Multi-station shell automatic welding equipment

Abstract

The invention discloses multi-station shell automatic welding equipment which comprises a machine frame, a rotating disc, a driving device, a first feeding device, a first carrying device, a second feeding device, a second carrying device, a welding device, a detecting device, a discharging device and a third carrying device. A plurality of stations are sequentially arranged on the rack around the rotating disc, and a first feeding device, a second feeding device, a welding device, a detecting device and a discharging device are arranged on each station. The welding device is used for conducting closed seam welding on the butt joint position of the first shell and the second shell to form the assembly part, so that the assembly part has good sealing stability, automatic welding of the first shell and the second shell is achieved through continuous rotation of the rotary disc, the labor cost is saved, and the production efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of automatic welding equipment, and in particular to a multi-station shell automatic welding equipment. Background Art

[0002] With the rapid development of the new energy vehicle industry, autonomous driving technology has become a new variable in the development of the automotive industry. Among them, the number of on-board cameras, as the eyes of the car, is increasing year by year. According to the different installation locations of the camera, it can be divided into two parts: inside the car and outside the car. The camera installed outside the car is exposed to the outdoor environment for a long time, and is subjected to the sun and rain. This part of the camera has strict requirements on sealing.

[0003] Car cameras usually use a two-part shell structure. To achieve good sealing requirements, the key lies in the tight connection of the upper and lower shells. Traditional car camera upper and lower shell connections are mainly connected by snap lock or glue bonding. The snap lock requires a sealing ring and it is difficult to ensure good sealing. The glue bonding is easy to fall off and the sealing stability is poor, which affects the use of the camera. In addition, the above two methods have complicated processes, and the production efficiency is difficult to meet the needs of today's factories, and the processing accuracy is not high.

[0004] In order to avoid the problems of snap-on locking or glue bonding, manual welding is currently used to assemble the upper and lower shells of the vehicle-mounted camera. The upper and lower shells need to be connected first, and then manually welded. The labor intensity of the workers is high, the safety factor is low, the production efficiency is extremely low, the welding reliability cannot be guaranteed, and when mass production is carried out, a large number of workers are required to operate, and the production cost is very high. Summary of the invention

[0005] The purpose of the present application is to provide a multi-station automatic shell welding device that can solve at least one technical problem existing in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present application provides a multi-station automatic shell welding device, which includes a frame, a turntable, a driving device, a first loading device, a first conveying device, a second loading device, a second conveying device, a welding device, a detection device, a unloading device and a third conveying device, the turntable is rotatably arranged on the frame, a plurality of stations are sequentially arranged on the frame around the turntable, each of the stations is respectively provided with a first loading device, a second loading device, a welding device, a detection device and an unloading device, and a plurality of fixtures that can correspond to each of the stations one by one are provided on the turntable;

[0007] The first loading device is used to store the first shell;

[0008] The second loading device is used to store the second shell;

[0009] The first transport device is disposed on the frame and is used to transport the first shell from the first loading device to the fixture;

[0010] The second transport device is disposed on the frame and is used to transport the second shell from the second loading device and dock the second shell on the first shell located at the fixture;

[0011] The welding device is used to perform closed seam welding on the butt joint of the first shell and the second shell to form an assembly;

[0012] The detection device is used to perform weld detection on the assembly;

[0013] The unloading device is used to store the assembly parts that have passed the inspection;

[0014] The third handling device is used to transfer the assembly parts after inspection and transfer the assembly parts that pass the inspection to the unloading device;

[0015] The driving device is arranged on the frame and is used to drive the turntable to rotate step by step, so that the devices on each station can operate corresponding to each clamp at the same time.

[0016] The embodiment of the present application arranges a plurality of workstations in sequence around a turntable on a frame, wherein a first loading device, a second loading device, a welding device, a detection device and a unloading device are respectively provided at each workstation; a first conveying device, a second conveying device and a third conveying device are also provided on the frame; a plurality of clamps corresponding to each workstation are provided on the turntable, and the rotation of the turntable is used to drive the clamps to reach each workstation so that the devices on each workstation can operate corresponding to each clamp at the same time, that is, the first conveying device conveys the first shell from the first loading device to the corresponding clamp, the second conveying device conveys the second shell from the second loading device and docks it on the first shell at the corresponding clamp, the welding device performs closed seam welding on the docking position of the first shell and the second shell at the corresponding clamp to form an assembly, the detection device performs weld seam detection on the assembly at the corresponding clamp, and the third conveying device transfers the inspected assembly at the corresponding clamp and transfers the qualified assembly to the unloading device. The welding device of the embodiment of the present application performs closed seam welding on the docking position of the first shell and the second shell to form an assembly part, so that the assembly part has good sealing stability and is not easy to fall off during use. In addition, the multi-station shell automatic welding equipment of the embodiment of the present application can realize the full automatic operation of loading, welding, testing and unloading as well as simultaneous operation of multiple stations, which can save labor costs, improve safety factors and welding reliability, is suitable for mass production, and greatly improves production efficiency.

[0017] Optionally, the first loading device includes a first tray seat, a second tray seat, a first lifting drive mechanism and a second lifting drive mechanism, the first tray seat is used to stack trays carrying a plurality of first shells, the second tray seat is used to stack trays that have completed material extraction, the output end of the first lifting drive mechanism is connected to the first tray seat, and is used to step one tray height at a time to keep the trays on the top layer at the same height, and the output end of the second lifting drive mechanism is connected to the second tray seat to keep the trays on the top layer at the same height; the first handling device includes a tray grasping mechanism, and the tray grasping mechanism is used to transfer the tray on the top layer of the first tray seat that has completed material extraction to the top layer of the second tray seat.

[0018] Optionally, the first handling device and / or the second handling device includes a multi-axis transmission mechanism and a shell grasping mechanism arranged at the output end of the multi-axis transmission mechanism, and the shell grasping mechanism includes a vacuum generator and a pneumatic clamp connected to the vacuum generator, and the pneumatic clamp is used to adsorb the corresponding shell.

[0019] Optionally, the second transport device includes a multi-axis transmission mechanism and a shell grasping mechanism and an upper positioning camera module arranged at the output end of the multi-axis transmission mechanism. A lower positioning camera module is also provided on the frame. The upper positioning camera module is used to visually position the first shell located at the clamp, and the lower positioning camera module is used to visually position the second shell on the shell grasping mechanism.

[0020] Optionally, the first conveying device and / or the second conveying device include a multi-axis transmission mechanism and a shell grasping mechanism arranged at the output end of the multi-axis transmission mechanism, the multi-axis transmission mechanism includes a transverse linear module, a longitudinal linear module slid on a slider of the transverse linear module, and a first bracket installed on the slider of the longitudinal linear module, a vertical linear module is installed on the first side of the first bracket, a second bracket is installed on the slider of the vertical linear module, and the shell grasping mechanism is installed on the second bracket.

[0021] Optionally, the first conveying device also includes a tray grasping mechanism, which is configured to transfer the tray for carrying the first shell, and the tray grasping mechanism is installed on the second side of the first bracket opposite to the first side; a third bracket is installed on the second bracket of the second conveying device, and the third bracket is installed with an upper positioning camera module for visually positioning the first shell at the clamp.

[0022] Optionally, the welding device includes a multi-axis transmission mechanism and a laser welding head and a camera positioning module installed at the output end of the multi-axis transmission mechanism, the multi-axis transmission mechanism is used to drive the laser welding head and the camera positioning module to move along the welding path, the camera positioning module is used to perform visual positioning of the weld, and the laser welding head is used to perform closed seam welding on the weld according to the visual positioning of the camera positioning module.

[0023] Optionally, the multi-station automatic shell welding equipment further comprises a rotary pressing cylinder disposed on the frame, and the rotary pressing cylinder is used to pre-press the first shell and the second shell before performing weld welding.

[0024] Optionally, the detection device includes a weld detection camera and a linear module, the weld detection camera is arranged on the linear module, the linear module is used to drive the weld detection camera to move linearly, and the weld detection camera is used to identify and detect the welding position of the assembly.

[0025] Optionally, the unloading device includes a third tray seat, a fourth tray seat, a third lifting drive mechanism and a fourth lifting drive mechanism, the third tray seat is used to stack empty trays, the fourth tray seat is used to stack trays filled with the assembly parts, the output end of the third lifting drive mechanism is connected to the third tray seat, and is used to step one tray height at a time to keep the trays on the top layer at the same height, and the output end of the fourth lifting drive mechanism is connected to the fourth tray seat to keep the trays on the top layer at the same height; the third handling device includes a tray grabbing mechanism, and the tray grabbing mechanism is used to transfer the tray filled with the assembly parts on the top layer of the third tray seat to the top layer of the fourth tray seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional diagram of the multi-station shell automatic welding equipment in the embodiment of the present application.

[0027] Figure 2 This is a top view of the multi-station shell automatic welding equipment in an embodiment of the present application.

[0028] Figure 3 It is a three-dimensional diagram of the first feeding device in the embodiment of the present application.

[0029] Figure 4 It is a stereoscopic diagram of the first loading device, the first conveying device, the second loading device and the second conveying device in the embodiment of the present application.

[0030] Figure 5 It is a stereoscopic diagram of the second transport device, the upper positioning camera module and the lower positioning camera module in the embodiment of the present application.

[0031] Figure 6 It is a stereoscopic view from another angle of the second transport device, the upper positioning camera module and the lower positioning camera module in the embodiment of the present application.

[0032] Figure 7 It is a three-dimensional diagram of the welding device in the embodiment of the present application.

[0033] Figure 8 It is a three-dimensional diagram of the detection device in the embodiment of the present application.

[0034] Fig. 9 It is a three-dimensional diagram of the unloading device, the third handling device and the defective product silo in the embodiment of the present application.

[0035] Fig.10 It is a stereoscopic diagram of the turntable, the clamp and the rotary pressing cylinder (hidden part) in the embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to explain the technical content, structural features, achieved objectives and effects of the present application in detail, the following is a detailed description in conjunction with the implementation methods and the accompanying drawings.

[0037] See also Figures 1 to 10 The multi-station automatic shell welding equipment 100 of the embodiment of the present application includes a frame 1, a turntable 2, a driving device 3, a first loading device 4, a first conveying device 5, a second loading device 6, a second conveying device 7, a welding device 8, a detection device 9, a discharge device 10 and a third conveying device 11. The turntable 2 is rotatably arranged on the frame 1, and a plurality of stations are sequentially arranged on the frame 1 around the turntable 2. The first loading device 4, the second loading device 6, the welding device 8, the detection device 9 and the discharge device 10 are respectively provided at each station. The turntable 2 is provided with a plurality of fixtures 21 that can correspond to each station one by one.

[0038] The first loading device 4 is used to store the first shell. The second loading device 6 is used to store the second shell. The first handling device 5 is arranged on the frame 1, and is used to carry the first shell from the first loading device 4 to the fixture 21. The second handling device 7 is arranged on the frame 1, and is used to carry the second shell from the second loading device 6 and dock it on the first shell. The welding device 8 is used to perform closed seam welding on the docking position of the first shell and the second shell to form an assembly. The detection device 9 is used to perform weld detection on the assembly. The unloading device 10 is used to store the assembly that has passed the inspection. The third handling device 11 is used to transfer the assembly after the inspection and transfer the assembly that has passed the inspection to the unloading device 10. The driving device 3 is arranged on the frame 1 and drives the turntable 2 to rotate step by step, so that the devices on each station can operate corresponding to each fixture 21 at the same time.

[0039] In the embodiment of the present application, a plurality of workstations are sequentially arranged around a turntable 2 on a frame 1, and a first loading device 4, a second loading device 6, a welding device 8, a detection device 9 and a blanking device 10 are respectively provided at each workstation. A first conveying device 5, a second conveying device 7 and a third conveying device 11 are also provided on the frame 1. A plurality of fixtures 21 corresponding to each workstation are provided on the turntable 1. The rotation of the turntable 2 drives the fixture 21 to reach each workstation so that the devices on each workstation can simultaneously operate corresponding to each fixture 21, that is, the first conveying device 5 conveys the first shell from the first loading device 4 to the corresponding fixture 21, the second conveying device 7 conveys the second shell from the second loading device 6 and docks it on the first shell at the corresponding fixture 21, the welding device 8 performs closed seam welding on the docking position of the first shell and the second shell at the corresponding fixture 21 to form an assembly, the detection device 9 performs weld inspection on the assembly at the corresponding fixture 21, and the third conveying device 11 transfers the inspected assembly at the corresponding fixture 21 and transfers the qualified assembly to the blanking device 10. The welding device 8 of the embodiment of the present application performs closed seam welding on the docking position of the first shell and the second shell to form an assembly, so that the assembly has good sealing stability and is not easy to fall off during use. In addition, the multi-station shell automatic welding equipment 100 of the embodiment of the present application can realize the full automatic operation of loading, welding, testing and unloading as well as simultaneous operation of multiple stations, which can save labor costs, improve safety factors and welding reliability, is suitable for mass production, and greatly improves production efficiency.

[0040] In some embodiments, the multi-station shell automatic welding equipment 100 also includes a manual loading and unloading station, which can be set between the station where the first loading device 4 is located and the station where the unloading device 10 is located, that is, located upstream of the station where the first loading device 4 is located and located downstream of the station where the unloading device 10 is located. Workers can load the first shell and the second shell at the manual loading and unloading station. After the worker places the first shell on the fixture 21, the second shell is placed and docked on the first shell. A rotating pressing cylinder 22 can be provided above the fixture 21 for pre-pressing the first shell and the second shell. Workers can also carry and unload the assembly parts after inspection at the manual loading and unloading station. The setting of the manual loading and unloading station makes the operation mode more flexible. For example, for shells without wires and other situations that are not convenient for automatic mode, an automated production mode can be adopted. For some shells with cables or other situations that are not convenient for using automatic mode, it can be switched to manual mode, that is, manual loading and unloading. Workers can perform manual operations at the manual loading and unloading station according to actual conditions, and there is no restriction here.

[0041] Specifically, a wire storage cylinder 23 is provided under each clamp 21, and the wire storage cylinder 23 is used to store the wire with the wire housing.

[0042] Specifically, a protective cover 14 is provided on the manual loading and unloading station to ensure the safety of the workers.

[0043] See also Figure 3 In some embodiments, the first loading device 4 includes a first tray seat 41, a second tray seat 42, a first lifting drive mechanism 43 and a second lifting drive mechanism 44. The first tray seat 41 is used to stack trays 45 carrying a plurality of first shells, and the second tray seat 42 is used to stack trays 45 that have completed material collection. The output end of the first lifting drive mechanism 43 is connected to the first tray seat 41, and is used to step a tray height at a time to keep the topmost tray 45 at the same height. The output end of the second lifting drive mechanism 44 is connected to the second tray seat 42 to keep the topmost tray 45 at the same height; the first handling device 5 includes a tray grabbing mechanism 51, and the tray grabbing mechanism 51 is used to transfer the topmost tray 45 that has completed material collection on the first tray seat 41 to the topmost layer of the second tray seat 42. When all the first shells in the tray 45 on the first tray seat 41 have been taken out (that is, the tray 45 is an empty tray), the tray grabbing mechanism 51 can transfer the empty tray 45 on the top layer of the first tray seat 41 that has been taken out to the top layer of the second tray seat 42, and then take out the first shells in the next tray 45 containing a plurality of first shells, thereby improving the loading efficiency and the degree of automation.

[0044] Specifically, the first loading device 4 also includes a fixed bracket 46 and a movable bracket 47. The fixed bracket 46 is provided with a first slide rail 461. The movable bracket 47 is fixed with a first slider 471. The first slider 471 is slidably arranged on the first slide rail 461. The first tray seat 41 is fixed on the movable bracket 47. The first lifting drive mechanism 43 includes a servo motor 431. The output end of the servo motor 431 is connected with a reducer 432. The reducer 432 is installed on the fixed bracket 46 through a reducer mounting seat 433. The reducer 432 is connected to a screw rod 435 through a coupling 434. The screw rod 435 is provided with a screw nut (not shown) fixedly connected to the movable bracket 47. Under the drive of the servo motor 431, the screw rod 435 rotates and drives the screw nut and the movable bracket 47 to move up and down along the first slide rail 461, thereby driving the first tray seat 41 and the tray 45 on the first tray seat 41 to move up and down.

[0045] In some embodiments, the second loading device 6 includes a fifth tray seat 61, a sixth tray seat 62, a fifth lifting drive mechanism 63 and a sixth lifting drive mechanism 64, the fifth tray seat 61 is used to stack trays 45 carrying a plurality of second shells, the sixth tray seat 62 is used to stack trays 45 that have completed material removal, the output end of the fifth lifting drive mechanism 63 is connected to the fifth tray seat 61, and is used to step a tray height at a time to keep the topmost tray 45 at the same height, and the output end of the sixth lifting drive mechanism 64 is connected to the sixth tray seat 62 to keep the topmost tray 45 at the same height; the second handling device 7 includes a tray grasping mechanism 71, and the tray grasping mechanism 71 is used to transfer the topmost tray 45 that has completed material removal on the fifth tray seat 61 to the topmost layer of the sixth tray seat 62. When all the second shells in the tray 45 on the fifth tray seat 61 have been taken out (that is, the tray 45 is an empty tray), the tray grabbing mechanism 71 can transfer the empty tray 45 on the top layer of the fifth tray seat 61 that has been taken out to the top layer of the sixth tray seat 62, and then take out the second shells in the next tray 45 containing a plurality of second shells, thereby improving the loading efficiency and the degree of automation.

[0046] Specifically, the second loading device 6 also includes a fixed bracket 66 and a movable bracket 67, the fixed bracket 66 is provided with a second slide rail 661, the movable bracket 67 is fixed with a second slider 671, the second slider 671 is slidably set on the second slide rail 661, and the fifth material tray seat 61 is fixed on the movable bracket 67; the fifth lifting drive mechanism 63 includes a servo motor 631, the output end of the servo motor 631 is connected to a reducer 632, the reducer 632 is installed on the fixed bracket 66 through a reducer mounting seat 633, the reducer 632 is connected to a screw rod 635 through a coupling 634, and a screw rod nut (not shown) fixedly connected to the movable bracket 67 is provided on the screw rod 635. Driven by the servo motor 631, the screw rod 635 rotates and drives the screw rod nut and the movable bracket 67 to move up and down along the second slide rail 661, thereby driving the fifth material tray seat 61 and the material tray 45 on the fifth material tray seat 61 to move up and down.

[0047] In some embodiments, the first transport device 5 includes a multi-axis transmission mechanism 52 and a shell grasping mechanism 53 arranged at the output end of the multi-axis transmission mechanism 52. The shell grasping mechanism 53 may include a vacuum generator 531 and a pneumatic clamp 532 connected to the vacuum generator 531. Under the action of the vacuum generator 531, the pneumatic clamp 532 can suck the first shell.

[0048] Specifically, after the pneumatic clamp 532 sucks the first shell, the multi-axis transmission mechanism 52 drives the pneumatic clamp 532 and the first shell to move to the corresponding clamp 21, so as to transport the first shell from the first loading device 4 to the clamp 21. The pneumatic clamp 532 is usually small in size and light in weight, and uses a vacuum generator 531 as a power source, which is safer than a mechanical clamp. Of course, it is not necessarily set as a pneumatic clamp 532, for example, it can also be set as a mechanical clamp, which is not limited here.

[0049] Specifically, the multi-axis transmission mechanism 52 includes a transverse linear module 521, a longitudinal linear module 522 slidably mounted on a slider of the transverse linear module 521, and a first bracket 523 mounted on the slider of the longitudinal linear module 522. A vertical linear module (not shown) is mounted on the first side of the first bracket 523, a second bracket (not shown) is mounted on the slider of the vertical linear module, and a shell grasping mechanism 532 is mounted on the second bracket.

[0050] Specifically, the first handling device 5 further includes a tray grabbing mechanism 51 , which is configured to transfer the tray 45 for carrying the first shell, and the tray grabbing mechanism 51 is installed on the second side of the first bracket 523 facing away from the first side.

[0051] Specifically, the tray grabbing mechanism 51 includes a lifting cylinder (not shown) and a clamping cylinder (not shown) connected to the output end of the lifting cylinder (not shown). The lifting cylinder is used to adjust the position in the up and down directions, and the clamping cylinder is used to grab the tray.

[0052] In some embodiments, the second transport device 7 includes a multi-axis transmission mechanism 72 and a shell grasping mechanism 73 arranged at the output end of the multi-axis transmission mechanism 72. The shell grasping mechanism 73 may include a vacuum generator 731 and a pneumatic clamp 732 connected to the vacuum generator 731. Under the action of the vacuum generator 731, the pneumatic clamp 732 can suck the second shell.

[0053] Specifically, after the pneumatic clamp 732 sucks the second shell, the multi-axis transmission mechanism 72 drives the pneumatic clamp 732 and the second shell to move to the corresponding fixture 21, so as to transport the second shell from the second loading device 6 and dock it to the first shell on the corresponding fixture 21. The pneumatic clamp 732 is usually small in size and light in weight, and uses a vacuum generator 731 as a power source, which is safer than a mechanical clamp. Of course, it is not necessarily set as a pneumatic clamp 732, and can also be set as a mechanical clamp, which is not limited here.

[0054] Specifically, the multi-axis transmission mechanism 72 includes a transverse linear module 721, a longitudinal linear module 722 slidably mounted on a slider of the transverse linear module 721, and a first bracket 723 installed on the slider of the longitudinal linear module 722. A vertical linear module 7231 is installed on the first side of the first bracket 723, a second bracket 7232 is installed on the slider of the vertical linear module 7231, and a shell grasping mechanism 732 is installed on the second bracket 7232.

[0055] Specifically, the second handling device 7 further includes a tray grabbing mechanism 71 , which is configured to transfer the tray 45 for carrying the second shell, and the tray grabbing mechanism 71 is installed on the second side of the first bracket 723 opposite to the first side.

[0056] Specifically, the tray grabbing mechanism 71 includes a lifting cylinder (not shown) and a clamping cylinder 711 connected to the output end of the lifting cylinder. The lifting cylinder is used to adjust the position in the up and down directions, and the clamping cylinder 711 is used to grab the tray.

[0057] See also Figure 5 and Figure 6 Specifically, the second transport device 7 includes a shell grasping mechanism 73 and an upper positioning camera module 12 arranged at the output end of the multi-axis transmission mechanism 72, and the upper positioning camera module 12 is installed at the output end of the multi-axis transmission mechanism 72; a lower positioning camera module 13 is also provided on the frame 1, and the assembly accuracy of the first shell and the second shell is compensated through the visual positioning of the upper positioning camera module 12 and the lower positioning camera module 13.

[0058] Specifically, the second shell grasped by the shell grasping mechanism 72 is visually positioned by the lower positioning camera module 13, and the upper positioning camera module 12 visually positions the first shell at the corresponding fixture 21 to compensate for the assembly accuracy of the first shell and the second shell, and then the second shell is docked on the first shell.

[0059] Specifically, the third bracket 7233 is installed on the second bracket 7232 , and the third bracket 7233 is installed with the upper positioning camera module 12 .

[0060] See also Figure 7In some embodiments, the welding device 8 includes a multi-axis transmission mechanism 81 and a laser welding head 82 and a camera positioning module 83 installed at the output end of the multi-axis transmission mechanism 81. The multi-axis transmission mechanism 81 is used to drive the laser welding head 82 and the camera positioning module 83 to move along the welding path. The camera positioning module 83 is used to visually locate the weld. The laser welding head 82 is used to perform closed seam welding on the weld according to the visual positioning of the camera positioning module 83. The welding device 8 performs closed seam welding on the docking position of the first shell and the second shell to form an assembly, which avoids the problem that the first shell and the second shell need to be equipped with a sealing ring and it is difficult to ensure good sealing performance when they are attached by snap locks, and the problem that they are easy to fall off when glue is bonded, so that the assembly has good sealing stability and is not easy to fall off during use.

[0061] Specifically, the multi-axis transmission mechanism 81 includes a transverse linear module 811, a longitudinal linear module 812 slidably mounted on a slider of the transverse linear module 811, a first bracket 813 is mounted on the longitudinal linear module 812, a vertical linear module 8131 is mounted on the first bracket 813, a second bracket (not shown) is mounted on the slider of the vertical linear module 8131, and a laser welding head 82 and a camera positioning module 83 are mounted on the second bracket.

[0062] Specifically, the laser welding head 82 can use a motor to drive the X and Y axis vibrating lenses, and has a variety of swing modes. Swing welding allows the workpiece to have uneven welds, larger processing gaps, etc. In addition, the internal structure of the welding head can be completely sealed to prevent the optical part from being contaminated by dust. It can be equipped with an air curtain component to reduce the pollution of smoke and splashing residues to the lens during welding. During the welding process, the welding gun will swing left and right at a certain frequency, so that the welding head forms a certain wave shape, thereby increasing the width and depth of the welding area and improving the welding quality and strength. Of course, it is not limited to this.

[0063] Specifically, the camera positioning module 83 can use a 12-megapixel camera to accurately identify the weld, and send the compensation value to the laser welding head 82 through calculation, with a repeat positioning accuracy of ±0.01mm, ensuring the welding position accuracy to complete high-precision welding. Of course, it is not limited to this.

[0064] Specifically, the multi-station automatic shell welding equipment 100 further includes a rotary pressing cylinder 22 disposed on the frame 1 , and the rotary pressing cylinder 22 is used to pre-press the first shell and the second shell before performing the weld seam welding.

[0065] See also Figure 8In some embodiments, the detection device 9 includes a weld detection camera 91 and a linear module 92. The weld detection camera 91 is arranged on the linear module 92. The linear module 92 is used to drive the weld detection camera 91 to move linearly. The weld detection camera 91 is used to identify and detect the weld of the assembly. More specifically, the linear module 92 is arranged on a detection bracket 93. The detection device 9 also includes a light source bracket 94. The light source bracket 94 is used to fix and support the light source to ensure that the light source is stably placed at a predetermined position.

[0066] Specifically, the linear module 92 drives the weld inspection camera 91 to move linearly to meet the camera recognition focal length adjustment, and a 5-megapixel camera can be used to accurately identify the weld, and defect recognition is achieved through self-developed algorithm software, and the feedback result is repeated with a positioning accuracy of ±0.01mm to ensure position accuracy. Of course, it is not limited to this.

[0067] See also Fig. 9 In some embodiments, the unloading device 10 includes a third tray seat 101, a fourth tray seat 102, a third lifting drive mechanism 103 and a fourth lifting drive mechanism 104. The third tray seat 101 is used to stack empty trays 45, and the fourth tray seat 102 is used to stack trays 45 filled with assembly parts (not shown). The output end of the third lifting drive mechanism 103 is connected to the third tray seat 101, which is used to step a tray height at a time to keep the uppermost tray 45 at the same height. The output end of the fourth lifting drive mechanism 104 is connected to the fourth tray seat 102 to keep the uppermost tray 45 at the same height; the third handling device 11 includes a tray grabbing mechanism 111, which is used to transfer the uppermost tray 45 filled with assembly parts on the third tray seat 101 to the uppermost layer of the fourth tray seat 102.

[0068] Specifically, the unloading device 10 also includes a fixed bracket 106 and a movable bracket 107. The fixed bracket 106 is provided with a third slide rail 1061. The movable bracket 107 is fixed with a third slider (not shown in the figure). The third slider is slidably arranged on the third slide rail 1061. The third material tray seat 101 is fixed on the movable bracket 107. The third lifting drive mechanism 103 includes a servo motor 1031. The output end of the servo motor 1031 is connected to a reducer 1032. The reducer 1032 is installed by the reducer The seat 1033 is installed on the fixed bracket 106, and the reducer 1032 is connected to the screw rod 1035 through the coupling 1034. The screw rod 1035 is provided with a screw nut (not shown) fixedly connected to the moving bracket 107. Under the drive of the servo motor 1031, the screw rod 1035 rotates and drives the screw nut and the moving bracket 107 to move up and down along the third slide rail 1061, thereby driving the third material tray seat 101 and the material tray 45 on the third material tray seat 101 to move up and down. When the empty material tray 45 on the third material tray seat 101 completes the unloading of assembly parts (that is, the material tray 45 is a material tray 45 full of assembly parts), the material tray grabbing mechanism 51 can transfer the material tray 45 full of assembly parts on the uppermost layer of the third material tray seat 101 to the uppermost layer of the fourth material tray seat 102, and then unload the assembly parts from the next empty material tray 45, which can improve the unloading efficiency and the degree of automation.

[0069] Specifically, the structure of the third transport device 11 is similar to that of the first transport device 5 , so it will not be described in detail here.

[0070] Specifically, the multi-station housing automatic welding equipment 100 further includes a defective material bin 105 provided on the frame 1, and the tray grabbing mechanism 51 stores the assembly parts with unqualified detection results in the defective material bin 105. By providing the defective material bin 105 for storing unqualified assembly parts, qualified and unqualified assembly parts are classified, so that the qualified and unqualified assembly parts can be processed separately in the subsequent process.

[0071] Specifically, qualified assembly parts can be scanned, bound, and uploaded to the Manufacturing Execution System (MES).

[0072] See also Fig.10Specifically, the turntable 2 is powered by a large DDR motor, which has high precision and stable operation. As the processing steps change, the turntable 2 rotates step by step so that the devices on each station can work at the same time at that station. The precision error caused by the rotation angle caused by the turntable 2 is converted into an offset position accuracy of 0.022mm. The radial runout error when the turntable is running is 0.132mm. The allowable change in welding focus is 0.3mm, and the runout of the turntable during operation will not affect the welding quality. The axial runout error when the turntable is running is 0.11mm. Without considering the change in the tolerance of the incoming material size, the axial dimensional error of the turntable at the six stations during operation does not meet the process requirement of less than 0.1mm. Therefore, it is necessary to install a camera positioning module 83 on the welding device 8 to locate the weld position before welding.

[0073] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the scope of the patent application of the present application are still within the scope covered by the present application.

Claims

1. A multi-station shell automatic welding equipment, characterized in that: include: A frame, a turntable, a driving device, a first loading device, a first conveying device, a second loading device, a second conveying device, a welding device, a detection device, a discharge device and a third conveying device, wherein the turntable is rotatably arranged on the frame, a plurality of workstations are sequentially arranged around the turntable on the frame, each of the workstations is respectively provided with a first loading device, a second loading device, a welding device, a detection device and a discharge device, and a plurality of fixtures corresponding to each of the workstations are arranged on the turntable; The first loading device is used to store the first shell; The second loading device is used to store the second shell; The first transport device is disposed on the frame and is used to transport the first shell from the first loading device to the fixture; The second transport device is disposed on the frame and is used to transport the second shell from the second loading device and dock the second shell on the first shell located at the fixture; The welding device is used to perform closed seam welding on the butt joint of the first shell and the second shell to form an assembly; The detection device is used to perform weld detection on the assembly; The unloading device is used to store the assembly parts that have passed the inspection; The third handling device is used to transfer the assembly parts after inspection and transfer the assembly parts that pass the inspection to the unloading device; The driving device is arranged on the frame and is used to drive the turntable to rotate step by step, so that the devices on each station can operate corresponding to each clamp at the same time.

2. The multi-station housing automatic welding equipment according to claim 1, characterized in that: The first loading device includes a first tray seat, a second tray seat, a first lifting drive mechanism and a second lifting drive mechanism. The first tray seat is used to stack trays carrying a plurality of first shells, and the second tray seat is used to stack trays that have completed material extraction. The output end of the first lifting drive mechanism is connected to the first tray seat and is used to step one tray height at a time to keep the trays on the top layer at the same height. The output end of the second lifting drive mechanism is connected to the second tray seat to keep the trays on the top layer at the same height. The first handling device includes a tray grabbing mechanism, and the tray grabbing mechanism is used to transfer the tray on the top layer of the first tray seat that has completed material extraction to the top layer of the second tray seat.

3. The multi-station housing automatic welding equipment according to claim 1, characterized in that: The first handling device and / or the second handling device includes a multi-axis transmission mechanism and a shell grasping mechanism arranged at the output end of the multi-axis transmission mechanism, and the shell grasping mechanism includes a vacuum generator and a pneumatic clamp connected to the vacuum generator, and the pneumatic clamp is used to adsorb the corresponding shell.

4. The multi-station housing automatic welding equipment according to claim 1, characterized in that: The second transport device includes a multi-axis transmission mechanism and a shell grasping mechanism and an upper positioning camera module arranged at the output end of the multi-axis transmission mechanism. A lower positioning camera module is also provided on the frame. The upper positioning camera module is used to visually position the first shell located at the clamp, and the lower positioning camera module is used to visually position the second shell on the shell grasping mechanism.

5. The multi-station housing automatic welding equipment according to claim 4, characterized in that: The first conveying device and / or the second conveying device include a multi-axis transmission mechanism and a shell grasping mechanism arranged at the output end of the multi-axis transmission mechanism, the multi-axis transmission mechanism includes a transverse linear module, a longitudinal linear module slidably arranged on a slider of the transverse linear module, and a first bracket installed on the slider of the longitudinal linear module, a vertical linear module is installed on the first side of the first bracket, a second bracket is installed on the slider of the vertical linear module, and the shell grasping mechanism is installed on the second bracket.

6. The multi-station automatic shell welding equipment according to claim 5, characterized in that: The first conveying device also includes a tray grasping mechanism, which is configured to transfer a tray for carrying the first shell, and the tray grasping mechanism is installed on the second side of the first bracket opposite to the first side; a third bracket is installed on the second bracket of the second conveying device, and the third bracket is installed with an upper positioning camera module for visually positioning the first shell at the clamp.

7. The multi-station automatic shell welding equipment according to claim 1, characterized in that: The welding device includes a multi-axis transmission mechanism and a laser welding head and a camera positioning module installed at the output end of the multi-axis transmission mechanism. The multi-axis transmission mechanism is used to drive the laser welding head and the camera positioning module to move along the welding path. The camera positioning module is used to perform visual positioning of the weld. The laser welding head is used to perform closed seam welding on the weld according to the visual positioning of the camera positioning module.

8. The multi-station housing automatic welding equipment according to claim 7, characterized in that: It also includes a rotary pressing cylinder arranged on the frame, and the rotary pressing cylinder is used to pre-press the first shell and the second shell before welding the weld.

9. The multi-station housing automatic welding equipment according to claim 1, characterized in that: The detection device includes a weld detection camera and a linear module. The weld detection camera is arranged on the linear module. The linear module is used to drive the weld detection camera to move linearly. The weld detection camera is used to identify and detect the welding position of the assembly.

10. The multi-station housing automatic welding equipment according to claim 1, characterized in that: The unloading device includes a third tray seat, a fourth tray seat, a third lifting drive mechanism and a fourth lifting drive mechanism. The third tray seat is used to stack empty trays, and the fourth tray seat is used to stack trays filled with the assembly parts. The output end of the third lifting drive mechanism is connected to the third tray seat and is used to step one tray height at a time to keep the trays on the top layer at the same height. The output end of the fourth lifting drive mechanism is connected to the fourth tray seat to keep the trays on the top layer at the same height. The third handling device includes a tray grabbing mechanism, and the tray grabbing mechanism is used to transfer the tray filled with the assembly parts on the top layer of the third tray seat to the top layer of the fourth tray seat.

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