A robotic welding device and a welding method

Abstract

The present invention discloses a robot welding device and a welding method. The welding device includes a plurality of welding robots, a robot turning mechanism, a workpiece turning mechanism and two bases. The welding robots are arranged on the robot turning mechanism, and the robot turning mechanism and the workpiece turning mechanism are arranged on the bases. The robot turning mechanism includes a top cross beam, vertical frames arranged on both sides of the top cross beam, a first transmission component and a robot turning motor. The workpiece turning mechanism includes a workpiece turning motor, a second transmission component and a workpiece positioning cross beam. The above technical solution realizes the turning of the welding robots and the turning of the workpieces respectively by using the robot turning mechanism and the workpiece turning mechanism. Through the coordinated actions of the above mechanisms, different process requirements are achieved, thereby improving the automation of workpiece welding, reducing the equipment complexity, cost, occupied space, and reducing the labor amount of workers.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding, and particularly relates to a robot welding device and a welding method. Background Art

[0002] In the prior art, when welding a hydraulic support, the hydraulic support is placed on a fixed platform or a positioner, and the welding robot is placed on the ground rails that can move on both sides of the positioner or on a lifting shaft that moves along the ground rails. The above-mentioned welding equipment has the following problems: The welding robot requires multiple external axes to improve welding accessibility, increasing the equipment complexity and cost; workpiece handling and loading / unloading are inconvenient and the efficiency is low; the welding equipment has a high cost, occupies a large area, and the manual labor intensity is high. Summary of the Invention

[0003] In view of the above problems, the present invention discloses a robot welding device and a welding method to overcome or at least partially solve the above problems.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] In one aspect, an embodiment of the present invention provides a robot welding device, which includes a plurality of welding robots, a robot flipping mechanism, a workpiece flipping mechanism, and two bases. The welding robots are arranged on the robot flipping mechanism, and the robot flipping mechanism and the workpiece flipping mechanism are arranged on the bases;

[0006] The robot flipping mechanism includes a top cross beam, vertical frames arranged on both sides of the top cross beam, a first transmission component, and a robot flipping motor. The welding robots are arranged on the top cross beam, the vertical frames are arranged outside the bases, the robot flipping motor is fixedly arranged on the vertical frames, and drives the vertical frames to rotate through the first transmission component, thereby driving the top cross beam and the welding robots on the top cross beam to flip;

[0007] The workpiece flipping mechanism includes a workpiece flipping motor, a second transmission component, two workpiece slewing bearings, and a workpiece positioning cross beam. The workpiece flipping motor is fixedly arranged on the bases, the two workpiece slewing bearings are arranged inside the bases and are driven to rotate by the workpiece flipping motor through the second transmission component, the workpiece positioning cross beam is fixed between the two workpiece slewing bearings, and the workpiece is fixed on the workpiece positioning cross beam.

[0008] Optionally, the welding robots are arranged on a sliding bracket, the sliding bracket is arranged on the top cross beam, and the sliding bracket translates along the top cross beam under the drive of a driving mechanism.

[0009] Optionally, the sliding bracket includes a horizontal support plate and a vertical connecting column. The horizontal support plate is slidably disposed on the top cross beam. The vertical connecting column is fixed at the middle position of the horizontal support plate and extends downward from the top cross beam. The welding robot is fixedly installed at the bottom of the vertical connecting column.

[0010] Optionally, the driving mechanism is a hydraulic cylinder, a pneumatic cylinder, an electric rod, a gear-rack mechanism or a nut-screw mechanism.

[0011] Optionally, the top cross beam includes a rectangular frame and a partition plate located at the middle position of the rectangular frame. A sliding bracket is respectively disposed on both sides of the partition plate.

[0012] Optionally, a robot slewing bearing is disposed on the outer side of the base. The robot flipping motor is fixedly connected to the slewing bearing of the bracket. A slot is disposed at the corresponding position of the vertical frame. The vertical frame is pivotally connected to the robot slewing bearing through the slot.

[0013] Optionally, the first transmission component and the second transmission component are gear meshing transmission components.

[0014] Optionally, a fixture for clamping and positioning the workpiece is disposed on the workpiece positioning cross beam.

[0015] Optionally, the workpiece is a box-shaped workpiece or a bracket-shaped workpiece.

[0016] Optionally, the workpiece slewing bearing is an external gear slewing bearing. The workpiece positioning cross beam is disposed on the connection line between two points at the edge of the slewing bearing; and / or internal teeth are disposed at the slot position of the vertical frame to form an internal tooth type vertical frame.

[0017] On the other hand, an embodiment of the present invention provides a welding method for the welding device described in any one of the above, including the following steps:

[0018] Flip the welding robot to the upper position away from the workpiece positioning cross beam through the robot flipping motor, so as to leave a space for clamping the workpiece on the workpiece positioning cross beam.

[0019] Flip the welding robot to the welding position through the robot flipping motor, and rotate the workpiece to the horizontal position parallel to the top cross beam through the workpiece flipping mechanism, and weld the horizontal weld of the workpiece.

[0020] Rotate the welding robot and the workpiece by 90 degrees, so as to place the vertical weld on the workpiece in a horizontal position, and then start welding the vertical weld; when there is a weld with an angle range between 0 - 90 degrees, the welding robot and the workpiece can also be flipped and welded according to the required angle by the robot flipping mechanism and the workpiece flipping mechanism;

[0021] After welding is completed, flip the welding robot again to the upper position away from the workpiece positioning crossbeam, flip the workpiece to the horizontal position, and then unload the workpiece from the workpiece positioning crossbeam.

[0022] The advantages and beneficial effects of the present invention are:

[0023] The above technical solution of the present invention realizes the flipping of the welding robot and the flipping of the workpiece respectively by using the robot flipping mechanism and the workpiece flipping mechanism. Through the coordinated actions of the above mechanisms, different process requirements are achieved, thereby improving the automation of workpiece welding, reducing equipment complexity, cost, occupied space, and reducing the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0025] Figure 1 is a three-dimensional structure diagram of a robot welding device in an embodiment of the present invention;

[0026] Figure 2 is a front view of a robot welding device in an embodiment of the present invention;

[0027] Figure 3 is a top view of a robot welding device in an embodiment of the present invention;

[0028] Figure 4 is a left view of a robot welding device in an embodiment of the present invention;

[0029] In the figure: 1 is a welding robot, 2 is a robot flipping mechanism, 21 is a top crossbeam, 211 is a rectangular frame, 212 is a partition plate, 22 is a vertical frame, 23 is a robot flipping motor, 24 is a robot slewing bearing, 3 is a sliding bracket, 31 is a horizontal support plate, 32 is a vertical connecting column, 4 is a workpiece flipping mechanism, 41 is a workpiece flipping motor, 42 is a workpiece slewing bearing, 43 is a workpiece positioning crossbeam, 44 is a fixture, 5 is a base, 6 is a workpiece, 7 is a wire barrel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0031] It should be understood that the terms "include / comprise", "consist of", or any other variant is intended to cover non-exclusive inclusion, so that a product, device, process, or method comprising a series of elements includes not only those elements but also, when necessary, other elements not explicitly listed, or elements inherent to such product, device, process, or method. Without further limitation, the elements defined by the statement "include / comprise..." or "consist of" do not exclude the presence of additional identical elements in the product, device, process, or method comprising the said elements.

[0032] It should also be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device, component, or structure referred to must have a specific orientation, be constructed or operated in a specific orientation, and should not be construed as a limitation to the present invention.

[0033] In the present invention, unless otherwise clearly specified and defined, the terms "install", "connect", "join", "fix", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The following will, with reference to the drawings, elaborate on the technical solutions of each preferred embodiment of the present invention in detail.

[0035] Embodiment 1

[0036] According to Figures 1-4The workpiece welding equipment using a welding robot as shown. In this Embodiment 1, the robot welding equipment includes several welding robots 1, and the number of welding robots can be determined according to the quantity or size of the workpieces. It also includes a robot flipping mechanism 2, which includes a top crossbeam 21 and two vertical upright frames 22. The upright frames can be plate-shaped parts, rod-shaped assemblies or box-shaped parts, preferably Figure 1 the box structure in. The top crossbeam is preferably a frame structure with a certain width, so as to facilitate the installation of a sliding bracket 3 thereon, and then install the welding robot 1 on the sliding bracket 3. According to the actual position requirements, the robot flipping motor 23 can be arranged on the base or the upright frame. One or two robot flipping motors 23 can be arranged. The robot flipping motor drives the upright frame 22 to rotate through a first transmission component, so as to drive the welding robot to flip.

[0037] On the inner sides of the two vertical upright frames 22, bases 5 are respectively arranged. The bases 5 are preferably box-shaped structures. A workpiece flipping motor 41 is installed on the base 5, and the workpiece flipping motor 41 can drive the workpiece slewing bearing 42 to rotate through the second transmission component. The workpiece slewing bearing 42 can be a plate-shaped structure, a connecting rod structure or a turntable type structure (such as Figure 1 shown). A workpiece positioning crossbeam 43 is arranged between the left and right workpiece slewing bearings 42. The workpiece positioning crossbeam 43 has a certain width and is arranged between the two edges of the workpiece slewing bearing. According to Figure 1 or Figure 2 shown, the workpiece slewing bearing is a disc-shaped slewing bearing, and the workpiece positioning crossbeam 43 is arranged on the connecting line of two points of the slewing bearing, and is preferably arranged on the connecting line smaller than the diameter, so as to provide a larger space for workpiece loading and unloading.

[0038] According to Figure 1 shown, a workpiece support structure perpendicular to the crossbeam is arranged on the workpiece positioning crossbeam, and a fixture 44 is arranged to clamp the workpiece 6. The specific forms of the workpiece support structure and the fixture can be designed according to the structure of the workpiece.

[0039] The above-mentioned workpiece is preferably a box-type welded part or a bracket-type welded part, such as Figure 1 the hydraulic support shown in.

[0040] The above technical solution solves the problems existing in the existing welding equipment. The flipping mechanism of the welding robot and the flipping mechanism of the workpiece are respectively used to realize the automatic flipping of the welding robot and the flipping of the workpiece. Through the coordinated actions of the above-mentioned various mechanisms, the automation of workpiece welding is improved, the complexity, cost and occupied space of the equipment are reduced, and the labor intensity of workers is reduced.

[0041] In a preferred embodiment, the welding robot 1 is arranged on the sliding bracket 3, the sliding bracket 3 is arranged on the top cross beam 21, and the sliding bracket 3 translates left and right along the top cross beam 21 under the drive of a drive mechanism or manually.

[0042] Specifically, the sliding bracket 3 includes a horizontal support plate 31 and a vertical connecting column 32. The horizontal support plate 31 is slidably arranged on the top cross beam 21. Preferably, a guide rail structure is arranged between the horizontal support plate 31 and the top cross beam 21 to facilitate their sliding cooperation.

[0043] Further, according to Figure 1 and Figure 2 As shown, the vertical connecting column 32 is fixed at the middle position of the horizontal support plate 31 and extends downward from the top cross beam 21, and the welding robot is arranged at the bottom of the vertical connecting column 32.

[0044] Preferably, a robot slewing bearing 24 is arranged on the outer side of the base 5, a slot is arranged at the corresponding position of the vertical frame 22, and the vertical frame is pivotally connected to the robot slewing bearing 24 through the slot.

[0045] Optionally, the first transmission component and the second transmission component are gear meshing transmission components, and each gear is respectively fixed on each motor shaft, the vertical frame or the workpiece slewing bearing. Preferably, the workpiece slewing bearing is an external tooth type slewing bearing, and the vertical frame is provided with internal teeth at the slot position to form an internal tooth type vertical frame.

[0046] It should be noted that the above description is only an example and does not limit the specific structures and forms of the sliding bracket, the robot turning motor, etc. Other structures that can achieve the same or similar functions are within the protection scope of this embodiment.

[0047] In a preferred embodiment, the drive mechanism for driving the sliding bracket 3 to translate on the top cross beam 21 is preferably a hydraulic cylinder, a pneumatic cylinder, an electric rod or a nut-screw mechanism or a gear-rack mechanism driven by a motor, or other mechanisms that can achieve the same function.

[0048] Specifically, the structure of the top cross beam 21 is composed of a rectangular frame fixed on the vertical frame and a partition plate located at the middle position of the rectangular frame. Then, a sliding bracket 3 is respectively arranged on both sides of the partition plate. Of course, it may also include more than two sliding brackets 3.

[0049] In order to facilitate the synchronous turning of the welding wire and the robot turning mechanism, a fixing basket for fixing the welding wire barrel 7 is further arranged on the outer side of the vertical frame.

[0050] Embodiment 2

[0051] This embodiment of the present invention discloses a welding method for welding workpieces using a welding robot, including the following steps:

[0052] S1, Flip the welding robot to the upper position near the top crossbeam through the robot flipping mechanism, preferably flip it 90 degrees from the vertical position to the horizontal position, so as to create a loading space above the welding equipment for the workpiece, and thus facilitate fixing the workpiece on the workpiece positioning crossbeam.

[0053] S2, After positioning and clamping the workpiece, flip the welding robot to the welding position, such as flipping it back 90 degrees to the vertical position, and rotate the workpiece positioning crossbeam to an angle parallel to the top crossbeam using the workpiece flipping mechanism, that is, Figure 1 the position shown by the workpiece in the figure, and then weld the horizontal weld of the workpiece.

[0054] S3, After the horizontal weld is welded, flip the welding robot through the robot flipping mechanism and flip the workpiece through the workpiece flipping mechanism by another 90 degrees, so that the workpiece is in a position perpendicular to the ground by 90 degrees, thereby placing the vertical weld on the workpiece in a horizontal position, and then start welding the vertical weld.

[0055] When there are welds at other angles, the welding robot and the workpiece positioning crossbeam can also be flipped and welded at any other required angle, and of course, the welding of the weld can also be coordinated according to the movement of the welding robot itself.

[0056] S4, After the vertical weld is also welded, flip the welding robot again to the upper position away from the workpiece positioning crossbeam, rotate the workpiece positioning crossbeam back to the horizontal position parallel to the top crossbeam, and unload the workpiece from the workpiece positioning crossbeam by means of hoisting or the like.

[0057] In summary, the welding equipment and welding method disclosed in the above embodiment of the present invention can realize the cooperative operation of the welding robot and the workpiece through two flipping mechanisms of the welding robot and the workpiece, improve the automation level of the equipment, reduce the equipment complexity, cost and occupied space, reduce the labor volume and labor intensity of workers, and obtain significant technical effects.

[0058] The above is only the embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A robotic welding device, characterized in that, The welding equipment includes a plurality of welding robots, a robot turning mechanism, a workpiece turning mechanism and two bases. The welding robots are arranged on the robot turning mechanism, and the robot turning mechanism and the workpiece turning mechanism are arranged on the bases; The robot turning mechanism includes a top cross beam, vertical frames arranged on both sides of the top cross beam, a first transmission component and a robot turning motor. The welding robots are arranged on the top cross beam. The vertical frames are arranged outside the bases. The robot turning motor is fixedly arranged on the vertical frames and drives the vertical frames to rotate through the first transmission component, so as to drive the top cross beam and the welding robots on the top cross beam to turn; The workpiece turning mechanism includes a workpiece turning motor, a second transmission component, two workpiece slewing bearings and a workpiece positioning cross beam. The workpiece turning motor is fixedly arranged on the bases. The two workpiece slewing bearings are arranged inside the bases and are driven to rotate by the workpiece turning motor through the second transmission component. The workpiece positioning cross beam is fixed between the two workpiece slewing bearings, and the workpiece is fixed on the workpiece positioning cross beam.

2. The welding device according to claim 1, characterized in that, The welding robots are arranged on a sliding support. The sliding support is arranged on the top cross beam and translates along the top cross beam under the drive of a driving mechanism.

3. The welding device according to claim 2, characterized in that, The sliding support includes a horizontal support plate and a vertical connecting column. The horizontal support plate is slidably arranged on the top cross beam. The vertical connecting column is fixed at the middle position of the horizontal support plate and extends downward from the top cross beam. The welding robot is fixedly installed at the bottom of the vertical connecting column.

4. The welding device according to claim 2, characterized in that, The driving mechanism is a hydraulic cylinder, a pneumatic cylinder, an electric rod, a gear-rack mechanism or a nut-screw mechanism.

5. The welding device according to any one of claims 2-4, characterized in that, The top cross beam includes a rectangular frame and a partition plate located at the middle position of the rectangular frame. One sliding support is arranged on each side of the partition plate.

6. The welding device according to any one of claims 1-4, characterized in that, A robot slewing bearing is arranged outside the bases. A slot is arranged at the corresponding position of the vertical frame, and the vertical frame is pivotally connected to the robot slewing bearing through the slot.

7. The welding equipment according to any one of claims 1-4, characterized in that, The first transmission component and the second transmission component are gear meshing transmission components.

8. The welding device according to any one of claims 1 to 4, characterized in that, A fixture for clamping and positioning the workpiece is arranged on the workpiece positioning cross beam.

9. The welding device according to any one of claims 1-4, characterized in that, The workpiece is a box-shaped workpiece or a bracket-shaped workpiece.

10. A welding method of the welding device according to any one of claims 1-9, characterized in that, It includes the following steps: Turn the welding robots to the upper position away from the workpiece positioning cross beam through the robot turning motor, so as to leave space for clamping the workpiece on the workpiece positioning cross beam; Turn the welding robots to the welding position through the robot turning motor, and rotate the workpiece to the horizontal position parallel to the top cross beam through the workpiece turning mechanism, and weld the horizontal weld of the workpiece; Flip the welding robot and the workpiece by 90 degrees so as to place the vertical weld on the workpiece in a horizontal position, and then start welding the vertical weld; when there is a weld with an angle range between 0 and 90 degrees, the welding robot and the workpiece can also be flipped and welded according to the required angle by the robot flipping mechanism and the workpiece flipping mechanism. After welding is completed, flip the welding robot again to the upper position away from the workpiece positioning crossbeam, flip the workpiece to the horizontal position, and then unload the workpiece from the workpiece positioning crossbeam.

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