A carrier system for multi-specification, large-diameter standoff automatic stud welding

Abstract

The application discloses a kind of for multi-specification, large-diameter pedestal automatic stud welding pedestal conveying system, including system framework, pedestal storage tank assembly, several pedestal push rods and several XY moving mechanisms.System framework is slidably connected on the track of robot.Pedestal storage tank assembly and several moving mechanisms are all installed into system framework.Pedestal storage tank assembly includes several pedestal clamping slots and several rotary motors, and the end close to the front side of system framework is installed with rotary motor.Several pedestal push devices are installed to the top of each layer of system framework, and several pedestal push devices are respectively connected with corresponding moving mechanism, and the moving direction of moving mechanism is consistent with the length direction of pedestal clamping slot.The application can realize the storage of multiple specifications pedestal, and according to the requirement of robot, the pedestal is conveyed to fixed position, solves the automatic conveying problem of multiple specifications pedestal in the process of armored vehicle body pedestal automatic welding.

Description

Technical Field

[0001] The invention relates to the technical field of armored vehicle body assembly and welding, and in particular to an attachment conveying system for automatic stud welding of attachments with multiple specifications and large diameters. Background Art

[0002] During the armored vehicle body manufacturing process, a large number of attachments must be welded onto the hull. Due to their diverse functions, the specifications of these attachments vary greatly, and the number of sizes is extensive. Due to the large variety and diameter of these attachments, welding is typically done manually. Automating the welding of these attachments requires solving the problem of automatically conveying these large-diameter, multi-specification attachments. Summary of the Invention

[0003] The purpose of the present invention is to provide a stud conveying system for automatic stud welding of studs with multiple specifications and large diameters, so as to solve the problems existing in the prior art.

[0004] The technical solution adopted to achieve the purpose of the present invention is as follows: an accessory conveying system for automatic stud welding of multi-specification, large-diameter accessories, including a system frame, an accessory storage tank assembly and several XY moving mechanisms arranged in a spatial rectangular coordinate system O-XYZ, the plane O-XY is a horizontal plane, and the Z axis is consistent with the vertical direction.

[0005] The system frame is a rectangular frame with several layers. The two adjacent sides of the system frame are respectively marked as side A and side B. Side A is perpendicular to the X axis, and side B is perpendicular to the Y axis.

[0006] A connecting frame is fixed on the top of the system frame, and one side of the connecting frame extends out of the A side of the system frame and is slidably connected to the robot.

[0007] The accessory seat storage tank assembly includes several layers of storage tanks respectively installed on several layers of platforms of the system frame, and each layer of storage tanks includes several accessory seat slots arranged at intervals along the X-axis.

[0008] The accessory slot is a rectangular slot with an opening facing upward and open at both ends. The length direction of the accessory slot is consistent with the Y direction. One end of the accessory slot is connected to the housing of the rotating motor close to the B side of the system frame. The output shaft of the rotating motor faces upward and is connected to a rotating plate. The upper surface of the rotating plate is flush with the bottom of the accessory slot.

[0009] The XY moving mechanisms are respectively fixed right above the platforms of the system frame, and the sliders of the XY moving mechanisms face downward and are connected to the push rods of the attachment seats.

[0010] Before work, several attachments are installed into the corresponding attachment slots as needed.

[0011] During operation, after the system frame slides to the set workstation, the XY moving mechanism drives the accessory push rod to move to the position of the target accessory, and the accessory push rod pushes the target accessory to slide in the accessory slot until the target accessory moves out of the accessory slot and is located on the rotating plate. The rotating motor drives the rotating plate to rotate, adjusts the posture of the target accessory, and the robot's grasping device takes away the target accessory.

[0012] Furthermore, a side of the connecting frame extending out of the system frame A is connected to a track connecting plate, the robot is provided with a slide rail, a slider is installed on the slide rail, and the track connecting plate is connected to the slider.

[0013] Furthermore, the sliding direction of the slider is parallel to the Y-axis.

[0014] Furthermore, the widths and depths of the plurality of attachment slots are different.

[0015] Furthermore, the XY moving mechanism includes a moving mechanism frame, an X-axis moving motor, a Y-axis moving motor, an X-axis moving lead screw and a Y-axis moving lead screw.

[0016] The moving mechanism frame is a rectangular frame and is fixed to the system frame. The length direction of the moving mechanism frame is parallel to the X axis, and the width direction is parallel to the Y axis.

[0017] The four side walls of the mobile mechanism frame are respectively marked as side a, side b, side c and side d. Side a is close to side A of the system frame, side b is close to side B of the system frame, side c is opposite to side a, and side d is opposite to side b. A strip hole is opened on side a of the mobile mechanism frame, and the length direction of the strip hole is consistent with the Y axis.

[0018] The Y-axis moving motor is fixed on the outer wall of the moving mechanism frame on the b side, one end of the Y-axis moving screw is connected to the output end of the Y-axis moving motor, and the other end is installed on the d side of the moving mechanism frame through a bearing, and the Y-axis moving screw is parallel to the Y axis.

[0019] A sliding nut I is sleeved on the Y-axis moving screw, and a moving base is fixed to the lower surface of the sliding nut I. The moving base is long and its long direction is consistent with the X direction. One end of the moving base passes through the strip hole on the side a of the moving mechanism frame, and the other end is close to the side b of the moving mechanism frame.

[0020] The X-axis moving motor is installed on the lower plate surface of the moving base extending out of the strip hole, one end of the X-axis moving screw is connected to the output end of the X-axis moving motor, and the other end extends to the C side of the moving mechanism frame and is connected to the lower plate surface of the moving base through a bearing.

[0021] A sliding nut II is sleeved on the X-axis moving lead screw, a sliding block is fixed on the lower surface of the sliding nut II, and the sliding block is connected to the upper end of the seat push rod.

[0022] During operation, the X-axis moving motor drives the X-axis moving screw to rotate, the sliding nut II drives the slider and the attachment seat pushing rod to move along the X direction, and the attachment seat pushing rod approaches the specified attachment seat slot; the Y-axis moving motor drives the Y-axis moving screw to rotate, the sliding nut I drives the X-axis moving motor, the X-axis moving screw, the moving base and the attachment seat pushing rod to move along the Y direction, and the attachment seat pushing rod approaches the target attachment seat and pushes the target attachment seat out along the attachment seat slot.

[0023] The technical effect of the present invention is unquestionable. The present invention integrates accessory slots of various widths into the system framework. The multi-specification and large-diameter accessories. The accessory conveying system can realize the storage of accessories of multiple specifications and convey the accessories to a fixed position according to the needs of the robot, solving the problem of automatic conveyance of accessories of multiple specifications during the automatic welding process of armored vehicle body accessories. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the system;

[0025] Figure 2 This is a schematic diagram of the system frame side B;

[0026] Figure 3 It is a front view of the connection structure between the attachment slot and the rotating motor;

[0027] Figure 4 A top view of the connection structure between the attachment slot and the rotating motor;

[0028] Figure 5 This is a schematic diagram of the end portion of the attachment slot;

[0029] Figure 6 It is a bottom view of the moving mechanism frame;

[0030] Figure 7 This is a front view of the mobile mechanism frame.

[0031] In the figure: system frame 1, accessory storage tank assembly 2, track connecting plate 3, accessory push rod 4, XY moving mechanism 5, accessory slot 6, rotating motor 7, moving mechanism frame 8, X-axis moving motor 9, Y-axis moving motor 10, X-axis moving screw 11, Y-axis moving screw 12, connecting frame 13 and moving base 14. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the following examples, but it should not be understood that the scope of the present invention is limited to the following examples. Without departing from the above technical ideas of the present invention, various substitutions and modifications can be made according to common technical knowledge and customary means in the art, and all should be included in the scope of protection of the present invention.

[0033] Example 1:

[0034] See also Figure 1 and 2 This embodiment discloses an attachment conveying system for automatic stud welding of multi-specification, large-diameter attachments, including a system frame 1, an attachment storage tank assembly 2 and a plurality of XY moving mechanisms 5 arranged in a spatial rectangular coordinate system O-XYZ, the plane O-XY is a horizontal plane, and the Z axis is consistent with the vertical direction.

[0035] The system frame 1 is a rectangular frame with several layers. Two adjacent sides of the system frame 1 are respectively marked as side A and side B. Side A is perpendicular to the X-axis, and side B is perpendicular to the Y-axis.

[0036] A connecting bracket 13 is fixed to the top of the system frame 1. One side of the connecting bracket 13 extends from the A side of the system frame 1 and is slidably connected to the robot. The side of the connecting bracket 13 extending from the A side of the system frame 1 is connected to a track connecting plate 3. The robot is equipped with a slide rail, on which a slider is mounted. The track connecting plate 3 is connected to the slider. The slider slides parallel to the Y-axis.

[0037] The accessory storage tank assembly 2 includes several layers of storage tanks respectively installed on several layers of platforms of the system frame 1, and each layer of storage tanks includes several accessory slots 6 arranged at intervals along the X-axis.

[0038] See also Figure 3 、 4 and 5, the accessory seat slot 6 is a rectangular slot with an opening facing upward and open at both ends. The length direction of the accessory seat slot 6 is consistent with the Y direction. One end of the accessory seat slot 6 is close to the B side of the system frame 1 and is connected to the housing of the rotating motor 7. The output shaft of the rotating motor 7 faces upward and is connected to a rotating plate. The upper surface of the rotating plate is flush with the bottom of the accessory seat slot 6.

[0039] The widths and depths of the plurality of accessory seat slots 6 are different, and accessories of different specifications can be stored therein.

[0040] The XY moving mechanisms 5 are fixed directly above the platforms of the system frame 1 , respectively. The sliders of the XY moving mechanisms 5 face downward and are connected to the attachment push rods 4 .

[0041] See also Figure 6 and 7 The XY moving mechanism 5 includes a moving mechanism frame 8, an X-axis moving motor 9, a Y-axis moving motor 10, an X-axis moving screw 11 and a Y-axis moving screw 12.

[0042] The moving mechanism frame 8 is a rectangular frame and is fixed to the system frame 1 . The length direction of the moving mechanism frame 8 is parallel to the X axis, and the width direction is parallel to the Y axis.

[0043] The four side walls of the mobile mechanism frame 8 are respectively marked as side a, side b, side c and side d. Side a is close to the system frame 1A side, side b is close to the system frame 1B side, side c is opposite to side a, and side d is opposite to side b. A strip hole is opened on the side a of the mobile mechanism frame 8, and the length direction of the strip hole is consistent with the Y axis.

[0044] The Y-axis moving motor 10 is fixed on the outer wall of the moving mechanism frame 8b side, one end of the Y-axis moving screw 12 is connected to the output end of the Y-axis moving motor 10, and the other end is installed on the d side of the moving mechanism frame 8 through a bearing. The Y-axis moving screw 12 is parallel to the Y axis.

[0045] The Y-axis moving screw 12 is sleeved with a sliding nut I, and a moving base 14 is fixed to the lower surface of the sliding nut I. The moving base 14 is long and its long direction is consistent with the X direction. One end of the moving base 14 passes through the strip hole on the side of the moving mechanism frame 8a, and the other end is close to the b side of the moving mechanism frame 8.

[0046] The X-axis moving motor 9 is installed on the lower plate surface of the moving base 14 extending out of the strip hole. One end of the X-axis moving screw 11 is connected to the output end of the X-axis moving motor 9, and the other end extends to the c side of the moving mechanism frame 8 and is connected to the lower plate surface of the moving base 14 through a bearing.

[0047] The X-axis movable lead screw 11 is sleeved with a sliding nut II, a slider is fixed to the lower surface of the sliding nut II, and the slider is connected to the upper end of the seat push rod 4.

[0048] When the XY moving mechanism 5 is started, the X-axis moving motor 9 drives the X-axis moving screw 11 to rotate, the sliding nut II drives the slider and the attachment push rod 4 to move along the X direction, and the attachment push rod 4 approaches the specified attachment slot 6, the Y-axis moving motor 10 drives the Y-axis moving screw 12 to rotate, the sliding nut I drives the X-axis moving motor 9, the X-axis moving screw 11, the moving base 14 and the attachment push rod 4 to move along the Y direction, and the attachment push rod 4 approaches the target attachment and pushes the target attachment along the attachment slot 6.

[0049] The system frame 1 described in this embodiment is designed as three layers, with three pushers 4 and three XY moving mechanisms 5, one pusher 4 and one XY moving mechanism 5 distributed on each layer, and a total of 54 attachment slots 6, 18 on each layer.

[0050] Before work, several attachments are loaded into the corresponding attachment slots 6 as needed. In this embodiment, manual loading is adopted.

[0051] During operation, after the system frame 1 slides to the set work position, the XY moving mechanism 5 drives the accessory push rod 4 to move to the position of the target accessory, and the accessory push rod 4 pushes the target accessory to slide in the accessory slot 6 until the target accessory moves out of the accessory slot 6 and is located on the rotating plate. The rotating motor 7 drives the rotating plate to rotate, adjusts the posture of the target accessory, and the robot's grasping device takes away the target accessory.

[0052] It is worth noting that the system described in this embodiment can store multiple specifications of accessories and transport the accessories to a fixed position according to the needs of the robot, solving the problem of automatic transportation of multiple specifications of accessories during the automatic welding process of armored vehicle body accessories.

[0053] Example 2:

[0054] See also Figure 1 and 2 This embodiment discloses an attachment conveying system for automatic stud welding of multi-specification, large-diameter attachments, including a system frame 1, an attachment storage tank assembly 2 and a plurality of XY moving mechanisms 5 arranged in a spatial rectangular coordinate system O-XYZ, the plane O-XY is a horizontal plane, and the Z axis is consistent with the vertical direction.

[0055] The system frame 1 is a rectangular frame with several layers. Two adjacent sides of the system frame 1 are respectively marked as side A and side B. Side A is perpendicular to the X-axis, and side B is perpendicular to the Y-axis.

[0056] A connecting frame 13 is fixed on the top of the system frame 1 , and one side of the connecting frame 13 extends out of the A side of the system frame 1 and is slidably connected to the robot.

[0057] The accessory storage tank assembly 2 includes several layers of storage tanks respectively installed on several layers of platforms of the system frame 1, and each layer of storage tanks includes several accessory slots 6 arranged at intervals along the X-axis.

[0058] See also Figure 3 、 4 and 5, the accessory seat slot 6 is a rectangular slot with an opening facing upward and open at both ends. The length direction of the accessory seat slot 6 is consistent with the Y direction. One end of the accessory seat slot 6 is close to the B side of the system frame 1 and is connected to the housing of the rotating motor 7. The output shaft of the rotating motor 7 faces upward and is connected to a rotating plate. The upper surface of the rotating plate is flush with the bottom of the accessory seat slot 6.

[0059] The XY moving mechanisms 5 are fixed directly above the platforms of the system frame 1 , respectively. The sliders of the XY moving mechanisms 5 face downward and are connected to the attachment push rods 4 .

[0060] Before work, several accessory seats are installed into the corresponding accessory seat slots 6 as needed.

[0061] During operation, after the system frame 1 slides to the set work position, the XY moving mechanism 5 drives the accessory push rod 4 to move to the position of the target accessory, and the accessory push rod 4 pushes the target accessory to slide in the accessory slot 6 until the target accessory moves out of the accessory slot 6 and is located on the rotating plate. The rotating motor 7 drives the rotating plate to rotate, adjusts the posture of the target accessory, and the robot's grasping device takes away the target accessory.

[0062] Example 3:

[0063] The main structure of this embodiment is the same as that of embodiment 2. Furthermore, the connecting frame 13 extending out from the side of the system frame 1A is connected to a track connecting plate 3. The robot is provided with a slide rail, a slider is installed on the slide rail, and the track connecting plate 3 is connected to the slider.

[0064] Example 4:

[0065] The main structure of this embodiment is the same as that of embodiment 2. Furthermore, the sliding direction of the slider is parallel to the Y-axis.

[0066] Example 5:

[0067] The main structure of this embodiment is the same as that of embodiment 2. Furthermore, the widths and depths of the several attachment slots 6 are different.

[0068] Example 6:

[0069] The main structure of this embodiment is the same as that of embodiment 2. Figure 6 and 7 The XY moving mechanism 5 includes a moving mechanism frame 8, an X-axis moving motor 9, a Y-axis moving motor 10, an X-axis moving screw 11 and a Y-axis moving screw 12.

[0070] The moving mechanism frame 8 is a rectangular frame and is fixed to the system frame 1 . The length direction of the moving mechanism frame 8 is parallel to the X axis, and the width direction is parallel to the Y axis.

[0071] The four side walls of the mobile mechanism frame 8 are respectively marked as side a, side b, side c and side d. Side a is close to the system frame 1A side, side b is close to the system frame 1B side, side c is opposite to side a, and side d is opposite to side b. A strip hole is opened on the side a of the mobile mechanism frame 8, and the length direction of the strip hole is consistent with the Y axis.

[0072] The Y-axis moving motor 10 is fixed on the outer wall of the moving mechanism frame 8b side, one end of the Y-axis moving screw 12 is connected to the output end of the Y-axis moving motor 10, and the other end is installed on the d side of the moving mechanism frame 8 through a bearing. The Y-axis moving screw 12 is parallel to the Y axis.

[0073] The Y-axis moving screw 12 is sleeved with a sliding nut I, and a moving base 14 is fixed to the lower surface of the sliding nut I. The moving base 14 is long and its long direction is consistent with the X direction. One end of the moving base 14 passes through the strip hole on the side of the moving mechanism frame 8a, and the other end is close to the b side of the moving mechanism frame 8.

[0074] The X-axis moving motor 9 is installed on the lower plate surface of the moving base 14 extending out of the strip hole. One end of the X-axis moving screw 11 is connected to the output end of the X-axis moving motor 9, and the other end extends to the c side of the moving mechanism frame 8 and is connected to the lower plate surface of the moving base 14 through a bearing.

[0075] The X-axis movable lead screw 11 is sleeved with a sliding nut II, a slider is fixed to the lower surface of the sliding nut II, and the slider is connected to the upper end of the seat push rod 4.

[0076] During operation, the X-axis moving motor 9 drives the X-axis moving screw 11 to rotate, the sliding nut II drives the slider and the attachment push rod 4 to move along the X direction, and the attachment push rod 4 approaches the specified attachment slot 6, the Y-axis moving motor 10 drives the Y-axis moving screw 12 to rotate, the sliding nut I drives the X-axis moving motor 9, the X-axis moving screw 11, the moving base 14 and the attachment push rod 4 to move along the Y direction, and the attachment push rod 4 pushes the target attachment along the attachment slot 6 after approaching the target attachment.

Claims

1. A stud conveying system for automatic stud welding of multiple specifications and large diameter studs, characterized by: It includes a system frame (1), an attached storage tank assembly (2) and a plurality of XY moving mechanisms (5) arranged in a spatial rectangular coordinate system O-XYZ, wherein the plane O-XY is a horizontal plane and the Z axis is consistent with the vertical direction; The system frame (1) is a rectangular frame having several layers, and the two adjacent sides of the system frame (1) are respectively recorded as side A and side B, side A is perpendicular to the X axis, and side B is perpendicular to the Y axis; A connecting frame (13) is fixed to the top of the system frame (1), and one side of the connecting frame (13) extends out from the A side of the system frame (1) and is slidably connected to the robot; The attachment storage tank assembly (2) comprises a plurality of storage tank layers respectively mounted on a plurality of platforms of the system frame (1), and each storage tank layer comprises a plurality of attachment slots (6) spaced apart along the X-axis; The attachment slot (6) is a rectangular slot with an opening facing upward and open at both ends. The length direction of the attachment slot (6) is consistent with the Y direction. One end of the attachment slot (6) is close to the B side of the system frame (1) and is connected to the housing of the rotating motor (7). The output shaft of the rotating motor (7) faces upward and is connected to a rotating plate. The upper surface of the rotating plate is flush with the bottom of the attachment slot (6). The plurality of XY moving mechanisms (5) are respectively fixed directly above the plurality of platforms of the system frame (1), and the sliders of the XY moving mechanisms (5) face downward and are connected to the attached seat push rods (4); The XY moving mechanism (5) comprises a moving mechanism frame (8), an X-axis moving motor (9), a Y-axis moving motor (10), an X-axis moving lead screw (11) and a Y-axis moving lead screw (12); The mobile mechanism frame (8) is a rectangular frame and is fixed to the system frame (1). The length direction of the mobile mechanism frame (8) is parallel to the X axis, and the width direction is parallel to the Y axis. The four side walls of the mobile mechanism frame (8) are respectively marked as side a, side b, side c and side d, side a is close to side A of the system frame (1), side b is close to side B of the system frame (1), side c is opposite to side a, and side d is opposite to side b. A strip hole is opened on side a of the mobile mechanism frame (8), and the length direction of the strip hole is consistent with the Y axis; The Y-axis moving motor (10) is fixed on the outer wall of the moving mechanism frame (8) on the b side, one end of the Y-axis moving screw (12) is connected to the output end of the Y-axis moving motor (10), and the other end is installed on the d side of the moving mechanism frame (8) through a bearing, and the Y-axis moving screw (12) is parallel to the Y axis; The Y-axis movable screw (12) is sleeved with a sliding nut I, and a movable base (14) is fixed to the lower surface of the sliding nut I. The movable base (14) is in the shape of an elongated strip and its elongated direction is consistent with the X direction. One end of the movable base (14) passes through the strip hole on the a side of the movable mechanism frame (8), and the other end is close to the b side of the movable mechanism frame (8); The X-axis moving motor (9) is mounted on the lower plate surface of the moving base (14) extending out of the strip hole, one end of the X-axis moving screw (11) is connected to the output end of the X-axis moving motor (9), and the other end extends to the c side of the moving mechanism frame (8) and is connected to the lower plate surface of the moving base (14) through a bearing; The X-axis movable screw (11) is sleeved with a sliding nut II, a slider is fixed to the lower surface of the sliding nut II, and the slider is connected to the upper end of the seat push rod (4); Before working, several attachments are inserted into the corresponding attachment slots (6) as needed; During operation, the X-axis moving motor (9) drives the X-axis moving lead screw (11) to rotate, the sliding nut II drives the slider and the attachment push rod (4) to move along the X direction, the attachment push rod (4) approaches the designated attachment slot (6), the Y-axis moving motor (10) drives the Y-axis moving lead screw (12) to rotate, the sliding nut I drives the X-axis moving motor (9), the X-axis moving lead screw (11), the moving base (14) and the attachment push rod (4) to move along the Y direction, and the attachment push rod (4) approaches the target attachment and pushes the target attachment out along the attachment slot (6); During operation, after the system frame (1) slides to the set workstation, the XY moving mechanism (5) drives the attachment push rod (4) to move to the position of the target attachment, and the attachment push rod (4) drives the target attachment to slide in the attachment slot (6) until the target attachment moves out of the attachment slot (6) and is located on the rotating plate, and the rotating motor (7) drives the rotating plate to rotate, adjusts the posture of the target attachment, and the robot's grasping device takes away the target attachment.

2. The attachment conveying system for automatic stud welding of multiple specifications and large diameter attachments according to claim 1, characterized in that: The connecting frame (13) extends out of the side A of the system frame (1) and is connected to a track connecting plate (3). The robot is provided with a slide rail, a slider is mounted on the slide rail, and the track connecting plate (3) is connected to the slider.

3. The attachment conveying system for automatic stud welding of multiple specifications and large diameter attachments according to claim 1, characterized in that: The sliding direction of the slider of the XY moving mechanism (5) is parallel to the Y axis.

4. The attachment conveying system for automatic stud welding of multiple specifications and large diameter attachments according to claim 1, characterized in that: The width and depth of the plurality of attachment slots (6) are different.

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