Double-station collaborative automatic welding workstation

Abstract

The invention discloses a double-station collaborative automatic welding workstation which comprises a welding robot and two double-shaft position changing machines arranged on the two sides of the welding robot in parallel and located in a working area of the welding robot, and a tool plate is installed on a rotary seat of each double-shaft position changing machine. A welding workpiece is positioned on the tool plate; the double-shaft position changing machine is provided with a turnover mechanism and a rotating mechanism, and double-shaft position changing of turnover and rotating can be achieved. Double-station arrangement and cooperative work are adopted, the two stations alternately work in different working states of feeding and discharging operation and robot welding, the working efficiency is greatly improved, the utilization rate of the welding robot is increased, it is guaranteed that a weld joint is located at the optimal welding position, and the welding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot automatic welding, and in particular to a double-station collaborative automatic welding workstation. Background Art

[0002] In actual production, the vulnerable parts in some equipment are damaged and used a lot, which leads to a lot of welding work. For example, the hopper is an important part of the bucket elevator material transportation. It is a major vulnerable part with a large demand and many models. The welding of the hopper is to weld the end plates at both ends of the formed "U"-shaped bottom plate to form its "U"-shaped bucket body. In the prior art, a double-axis positioner is used for automatic welding. The welding time of a single "U"-shaped bucket body is about 15 minutes. During the entire welding operation, the workpiece is frequently disassembled and assembled on the double-axis positioner. A lot of man-hours are consumed in the process of disassembling and assembling the workpiece. The welding robot has a serious downtime waiting for materials, and it is difficult to improve the welding work efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a dual-station collaborative automatic welding workstation to improve welding efficiency, increase the effective utilization rate of welding robots, and solve the above-mentioned problems existing in the prior art.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The dual-station collaborative automatic welding workstation of the present invention comprises:

[0006] A welding robot, wherein the welding robot is a six-axis welding robot with a fixed seat;

[0007] Two double-axis positioners, which are arranged in parallel on both sides of the welding robot and are both located in the working area of ​​the welding robot. A tooling plate is installed on the rotary seat of the double-axis positioner, and the welding workpiece is positioned on the tooling plate by a positioning pin;

[0008] The tooling plate is provided with a plurality of positioning pin holes, wherein a pair of the positioning pin holes are provided with the positioning pins used to position the "U"-shaped bottom plate in the hopper on the tooling plate, and the inner side edge of the tooling plate is fixedly installed with a clamp for clamping the side edge of the corresponding side of the "U"-shaped bottom plate, so that the "U"-shaped bottom plate is fixed on the tooling plate;

[0009] The double-axis positioner is a head-to-tail positioner, including a flipping mechanism and a swivel mechanism; the flipping mechanism includes an active end support, a driven end support, a horizontal rotating shaft, a flip plate and a horizontal rotating shaft driving mechanism; the active end support and the driven end support are horizontally provided with the flippable horizontal rotating shaft, the flip plate is fixedly mounted on the horizontal rotating shaft, and the horizontal rotating shaft driving mechanism is arranged on the active end support for driving the horizontal rotating shaft to rotate and drive the flip plate to realize flipping; the swivel mechanism includes a swivel shaft, a swivel seat and a swivel shaft driving mechanism, the swivel shaft is vertically arranged at the center position of the flip plate, the swivel seat is fixedly mounted on the swivel shaft, the swivel shaft driving mechanism is arranged on the swivel seat, and the swivel shaft driving mechanism is used to drive the swivel shaft to rotate and drive the swivel seat to realize rotation;

[0010] Two of the double-axis positioners are arranged to alternately switch between the loading and unloading state and the welding state, and the welding robot always cooperates with a double-axis positioner in the welding state to perform welding operations.

[0011] Furthermore, the clamp is a pneumatic clamp, which includes a cylinder seat, a cylinder, a cylinder piston rod, a clamping arm and a rocker arm. The cylinder is fixedly mounted on the tooling plate by the cylinder seat. The clamping arm and the cylinder piston rod form a crank slider mechanism, with the rod end of the cylinder piston rod as a slider, the clamping arm as an extension rod of the connecting rod, and the rocker arm is hinged to the clamping arm. The clamping arm is driven by the retractable cylinder piston rod to clamp the side of the "U"-shaped bottom plate.

[0012] Furthermore, at least two groups of the clamps are provided, and synchronization is achieved between the multiple groups of clamps through the reversing control of the reversing valve.

[0013] Furthermore, a plurality of countersunk holes are distributed on the tooling plate, and hexagon socket countersunk bolts are arranged in the countersunk holes for detachably mounting the tooling plate on the rotary seat of the dual-axis positioner.

[0014] Furthermore, the horizontal rotating shaft driving mechanism includes a flip reducer and a flip servo motor, and the flip reducer and the flip servo motor are used to drive the horizontal rotating shaft to rotate.

[0015] Furthermore, the rotary shaft driving mechanism includes a rotary reducer and a rotary servo motor, and the rotary reducer and the rotary servo motor are used to drive the rotary shaft to rotate.

[0016] Furthermore, four positioning pin holes are provided, and the four positioning pin holes are distributed in a straight line to form positioning pin hole pairs with different spacings.

[0017] Compared with the prior art, the beneficial technical effects of the present invention are:

[0018] 1. The dual-station collaborative automatic welding workstation of the present invention adopts a dual-station arrangement and works in collaboration. The two stations are alternately operated in different working states of loading and unloading operations and robot welding, which greatly improves the work efficiency and the utilization rate of the welding robot;

[0019] 2. The dual-station collaborative automatic welding workstation of the present invention uses a dual-axis positioner to collaborate with a robot, so that the weld is always in the best welding position, which is greatly beneficial to improving the welding quality and has good applicability;

[0020] 3. The dual-station collaborative automatic welding workstation of the present invention can satisfy the welding of various types of elevator hoppers by replacing the position of the positioning pins, and can also expand the types of weldable parts by replacing the tooling plates. Its structural design is reasonable and easy to replace. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is an axonometric diagram of the dual-station collaborative automatic welding workstation of the present invention;

[0023] Figure 2 It is an axonometric diagram of a double-axis positioner in a double-station collaborative automatic welding workstation of the present invention;

[0024] Figure 3 It is an axonometric view of a tooling plate in a dual-station collaborative automatic welding workstation of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the cooperation between the "U"-shaped bottom plate of the hopper and the tooling plate in the double-station cooperative automatic welding workstation of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the cooperation between the "U"-shaped bottom plate of the hopper and the clamp in the double-station cooperative automatic welding workstation of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the clamp in the double-station collaborative automatic welding workstation of the present invention.

[0028] Explanation of the accompanying drawings: 1. Tooling plate; 2. Countersunk hole; 3. Locating pin hole; 4. Locating pin; 5. Clamp; 51. Cylinder seat; 52. Cylinder; 53. Cylinder piston rod; 54. Clamping arm; 55. Rocker arm; 6. Fixing hole; 7. "U"-shaped base plate; 8. Welding robot; 81. Fixed seat; 9. Double-axis positioner; 10. Active end support; 11. Driven end support; 12. Horizontal rotating shaft; 13. Flip plate; 14. Flip reducer; 15. Flip servo motor; 16. Rotary seat; 17. Rotary reducer; 18. Rotary servo motor. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of the present invention, it should be understood that the terms "length", "width", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships 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 or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The technical solution provided by the embodiments of the present invention is described in detail below with reference to the accompanying drawings.

[0033] See also Figure 1 and Figure 2 The dual-station collaborative automatic welding workstation of the embodiment of the present invention comprises:

[0034] A welding robot 8, which is a six-axis welding robot and has a fixed seat 81;

[0035] Two dual-axis positioners 9 are arranged in parallel on both sides of the welding robot 8 and are both located in the working area of ​​the welding robot 8. A tooling plate 1 is installed on the swivel seat 16 of each dual-axis positioner 9 using bolts; and the welding workpiece is positioned on the tooling plate 1 using positioning pins 4.

[0036] The double-axis positioner 9 is a head-to-tail positioner having a turnover mechanism and a rotation mechanism.

[0037] Among them, the flipping mechanism is: a horizontal rotating shaft 12 that can be flipped is horizontally arranged by an active end support 10 and a driven end support 11, a flip plate 13 is fixedly installed on the horizontal rotating shaft 12, and a horizontal rotating shaft driving mechanism is arranged on the active end support 10, including a flipping reducer 14 and a flipping servo motor 15, which are used to drive the rotation of the horizontal rotating shaft 12 and drive the flipping plate 13 to flip; the rotating mechanism is: a rotating shaft is vertically arranged at the center position of the flipping plate 13, a rotating seat 16 is fixedly installed on the rotating shaft, and a rotating shaft driving mechanism is arranged, including a rotating reducer 17 and a rotating servo motor 18, which are used to drive the rotating shaft to rotate and drive the rotating seat 16 to rotate; the flipping mechanism and the rotating mechanism are arranged so that the workpiece weld is always in a better welding posture, which is beneficial to improving the welding quality and greatly facilitates the loading and unloading process.

[0038] In this embodiment, two dual-axis positioners 9 are set to alternately switch between the loading and unloading state and the welding state, and the welding robot 8 always cooperates with a dual-axis positioner in the welding state to perform welding operations, so as to realize dual-station collaborative automatic welding. That is: when the workpiece on the first positioner is clamped, the welding robot cooperates with the first positioner to weld, while the second positioner is put into loading and unloading operations; so that when the welding robot completes the welding work on the first positioner, the second positioner has completed the material preparation. At this time, the welding robot directly cooperates with the second positioner to weld, ensuring the continuous working state of the welding robot and ensuring the accurate position of the weld.

[0039] In this embodiment, the following structural settings are made for clamping the tooling plate 1 and the hopper workpiece:

[0040] See also Figure 3 , Figure 4 and Figure 5 , countersunk holes 2 are distributed on the tooling plate 1, and hexagon socket countersunk bolts are arranged in the countersunk holes 2 to detachably mount the tooling plate 1 on the rotary seat 16 of the double-axis positioner 9; positioning pin holes 3 are also distributed on the tooling plate 1, and positioning pins 4 are arranged in one pair of positioning pin holes 3 to position the "U"-shaped bottom plate 7 in the hopper on the tooling plate 1. In order to facilitate disassembly and assembly, threads are arranged on the positioning pins 4 for threaded connection with the tooling plate 1; a fixture 5 is fixed on the inner side edge of the tooling plate 1 to clamp the side edge of the corresponding side of the "U"-shaped bottom plate 7, so that the "U"-shaped bottom plate 7 is fixed on the tooling plate 1; Figure 3 As shown, a fixing hole 6 for installing a fixture 5 is also provided on one side of the tooling plate 1 .

[0041] In order to adapt to the welding of different types of hoppers, there are multiple pairs of positioning pin holes 3 in the tooling plate 1 at different positions. The positioning pin holes 3 at different positions are selected to be suitable for the installation of different types of hoppers; Figure 3 There are four positioning pin holes 3 shown in the figure, and the four positioning pin holes 3 are distributed in a straight line to form positioning pin hole pairs with different spacings.

[0042] In order to adapt to a wider range of expansion of different types of hoppers, a variety of tooling plates 1 with positioning pin holes 3 in different distribution forms are provided to form tooling plates 1 of different specifications. The required tooling plates 1 are selected and replaced and installed on the rotating seat 16 of the dual-axis positioner 9 to adapt to a wider range of expansion of different types of hoppers.

[0043] like Figure 4 , Figure 5 and Figure 6 As shown, in the specific implementation, the clamp 5 is a pneumatic clamp, and the cylinder 52 of the pneumatic clamp is fixedly installed on the tooling plate 1 by the cylinder seat 51 using the fixing hole 6 of the tooling plate 1. The clamping arm 54 and the cylinder piston rod 53 in the clamp 5 form a crank slider mechanism, in which the rod end of the cylinder piston rod 53 is a slider, the clamping arm 54 is an extension rod of the connecting rod, and a rocker arm 55 is hinged to the clamping arm 54. The up and down sliding of the slider drives the rocker arm 55 and the connecting rod to rotate, and the retractable cylinder piston rod 53 drives the clamping arm 54 to achieve clamping of the side of the "U"-shaped bottom plate 7; the clamp 5 is at least two groups, and the two groups of pneumatic clamps are synchronized through the reversing control of the reversing valve.

[0044] When the double-station collaborative automatic welding workstation of the embodiment of the present invention is in use, the tooling plate 1 is fixed to the swivel seat 16 of the dual-axis positioner 9 by bolts through the countersunk hole 2, two locating pins 4 of appropriate diameter are selected according to the hole diameter of the workpiece to be welded, and the position of the locating pins 4 is adjusted according to the hole spacing, the workpiece, i.e., the "U"-shaped bottom plate 7 is placed on the tooling plate 1 and positioned by the locating pins 4, and then the reversing valve is used to push the cylinder 52 to clamp the "U"-shaped bottom plate 7, and the clamping of the "U"-shaped bottom plate 7 is completed. Then the hopper end plate can be welded. After the welding is completed, the reversing valve is operated to make the cylinder 52 reverse to loosen the "U"-shaped bottom plate 7, and the workpiece can be removed.

[0045] In specific applications, by replacing tooling plates of different specifications, or replacing the locating pin holes at different positions on the tooling plates, the welding of various types of elevator hoppers can be met. Appropriate tooling plates of different specifications can greatly expand the types of weldable parts, achieve rapid clamping of workpieces, and greatly reduce the time required for loading and unloading operations.

[0046] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A dual-station collaborative automatic welding workstation, characterized in that: include: A welding robot (8), wherein the welding robot (8) is a six-axis welding robot; Two double-axis positioners (9), the two double-axis positioners (9) are arranged in parallel on both sides of the welding robot (8) and are both located in the working area of ​​the welding robot (8), a tooling plate (1) is installed on the rotary seat of the double-axis positioner, and the welding workpiece is positioned on the tooling plate (1) by means of positioning pins (4); A plurality of positioning pin holes (3) are distributed on the tooling plate (1), wherein a pair of the positioning pin holes (3) are provided with positioning pins (4) for positioning the "U"-shaped bottom plate (7) in the hopper on the tooling plate (1), and a clamp (5) for clamping the side edge of the corresponding side of the "U"-shaped bottom plate (7) is fixedly installed on the inner side edge of the tooling plate (1) so that the "U"-shaped bottom plate (7) is fixed on the tooling plate (1); The double-axis positioner (9) is a head-to-tail positioner, comprising a flipping mechanism and a slewing mechanism; the flipping mechanism comprises an active end support (10), a passive end support (11), a horizontal rotating shaft (12), a flipping plate (13) and a horizontal rotating shaft driving mechanism; the active end support (10) and the passive end support (11) are horizontally provided with a flippable horizontal rotating shaft (12); the flipping plate (13) is fixedly mounted on the horizontal rotating shaft (12); the active end support (10) is provided with the horizontal rotating shaft (12); The horizontal rotating shaft driving mechanism is used to drive the horizontal rotating shaft (12) to rotate and drive the flip plate (13) to flip; the rotating mechanism comprises a rotating shaft, a rotating seat (16) and a rotating shaft driving mechanism, the rotating shaft is vertically arranged at the center of the flip plate, the rotating seat (16) is fixedly mounted on the rotating shaft, the rotating shaft driving mechanism is arranged on the rotating seat (16), and the rotating shaft driving mechanism is used to drive the rotating shaft to rotate and drive the rotating seat (16) to rotate; Two of the double-axis positioners (9) are arranged to alternately switch between a loading and unloading state and a welding state, and the welding robot (8) always cooperates with a double-axis positioner (9) in the welding state to perform welding operations.

2. The dual-station collaborative automatic welding workstation according to claim 1 is characterized in that: The clamp (5) is a pneumatic clamp, and the clamp (5) includes a cylinder seat (51), a cylinder (52), a cylinder piston rod (53), a clamping arm (54) and a rocker arm (55). The cylinder (52) is fixedly mounted on the tooling plate (1) by the cylinder seat (51). The clamping arm (54) and the cylinder piston rod (53) form a crank slider mechanism, with the rod end of the cylinder piston rod (53) as a slider, the clamping arm (54) as an extension rod of the connecting rod, and the rocker arm (55) hinged to the clamping arm (54). The clamping arm (54) is driven by the retractable cylinder piston rod (53) to clamp the side of the "U"-shaped bottom plate (7).

3. The dual-station collaborative automatic welding workstation according to claim 1 is characterized in that: At least two groups of the clamps (5) are provided, and synchronization is achieved between the multiple groups of clamps (5) through the reversing control of the reversing valve.

4. The dual-station collaborative automatic welding workstation according to claim 1 is characterized in that: A plurality of countersunk holes (2) are distributed on the tooling plate (1), and hexagon socket countersunk bolts for detachably mounting the tooling plate (1) on the rotary seat (16) of the dual-axis positioner (9) are arranged in the countersunk holes (2).

5. The dual-station collaborative automatic welding workstation according to claim 1 is characterized in that: The horizontal rotating shaft driving mechanism comprises a flip reducer (14) and a flip servo motor (15), and the flip reducer (14) and the flip servo motor (15) are used to drive the horizontal rotating shaft (12) to rotate.

6. The dual-station collaborative automatic welding workstation according to claim 1 is characterized in that: The rotary shaft driving mechanism comprises a rotary reducer (17) and a rotary servo motor (18), and the rotary reducer (17) and the rotary servo motor (18) are used to drive the rotary shaft to rotate.

7. The dual-station collaborative automatic welding workstation according to any one of claims 1 to 6, characterized in that: Four positioning pin holes (3) are provided, and the four positioning pin holes (3) are distributed on a straight line to form positioning pin hole pairs with different spacings.

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