected to an active reducer, and the active reducer is connected to a small gear, and the small gear is meshed with a large gear. The large gear is connected to the active three-jaw chuck; the driven centering clamping mechanism includes a driven fixed frame arranged on the centering clamping base, the driven fixed frame can move back and forth along the centering clamping base, a driven synchronous oil cylinder is arranged on the driven fixed frame, the telescopic end of the driven synchronous oil cylinder passes through the top of the driven fixed frame and extends into the driven centering installation box arranged on the top of the driven fixed frame, a driven cycloid cam is arranged in the driven centering installation box, the driven cycloid cam is connected to the telescopic end of the driven synchronous oil cylinder, the driven cycloid cam is equipped with a pair of driven swing arms, The driven swing arms are symmetrically arranged on both sides of the driven cycloid cam, respectively, and the driven swing arms pass through the driven support seat and are hinged to the driven support seat arranged on the top of the driven centering mounting box. The lower part of the driven swing arm is provided with a lower driven clamping bearing near the driven cycloid cam, and the upper part of the driven swing arm is provided with an upper driven clamping bearing; the top of the driven fixing frame is also provided with a driven box, and the top of the driven box is provided with a bearing seat, and the bearing seat can move back and forth along the top of the driven box, and the driven bearing is provided on the bearing seat, and the driven bearing is connected to the driven three-jaw chuck;

[0007] In this way, before lifting the roller, the telescopic section of the active synchronous cylinder is retracted downward, and the active cycloidal cam moves downward. Since the active cycloidal cam is narrow at the top and wide at the bottom, the lower part of the active swing arm swings inward, while the upper part of the active swing arm swings outward. At the same time, the telescopic section of the driven synchronous cylinder is retracted downward, and the driven cycloidal cam moves downward. Since the driven cycloidal cam is narrow at the top and wide at the bottom, the lower part of the driven swing arm swings inward, while the upper part of the driven swing arm swings outward. In this way, the roller to be welded is lifted to the top of the centering clamping base, and its two ends are placed between the active swing arm and the driven swing arm respectively. The telescopic section extends upward, so that the active cycloidal cam and the driven cycloidal cam are pushed upward, which will cause the lower parts of the active swing arm and the driven swing arm to swing outward, thereby driving the upper parts of the active swing arm and the driven swing arm to swing inward, thereby clamping the two ends of the roller, opening the active three-jaw chuck and the driven three-jaw chuck, and inserting the shaft ends of the two end shafts into the active three-jaw chuck and the driven three-jaw chuck respectively. Then, the active three-jaw chuck and the driven three-jaw chuck clamp the shaft ends of the end shafts, and the drive box and the bearing seat move relative to each other at the top of the active fixed frame and the top of the driven box respectively, and inserting the end shaft into the end of the roller can better connect the roller and the end shaft concentrically and coaxially for welding.

[0008] As a further improvement of the present invention, an active connecting rod is arranged on the top of the active cycloid cam, and an active rotating bearing is arranged on the top of the active connecting rod, and the active rotating bearing can extend out of the active support seat; a driven connecting rod is arranged on the top of the driven cycloid cam, and a driven rotating bearing is arranged on the top of the driven connecting rod, and the driven rotating bearing can extend out of the driven support seat. In this way, when the roller is placed between the active swing arm and the driven swing arm, it can be supported by the active rotating bearing and the driven rotating bearing, and can assist the rotation of the roller during rotation, thereby avoiding friction damage caused by the contact between the roller and the active support seat and the driven support seat during rotation.

[0009] As a further improvement of the present invention, an active longitudinal support is arranged on the upper part of the active centering mounting box, a plurality of active longitudinal rollers are arranged in the active longitudinal support, and the active longitudinal support can move up and down along the active centering mounting box; a driven longitudinal support is arranged on the upper part of the driven centering mounting box, a plurality of driven longitudinal rollers are arranged in the driven longitudinal support, and the driven longitudinal support can move up and down along the driven centering mounting box, and the driven longitudinal support is arranged opposite to the active longitudinal support, so that the longitudinal position of the roller can be fine-tuned by the active longitudinal rollers and the driven longitudinal rollers.

[0010] As a further improvement of the present invention, a driving guide rail is arranged on the top of the active fixed frame, and the driving guide rail matches the driving slider arranged at the bottom of the driving box. A sliding nut is also arranged at the bottom of the driving box, and the sliding nut is sleeved on the lead screw. A crank handle is arranged at one end of the lead screw. In this way, after the end shaft is grasped by the active three-jaw chuck, the crank handle can be rotated to rotate the lead screw, driving the sliding nut to move on the lead screw, so that the driving box moves toward the end of the roller, so that the end shaft can be inserted into the end of the roller, which is very convenient.

[0011] As a further improvement of the present invention, a base guide rail is provided on the centering clamping base, and the base guide rail matches the base slider provided at the bottom of the driven fixed frame, and a driven motor is provided on the driven fixed frame, and the rotating shaft of the driven motor extends out of the bottom of the driven fixed frame and is connected to the driven gear, and the driven gear matches the driven rack provided on the inner side of the centering clamping base, so that when the driven motor rotates, it drives the driven gear to rotate, so that the driven fixed frame moves back and forth along the centering clamping base, so that the distance between the driven fixed frame and the active fixed frame matches the length of the roller to be welded.

[0012] As a further improvement of the present invention, a driven guide rail is arranged on the top of the driven box, and the driven guide rail matches the driven slider arranged at the bottom of the bearing seat. A driven oil cylinder is also arranged on the driven box, and the telescopic end of the driven oil cylinder is connected to the bearing seat, so that after the end shaft is grasped by the driven three-jaw chuck, the driven oil cylinder can be used to move the bearing seat along the driven guide rail toward the end of the roller, so that the end shaft can be inserted into the end of the roller.

[0013] As a further improvement of the present invention, an active limit guide groove is arranged on the top of the active centering installation box, a pair of active limit guide blocks are arranged on the active limit guide groove, and the active limit guide blocks are symmetrically arranged at both ends of the active limit guide groove; a driven limit guide groove is arranged on the top of the driven centering installation box, a pair of driven limit guide blocks are arranged on the driven limit guide groove, and the driven limit guide blocks are symmetrically arranged at both ends of the driven limit guide groove, so that the roller can be directly placed in the active limit guide block and the driven limit guide block during hoisting, so that the roller is limited within a certain range, which is more convenient for longitudinal fine-tuning.

[0014] As a further improvement of the present invention, the welding robot is arranged on a skateboard, and a welding slider is arranged at the bottom of the skateboard, and the welding slider matches the welding guide rail arranged on the welding base. A welding motor is also arranged on the skateboard, and the rotating shaft of the welding motor extends out from the bottom of the skateboard and is connected to the welding gear, and the welding gear matches the welding rack arranged on the inner side of the welding base. In this way, when the welding motor rotates, it drives the welding gear to rotate, so that the welding gear can move back and forth along the welding rack, and then drives the welding robot on the skateboard to move back and forth along the welding base, so that the welding robot can easily move from one end of the roller to the other end to weld the two ends of the roller and the end shaft.

[0015] To achieve the above purpose, the present invention also provides a roller end shaft robot welding method, the specific steps are as follows:

[0016] Step 1, adjusting the position of the driven fixed frame on the centering clamping base by a driven motor so that the distance between the driven fixed frame and the active fixed frame matches the length of the roller to be welded;

[0017] Step 2, the telescopic ends of the active synchronous oil cylinder and the driven synchronous oil cylinder are retracted downward, so that the active swing arm and the driven swing arm are opened;

[0018] Step 3, adjusting the distance between the active limit guide blocks and the distance between the driven limit guide blocks to match the outer diameter of the roller to be welded;

[0019] Step 4, the roller to be welded is placed on the active support seat and the driven support seat, with one end between the active limit guide blocks and the other end between the driven limit guide blocks;

[0020] Step 5, the telescopic ends of the dynamic synchronous oil cylinder and the driven synchronous oil cylinder extend upward, and the upper parts of the active swing arm and the driven swing arm move inward to clamp the two ends of the roller respectively;

[0021] Step 6, open the active three-jaw chuck and the driven three-jaw chuck, insert the two end shafts to be welded into the active three-jaw chuck and the driven three-jaw chuck respectively and clamp them;

[0022] Step 7, rotate the lead screw by the crank handle to move the drive box toward the active centering installation box, and finally insert the end shaft into one end of the roller, and the driven oil cylinder pushes the driven box toward the driven centering installation box, and finally inserts the other end shaft into the other end of the roller;

[0023] Step 8, start the welding robot, so that the welding robot spot welds the two ends of the roller and the end shaft at preset positions respectively, and then the welding gun of the welding robot stays on the circumference of the connecting part of the end shaft and the roller, and the active servo motor rotates, so that the roller and the end shaft rotate synchronously, and the welding gun of the welding robot automatically performs circumferential welding;

[0024] Step 9, after welding is completed, the servo motor stops rotating, the active three-jaw chuck and the driven three-jaw chuck are released and reset backward, the telescopic ends of the active synchronous oil cylinder and the driven synchronous oil cylinder are retracted downward, so that the active swing arm and the driven swing arm are opened, the two ends of the roller are released, and the welded roller is lifted away;

[0025] In this way, the roller and the end shaft can be clamped in a centered manner, so that the roller and the end shaft can be welded concentrically and coaxially, and the welding accuracy is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a stereogram of the present invention.

[0027] Figure 2 for Figure 1 Reverse stereogram of .

[0028] Figure 3 It is a schematic diagram of the internal structure of the present invention.

[0029] Figure 4 for Figure 3 Schematic diagram of the reverse structure.

[0030] Figure 5 for Figure 3 A schematic diagram of the structure from another angle.

[0031] Figure 6 for Figure 2 A partial enlarged view of point A in the middle.

[0032] Figure 7 for Figure 2 A partial enlarged view of point B in the middle.

[0033] Figure 8 for Figure 3 A partial enlarged view of point C in the middle.

[0034] Fig. 9 for Figure 4 A partial enlarged view of point D in the middle.

[0035] Fig.10 for Figure 5 A partial enlarged view of point E in the middle.

[0036] Fig.11 for Figure 3 A partial enlarged view of point F in the middle.

[0037] Fig.12 for Figure 4 A partial enlarged view of point G in the middle.

[0038] Among them, 1 welding base, 2 active fixing frame, 3 active centering installation box, 4 centering clamping base, 5 hydraulic station, 6 driven fixing frame, 7 driven box, 8 drive box, 9 welding guide rail, 10 roller, 11 robot CNC display cabinet, 12 welding machine, 13 driven centering installation box, 14 base guide rail, 15 base slider, 16 driven rack, 17 driven motor, 18 welding slider, 19 welding rack, 20 welding electromechanical, 21 slide plate, 22 drive guide rail, 23 drive slider, 24 sliding nut, 25 1. lower active clamping bearing, 26 active cycloidal cam, 27 active longitudinal support, 28 active longitudinal roller, 29 active support seat, 30 active swing arm, 31 active three-jaw chuck, 32 active limit guide groove, 33 upper active clamping bearing, 34 active limit guide block, 35 driven support seat, 36 driven swing arm, 37 lower driven clamping bearing, 38 driven cycloidal cam, 39 driven synchronous cylinder, 40 driven longitudinal support, 41 driven cylinder, 42 driven guide rail, 43 driven Active slider, 44 bearing seat, 45 driven three-jaw chuck, 46 upper driven clamping bearing, 47 driven limit guide groove, 48 driven limit guide block, 49 driven longitudinal roller, 50 crank handle, 51 active servo motor, 52 lead screw, 53 active reducer, 54 small gear connected, 55 active synchronous cylinder, 56 welding robot, 57 large gear, 58 end shaft, 59 welding gun, 60 driven connecting rod, 61 driven rotating bearing, 62 active connecting rod, 63 active rotating shaft. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings:

[0040] like Figure 1-12 A roller end shaft robot welding device shown includes a welding base 1 and a centering clamping base 4. A welding robot 56 is arranged on the welding base 1, and the welding robot 56 can move back and forth along the welding base 1. An active centering clamping mechanism is arranged on the centering clamping base 4. The active centering clamping mechanism is matched with a driven centering clamping mechanism. The active centering clamping mechanism is fixedly arranged at one end of the centering clamping base 4, and the driven centering clamping mechanism can move back and forth along the centering clamping base 4. The active centering clamping mechanism and the driven centering clamping mechanism are coaxially arranged.

[0041] The active centering clamping mechanism includes an active fixing frame 2 fixedly mounted at one end of the centering clamping base 4, an active synchronous oil cylinder 55 is arranged on the active fixing frame 2, the telescopic end of the active synchronous oil cylinder 55 passes through the top of the active fixing frame 2 and extends into the active centering installation box 3 arranged on the top of the active fixing frame 2, an active cycloid cam 26 is arranged in the active centering installation box 3, the active cycloid cam 26 is connected to the telescopic end of the active synchronous oil cylinder 55, the active cycloid cam 26 is equipped with a pair of active swing arms 30, the active swing arms 30 are symmetrically arranged on both sides of the active cycloid cam 26, and the active swing arms 30 pass through the active support The seat 29 is hinged with the active support seat 29 arranged on the top of the active centering installation box 3, the lower part of the active swing arm 30 is provided with a lower active clamping bearing 25 near the active cycloid cam 26, and the upper part of the active swing arm 30 is provided with an upper active clamping bearing 33; the top of the active fixed frame 2 is also provided with a driving box 8, the driving box 8 can move back and forth along the top of the active fixed frame 2, and the driving box 8 is provided with an active servo motor 51, the active servo motor 51 is connected to the active reducer 53, the active reducer 53 is connected to the pinion 54, the pinion 54 is meshed with a large gear 57, and the large gear 57 is connected to the active three-jaw chuck 31;

[0042] The driven centering clamping mechanism includes a driven fixed frame 6 arranged on the centering clamping base 4, the driven fixed frame 6 can move back and forth along the centering clamping base 4, a driven synchronous oil cylinder 39 is arranged on the driven fixed frame 6, the telescopic end of the driven synchronous oil cylinder 39 passes through the top of the driven fixed frame 6 and extends into the driven centering installation box 13 arranged on the top of the driven fixed frame 6, a driven cycloid cam 38 is arranged in the driven centering installation box 13, the driven cycloid cam 38 is connected to the telescopic end of the driven synchronous oil cylinder 39, and the driven cycloid cam 38 is matched with a pair of driven swing arms 36, and the driven swing arms 36 are symmetrical Arranged on both sides of the driven cycloid cam 38, the driven swing arm 36 passes through the driven support seat 35 and is hinged to the driven support seat 35 arranged on the top of the driven centering mounting box 13, and a lower driven clamping bearing 37 is arranged at the lower part of the driven swing arm 36 near the driven cycloid cam 38, and an upper driven clamping bearing 46 is arranged at the upper part of the driven swing arm 36; a driven box 7 is also arranged on the top of the driven fixed frame 6, and a bearing seat 44 is arranged on the top of the driven box 7. The bearing seat 44 can move back and forth along the top of the driven box 7, and a driven bearing is arranged on the bearing seat 44, and the driven bearing is connected to the driven three-jaw chuck 45.

[0043] An active connecting rod 62 is arranged at the top of the active cycloid cam 26, and an active rotating bearing 63 is arranged at the top of the active connecting rod 62. The active rotating bearing 63 can extend out of the active support seat 29. A driven connecting rod 60 is arranged at the top of the driven cycloid cam 38, and a driven rotating bearing 61 is arranged at the top of the driven connecting rod 60. The driven rotating bearing 61 can extend out of the driven support seat 35.

[0044] An active longitudinal support 27 is arranged on the upper part of the active centering installation box 3, and a plurality of active longitudinal rollers 28 are arranged in the active longitudinal support 27. The active longitudinal support 27 can move up and down along the active centering installation box 3. A driven longitudinal support 40 is arranged on the upper part of the driven centering installation box 13, and a plurality of driven longitudinal rollers 49 are arranged in the driven longitudinal support 40. The driven longitudinal support 40 can move up and down along the driven centering installation box 13, and the driven longitudinal support 40 is arranged opposite to the active longitudinal support 27.

[0045] A driving rail 22 is provided on the top of the active fixed frame 2, and the driving rail 22 matches the driving slider 23 provided at the bottom of the driving box 8. A sliding nut 24 is also provided at the bottom of the driving box 8. The sliding nut 24 is sleeved on the lead screw 52, ​​and a crank handle 50 is provided at one end of the lead screw 52.

[0046] A base guide rail 14 is provided on the centering clamping base 4, and the base guide rail 14 matches with a base slider 15 provided at the bottom of the driven fixed frame 6. A driven motor 17 is provided on the driven fixed frame 6. The rotating shaft of the driven motor 17 extends out of the bottom of the driven fixed frame 6 and is connected to a driven gear, and the driven gear matches with a driven rack 16 provided on the inner side of the centering clamping base 4.

[0047] A driven guide rail 42 is arranged on the top of the driven box 7 , and the driven guide rail 42 matches with a driven slider 43 arranged at the bottom of the bearing seat 44 . A driven oil cylinder 41 is also arranged on the driven box 7 , and the telescopic end of the driven oil cylinder 41 is connected to the bearing seat 44 .

[0048] An active limit guide groove 32 is arranged on the top of the active centering installation box 3, and a pair of active limit guide blocks 34 are arranged on the active limit guide groove 32, and the active limit guide blocks 34 are symmetrically arranged at both ends of the active limit guide groove 32; a driven limit guide groove 47 is arranged on the top of the driven centering installation box 13, and a pair of driven limit guide blocks 48 are arranged on the driven limit guide groove 47, and the driven limit guide blocks 48 are symmetrically arranged at both ends of the driven limit guide groove 47.

[0049] The welding robot 56 is arranged on a skateboard 21, and a welding slider 18 is arranged at the bottom of the skateboard 21. The welding slider 18 matches the welding guide rail 9 arranged on the welding base 1. A welding motor 20 is also arranged on the skateboard 21. The rotating shaft of the welding motor 20 extends out from the bottom of the skateboard 21 and is connected to the welding gear. The welding gear matches the welding rack 19 arranged on the inner side of the welding base 1.

[0050] A roller 10 end shaft robot welding method, the specific steps are as follows:

[0051] Step 1, adjusting the position of the driven fixed frame 6 on the centering clamping base 4 by the driven motor 17 so that the distance between the driven fixed frame 6 and the active fixed frame 2 matches the length of the roller 10 to be welded;

[0052] Step 2, the telescopic ends of the active synchronous cylinder 55 and the driven synchronous cylinder 39 are retracted downward, so that the active swing arm 30 and the driven swing arm 36 are opened;

[0053] Step 3, adjusting the distance between the active limiting guide blocks 34 and the distance between the driven limiting guide blocks 48 to match the outer diameter of the roller 10 to be welded;

[0054] Step 4, the roller 10 to be welded is suspended and placed on the active support seat 29 and the driven support seat 35, with one end being between the active limit guide block 34 and the other end being between the driven limit guide block 48;

[0055] Step 5, the telescopic ends of the dynamic synchronous cylinder and the driven synchronous cylinder 39 are extended upward, and the upper parts of the active swing arm 30 and the driven swing arm 36 are moved inward to clamp the two ends of the roller 10 respectively;

[0056] Step 6, open the active three-jaw chuck 31 and the driven three-jaw chuck 45, insert the two end shafts to be welded into the active three-jaw chuck 31 and the driven three-jaw chuck 45 respectively and clamp them;

[0057] Step 7, by rotating the screw 52 through the crank 50, the driving box 8 moves toward the active centering installation box 3, and finally the end shaft is inserted into one end of the roller 10, and the driven oil cylinder 41 pushes the driven box 7 to move toward the driven centering installation box 13, and finally the other end shaft is inserted into the other end of the roller 10;

[0058] Step 8, start the welding robot 56, so that the welding robot 56 spot welds the two ends of the roller 10 and the end shaft at the preset positions respectively, and then the welding gun 59 of the welding robot 56 stays on the circumference of the connecting part of the end shaft and the roller 10, and the active servo motor 51 rotates, so that the roller 10 and the end shaft rotate synchronously, and the welding gun 59 of the welding robot 56 automatically performs circumferential welding;

[0059] Step 9, after welding is completed, the servo motor stops rotating, the active three-jaw chuck 31 and the driven three-jaw chuck 45 are released and retreated to reset, the telescopic ends of the active synchronous cylinder 55 and the driven synchronous cylinder 39 are retracted downward, so that the active swing arm 30 and the driven swing arm 36 are opened, the two ends of the roller 10 are released, and the welded roller 10 is lifted away.

[0060] In the present invention, the robot CNC display cabinet 11 and the welding machine 12 are placed on the outside of the centering clamping base 4, and the hydraulic station 5 is placed between the centering clamping base 4 and the welding base 1. The end of the roller 10 located at the active centering clamping mechanism is the active end, and the end of the roller 10 located at the driven centering clamping mechanism is the driven end. The upper parts of the active three-jaw chuck 31, the driven three-jaw chuck 45, the active swing arm 30 and the driven swing arm 36 are coaxially arranged.

[0061] Before lifting the roller 10, the driven motor 17 rotates, which drives the driven gear to rotate, so that the driven fixed frame 6 moves back and forth along the centering clamping base 4, so that the distance between the driven fixed frame 6 and the active fixed frame 2 matches the length of the roller 10 to be welded; the telescopic section of the active synchronous oil cylinder 55 retracts downward, and the active cycloid cam 26 moves downward. Since the active cycloid cam 26 is narrow at the top and wide at the bottom, the lower part of the active swing arm 30 swings inward, while the upper part of the active swing arm 30 swings outward. At the same time, the telescopic section of the driven synchronous oil cylinder 39 retracts downward, and the driven cycloid cam 26 moves downward. The cam 38 moves downward, and since the upper part of the driven cycloid cam 38 is narrow and the lower part is wide, the lower part of the driven swing arm 36 swings inward, while the upper part of the driven swing arm 36 swings outward. In this way, the roller 10 to be welded is lifted to the top of the centering clamping base 4, and its two ends are respectively placed between the active swing arm 30 and the driven swing arm 36, and are also in the active limit guide block 34 and the driven limit guide block 48, so that the roller 10 is limited within a certain range, which facilitates the fine adjustment of the longitudinal position of the roller 10 through the active longitudinal roller 28 and the driven longitudinal roller 49.

[0062] The telescopic sections of the active synchronous cylinder 55 and the driven synchronous cylinder 39 extend upward, so that the active cycloidal cam 26 and the driven cycloidal cam 38 are pushed upward, and the active rotary bearings 63 and the driven rotary bearings 61 at the tops of the active connecting rod 62 and the driven connecting rod 60 support the roller, and at the same time, the lower parts of the active swing arm 30 and the driven swing arm 36 are forced to swing outward, which drives the upper parts of the active swing arm 30 and the driven swing arm 36 to swing inward, thereby clamping the two ends of the roller 10, and the active three-jaw chuck 31 and the driven three-jaw chuck 45 are opened, and the ends of the two end shafts are respectively inserted into the active three-jaw chuck 31 and the driven three-jaw chuck The active three-jaw chuck 31 and the driven three-jaw chuck 45 then clamp the shaft ends of the end shafts. After the end shafts are grasped by the active three-jaw chuck 31, the crank 50 can be rotated to rotate the lead screw 52, ​​driving the sliding nut 24 to move on the lead screw 52, ​​so that the drive box 8 moves toward the active end of the roller 10, so that the end shafts can be inserted into the active end of the roller 10. After the other end shafts are grasped by the driven three-jaw chuck 45, the driven oil cylinder 41 can be used to move the bearing seat 44 along the driven guide rail 42 toward the driven end of the roller 10, so that the end shafts are inserted into the driven end of the roller 10, and the end shafts and the rollers are coaxial.

[0063] The robot numerical control display cabinet 11 controls the welding motor 20 to rotate, which drives the welding gear to rotate, so that the welding gear can move back and forth along the welding rack 19, and then drives the welding robot 56 on the slide plate 21 along the welding base 1 to the active end of the roller 10. The welding robot 56 spot welds a plurality of preset points on the circumferential surface of the connection part between the active end of the roller 10 and the end shaft, and then controls the welding robot 56 to move to the driven end of the roller 10, and spot welds a plurality of preset points on the circumferential surface of the connection part between the driven end of the roller 10 and the end shaft. After that, the active servo motor 51 rotates, and drives the small gear 54 to rotate through the active reducer 53, so that the large gear 57 rotates, and then drives the active three-jaw chuck 31 to rotate, so that the end shaft and the roller 10 rotate synchronously, and the welding gun 59 of the welding robot 56 stops at a point on the circumference of the connection part between the driven end of the roller 10 and the end shaft and remains motionless. The shaft and roller 10 rotate synchronously on the same axis, so that the welding gun 59 on the welding robot 56 can automatically perform circumferential welding, and weld and fix the driven end and the end shaft of the roller 10. The welding robot 56 moves to the active end of the roller 10 and performs circumferential welding in the same way. Then, both ends of the roller 10 are welded. The telescopic ends of the active synchronous cylinder 55 and the driven synchronous cylinder 39 are retracted downward, so that the active cycloidal cam 26 and the driven cycloidal cam 38 move downward, so that the active swing arm 30 and the driven swing arm 36 release the two ends of the roller 10, and at the same time, the active three-jaw chuck 31 and the driven three-jaw chuck 45 release the end shaft, and shake the crank 50 to move the drive box 8 away from the active centering installation box 3. At the same time, the driven cylinder 41 drives the bearing seat 44 away from the driven centering installation box 13, and the welded roller 10 is completely loosened and can be hoisted away, and another unwelded roller 10 is hoisted again to continue to repeat the above process.

[0064] The present invention can be applied to various models of rollers 10 used in fishing net machines. The upper and lower parts of the swing arm are opened and closed by the up and down reciprocating motion of the cycloidal cam, so as to achieve the purpose of holding and releasing the workpiece. The repeat positioning accuracy reaches 0.05-0.1mm. The concentricity accuracy of the roller 10 and the end shaft is high, which greatly reduces the vibration caused by the low coaxiality of the roller 10 and the end shaft, and improves the accuracy of fishing net weaving.

[0065] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed herein, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A roller end shaft robot welding device, characterized in that: It comprises a welding base and a centering clamping base, wherein a welding robot is arranged on the welding base, and the welding robot can move back and forth along the welding base, and an active centering clamping mechanism is arranged on the centering clamping base, and the active centering clamping mechanism is matched with a driven centering clamping mechanism, and the active centering clamping mechanism is fixedly arranged at one end of the centering clamping base, and the driven centering clamping mechanism can move back and forth along the centering clamping base, and the active centering clamping mechanism and the driven centering clamping mechanism are arranged coaxially; The active centering clamping mechanism comprises an active fixing frame fixedly mounted at one end of the centering clamping base, an active synchronous oil cylinder is arranged on the active fixing frame, the telescopic end of the active synchronous oil cylinder passes through the top of the active fixing frame and extends into an active centering mounting box arranged on the top of the active fixing frame, an active cycloid cam is arranged in the active centering mounting box, the active cycloid cam is connected to the telescopic end of the active synchronous oil cylinder, the active cycloid cam is matched with a pair of active swing arms, the active swing arms are symmetrically arranged on both sides of the active cycloid cam, the active swing arms pass through the active support seat and are hinged to the active support seat arranged on the top of the active centering mounting box, a lower active clamping bearing is arranged at the lower part of the active swing arm near the active cycloid cam, and an upper active clamping bearing is arranged at the upper part of the active swing arm; A driving box is also provided on the top of the active fixing frame, and the driving box can move back and forth along the top of the active fixing frame. An active servo motor is provided in the driving box, and the active servo motor is connected to an active reducer, and the active reducer is connected to a small gear, and the small gear is meshed with a large gear, and the large gear is connected to an active three-jaw chuck; The driven centering clamping mechanism comprises a driven fixed frame arranged on the centering clamping base, and the driven fixed frame can move back and forth along the centering clamping base, and a driven synchronous oil cylinder is arranged on the driven fixed frame, and the telescopic end of the driven synchronous oil cylinder passes through the top of the driven fixed frame and extends into a driven centering mounting box arranged on the top of the driven fixed frame, and a driven cycloid cam is arranged in the driven centering mounting box, and the driven cycloid cam is connected with the telescopic end of the driven synchronous oil cylinder, and the driven cycloid cam is matched with a pair of driven swing arms, and the driven swing arms are symmetrically arranged on both sides of the driven cycloid cam, respectively, and the driven swing arms pass through the driven support seat and are hinged to the driven support seat arranged on the top of the driven centering mounting box, and a lower driven clamping bearing is arranged at the lower part of the driven swing arm near the driven cycloid cam, and an upper driven clamping bearing is arranged at the upper part of the driven swing arm; A driven box is also arranged on the top of the driven fixed frame, a bearing seat is arranged on the top of the driven box, the bearing seat can move back and forth along the top of the driven box, a driven bearing is arranged on the bearing seat, and the driven bearing is connected to the driven three-jaw chuck.

2. A roller end shaft robot welding device according to claim 1, characterized in that: An active connecting rod is arranged on the top of the active cycloid cam, an active rotating bearing is arranged on the top of the active connecting rod, and the active rotating bearing can extend out of the active supporting seat; a driven connecting rod is arranged on the top of the driven cycloid cam, a driven rotating bearing is arranged on the top of the driven connecting rod, and the driven rotating bearing can extend out of the driven supporting seat.

3. A roller end shaft robot welding device according to claim 2, characterized in that: An active longitudinal support is arranged on the upper part of the active centering installation box, and a plurality of active longitudinal rollers are arranged in the active longitudinal support. The active longitudinal support can move up and down along the active centering installation box. A driven longitudinal support is arranged on the upper part of the driven centering installation box, and a plurality of driven longitudinal rollers are arranged in the driven longitudinal support. The driven longitudinal support can move up and down along the driven centering installation box, and the driven longitudinal support is arranged opposite to the active longitudinal support.

4. A roller end shaft robot welding device according to claim 3, characterized in that: A driving guide rail is arranged on the top of the active fixing frame, and the driving guide rail matches the driving slider arranged on the bottom of the driving box. A sliding nut is also arranged at the bottom of the driving box, and the sliding nut is sleeved on the lead screw, and a crank is arranged at one end of the lead screw.

5. The roller end shaft robot welding device according to claim 4 is characterized in that: The centering clamping base is provided with a base guide rail, and the base guide rail matches with a base slider arranged at the bottom of a driven fixed frame. The driven fixed frame is provided with a driven motor, and the rotating shaft of the driven motor extends out of the bottom of the driven fixed frame and is connected with a driven gear, and the driven gear matches with a driven rack arranged on the inner side of the centering clamping base.

6. The roller end shaft robot welding device according to claim 5, characterized in that: A driven guide rail is arranged on the top of the driven box, and the driven guide rail matches with a driven sliding block arranged at the bottom of the bearing seat. A driven oil cylinder is also arranged on the driven box, and the telescopic end of the driven oil cylinder is connected to the bearing seat.

7. The roller end shaft robot welding device according to claim 6, characterized in that: An active limiting guide groove is arranged on the top of the active centering installation box, a pair of active limiting guide blocks are arranged on the active limiting guide groove, and the active limiting guide blocks are symmetrically arranged at both ends of the active limiting guide groove; A driven limit guide groove is arranged on the top of the driven centering installation box, a pair of driven limit guide blocks are arranged on the driven limit guide groove, and the driven limit guide blocks are symmetrically arranged at both ends of the driven limit guide groove.

8. A roller end shaft robot welding device according to any one of claims 1 to 7, characterized in that: The welding robot is arranged on a skateboard, a welding slider is arranged at the bottom of the skateboard, the welding slider matches the welding guide rail arranged on the welding base, and a welding motor is also arranged on the skateboard. The rotating shaft of the welding motor extends out of the bottom of the skateboard and is connected to the welding gear, and the welding gear matches the welding rack arranged on the inner side of the welding base.

9. A roller end shaft robot welding method, characterized in that: Using the roller end shaft robot welding device described in claim 7 or 8, the specific steps are as follows: Step 1, adjusting the position of the driven fixed frame on the centering clamping base by a driven motor so that the distance between the driven fixed frame and the active fixed frame matches the length of the roller to be welded; Step 2, the telescopic ends of the active synchronous oil cylinder and the driven synchronous oil cylinder are retracted downward, so that the active swing arm and the driven swing arm are opened; Step 3, adjusting the distance between the active limit guide blocks and the distance between the driven limit guide blocks to match the outer diameter of the roller to be welded; Step 4, the roller to be welded is placed on the active support seat and the driven support seat, with one end between the active limit guide blocks and the other end between the driven limit guide blocks; Step 5, the telescopic ends of the dynamic synchronous oil cylinder and the driven synchronous oil cylinder extend upward, and the upper parts of the active swing arm and the driven swing arm move inward to clamp the two ends of the roller respectively; Step 6, open the active three-jaw chuck and the driven three-jaw chuck, insert the two end shafts to be welded into the active three-jaw chuck and the driven three-jaw chuck respectively and clamp them; Step 7, rotate the lead screw by the crank handle to move the drive box toward the active centering installation box, and finally insert the end shaft into one end of the roller, and the driven oil cylinder pushes the driven box toward the driven centering installation box, and finally inserts the other end shaft into the other end of the roller; Step 8, start the welding robot, so that the welding robot spot welds the two ends of the roller and the end shaft at preset positions respectively, and then the welding gun of the welding robot stays on the circumference of the connecting part of the end shaft and the roller, and the active servo motor rotates, so that the roller and the end shaft rotate synchronously, and the welding gun of the welding robot automatically performs circumferential welding; Step 9, after welding is completed, the servo motor stops rotating, the active three-jaw chuck and the driven three-jaw chuck are released and retreat to reset, the telescopic ends of the active synchronous cylinder and the driven synchronous cylinder are retracted downward, so that the active swing arm and the driven swing arm are opened, the two ends of the roller are released, and the welded roller is lifted away.

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