Multifunctional industrial robot for intelligent manufacturing automatic production line

Abstract

The invention relates to the technical field of welding equipment, and provides a multifunctional industrial robot for an intelligent manufacturing automatic production line. The three-axis linear module is installed on the top of the workbench, a first driving motor is installed on the top of the three-axis linear module, and the output end of the first driving motor is connected with a one-way threaded lead screw; one end of the one-way threaded lead screw penetrates through the inner side of the three-axis linear module and is rotationally connected with the three-axis linear module. By arranging the tensioning auxiliary assembly, when a pipeline is clamped for butt joint and after a driving seat stops moving, two sets of hydraulic cylinders can be driven, the output ends of the hydraulic cylinders drive a U-shaped seat to drive a winding roller to move downwards, and therefore pulling force on a sliding seat is formed through a pulling rope; and the end parts of the two butted pipelines can be continuously pressed under the action of external force, so that a welding seam gap is reduced, and the subsequent welding quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a multifunctional industrial robot for an intelligent manufacturing automated production line. Background Art

[0002] With the development of society and technology, people are more obsessed with automation. Automated production lines have their unique advantages, such as low labor costs, high production efficiency, and easy control. An important part of automated production lines includes robots. The use of traditional assembly line production robots is mostly limited to the use of robot arms, and then the robot arms are improved. The cost is high and it is not suitable for long-distance operations. Welding, as a common connection method, has the advantages of high connection strength and is not easy to damage.

[0003] When an industrial robot is welding a pipeline and needs to weld two pipelines or pipeline ends to other components, the worker usually first operates the equipment to fix the two pipelines at the specified position, then operates the equipment to dock the interfaces of the two pipelines, and then welds them through a laser welding device. However, after the pipelines are docked, there is no external force applied to them, so that the two pipeline ends cannot always be in a compressed state. As a result, due to the influence of the accuracy of the docking equipment, a large gap is left at the two pipeline ends, which in turn affects the quality of subsequent welding. For this reason, we provide a multifunctional industrial robot for intelligent manufacturing automation production lines to solve the above problems. Summary of the invention

[0004] The present invention proposes a multifunctional industrial robot for an intelligent manufacturing automated production line, which solves the problem in the related art that the industrial robot cannot continuously press two pipes during the welding process, which easily leads to deviations in the welding process and further affects the quality of subsequent welding.

[0005] The technical solution of the present invention is as follows: A multifunctional industrial robot for an intelligent manufacturing automated production line, comprising: a workbench and a three-axis linear module installed on the top of the workbench, a first drive motor is installed on the top of the three-axis linear module, an output end of the first drive motor is connected to a one-way threaded screw, one end of the one-way threaded screw penetrates into the inner side of the three-axis linear module and is rotatably connected to the three-axis linear module, a sliding plate is threadedly connected to the outer wall of the one-way threaded screw, and the sliding plate is slidably connected to the three-axis linear module, and a welding gun is arranged on one side of the sliding plate; a calibration mechanism is located on both sides of the three-axis linear module and is used to calibrate the welding gun; a drive seat, the drive seat is arranged on the top of the workbench, a sliding seat is arranged above the drive seat, a pipe is placed on the top of the sliding seat, a docking device for docking two pipes is arranged on the top of the workbench, and a power drive member for driving the pipe to rotate in a circle is arranged at the end of the sliding seat.

[0006] As a further solution of the present invention: the calibration mechanism includes a second fixed plate fixedly connected to the end of the sliding plate, a first T-shaped slider is slidably connected to the inner side of the second fixed plate, and the first T-shaped slider is fixedly connected to the welding gun, a connecting spring is installed between the first T-shaped slider and the sliding plate, spherical rods are fixedly connected to both ends of the first T-shaped slider, the first fixed plate is fixedly connected to the outer walls of both sides of the three-axis linear module, a power plate is fixedly connected to the inner side of the first fixed plate, and an inclined surface is provided on one side of the power plate.

[0007] As a further solution of the present invention: the docking device includes a support seat fixedly connected to the top of the workbench, a bidirectional threaded screw is rotatably connected to the inner side of the support seat, a second drive motor is installed on one side of the support seat, and the output end of the second drive motor is connected to the bidirectional threaded screw, a first rectangular rod is fixedly connected to the inner side of the support seat, the drive seat is slidably connected to the outer wall of the first rectangular rod, and a tightening auxiliary component for tightening the sliding seat is arranged between the workbench and the sliding seat.

[0008] As a further solution of the present invention: the outer wall of the bidirectional threaded screw is provided with a positive thread and a negative thread, and two drive seats are provided. The two drive seats are respectively threadedly connected to the positive thread and the negative thread outer wall, and the inner sides of the two drive seats are provided with a limiting sliding groove matching the first rectangular rod.

[0009] As a further solution of the present invention: the tensioning auxiliary component includes a second T-shaped slider slidably connected to the inner side of the driving seat, the top of the second T-shaped slider is fixedly connected to the sliding seat, the bottom of the second T-shaped slider is fixedly connected to a connecting plate, and a power spring is installed between the connecting plate and the driving seat.

[0010] As a further solution of the present invention: the tensioning auxiliary component also includes a sleeve embedded in the top of the workbench, a hydraulic cylinder is installed on the inner side of the sleeve, the output end of the hydraulic cylinder is connected to a U-shaped seat, the inner side of the U-shaped seat is rotatably connected to a winding roller, the outer wall of the winding roller is wound with a traction rope, one end of the traction rope is fixedly connected to the connecting plate, a second rectangular rod is fixedly connected to the inner side of the sleeve, and the U-shaped seat is slidably connected to the outer wall of the second rectangular rod, and the outer wall of the winding roller is provided with a toggle unit for toggling the traction rope for release or winding.

[0011] As a further solution of the present invention: a stand is fixedly connected to the top of the workbench, a first auxiliary wheel and a second auxiliary wheel are rotatably connected to the inner side of the stand, and the first auxiliary wheel and the second auxiliary wheel are pressed against the outer wall of the traction rope respectively.

[0012] As a further solution of the present invention: the toggle unit includes a support fixedly connected to both sides of the driving seat, a fourth T-shaped slider is slidably connected to the inner side of the support, one end of the fourth T-shaped slider is fixedly connected to a spur rack, one end of the winding roller passes through the outside of the U-shaped seat and is fixedly connected to a spur gear, and the spur gear is meshed with the spur rack, one side of the spur rack is fixedly connected to a third T-shaped slider, the top of the U-shaped seat is fixedly connected to a connecting sleeve block, and the third T-shaped slider is slidably connected to the connecting sleeve block.

[0013] As a further solution of the present invention: the power drive component includes a fixed ring fixedly connected to one end of the sliding seat, the end of the fixed ring is rotatably connected to a rotating ring, the outer wall of the rotating ring is fixedly connected to a gear ring, a third drive motor is installed on one side of the fixed ring, the output end of the third drive motor is fixedly connected to a drive gear, and the drive gear is meshed with the gear ring, four electric push rods are fixedly connected to the outer wall of the rotating ring, and the output end of each of the electric push rods passes through the inner side of the rotating ring and is fixedly connected to a pressure plate.

[0014] The working principle and beneficial effects of the present invention are:

[0015] 1. By setting the tension auxiliary component, when the pipe is clamped and docked, the driving seat can drive two sets of hydraulic cylinders after stopping moving. The output end of the hydraulic cylinder drives the U-shaped seat to drive the winding roller to move downward, so as to form a pulling force on the sliding seat through the traction rope, so that the two ends of the docked pipes can be continuously pressed under the action of external force, thereby reducing the weld gap and improving the quality of subsequent welding;

[0016] 2. By setting a toggle unit, when the driving seat moves horizontally to dock the pipeline, the U-shaped seat is driven by the spur rack to drive the winding roller to rotate and reel the traction rope, so that the traction rope is always in a straightened state during the lateral movement of the driving seat, thereby facilitating the subsequent tightening of the traction rope, thereby improving the overall practicality of the device;

[0017] 3. By setting up a calibration mechanism, when the sliding plate drives the welding gun to move downward and the sliding plate deviates during long-term use, the spherical rod will contact the inclined surface during the downward movement. Under the action of the inclined surface, the first T-shaped slider is pushed to drive the welding gun to move toward the center position of the three-axis linear module, thereby realizing the calibration of the three-axis linear module, thereby improving the accuracy of the three-axis linear module during welding, and then improving the overall practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle;

[0021] Figure 3 It is a structural schematic diagram of one side of the three-axis linear module of the present invention;

[0022] Figure 4 It is a schematic diagram of the partial structure inside the three-axis linear module of the present invention;

[0023] Figure 5 For the present invention Figure 4 Enlarged view of point B in the middle;

[0024] Figure 6 It is a schematic diagram of the top structure of the driving seat of the present invention;

[0025] Figure 7 It is a schematic diagram of the inner structure of the driving seat of the present invention;

[0026] Figure 8 is a cross-sectional view of a support of the present invention;

[0027] Fig. 9 It is a schematic diagram of the connection between the third T-shaped sliding block and the connecting sleeve block of the present invention.

[0028] In the figure: 1, workbench; 2, three-axis linear module; 3, first drive motor; 4, first fixed plate; 5, sliding plate; 6, welding gun; 7, drive seat; 8, sliding seat; 9, pipeline; 10, support; 11, spur rack; 12, U-shaped seat; 13, winding roller; 14, spur gear; 15, stand; 16, first auxiliary wheel; 17, second auxiliary wheel; 18, traction rope; 19, one-way threaded screw; 20, second fixed plate; 21, power plate; 22, spherical rod; 23, inclined plane; 24, first T shaped slider; 25, connecting spring; 26, supporting seat; 27, second driving motor; 28, bidirectional threaded screw; 29, second T-shaped slider; 30, connecting plate; 31, power spring; 32, fixing ring; 33, third driving motor; 34, driving gear; 35, rotating ring; 36, gear ring; 37, electric push rod; 38, pressing plate; 39, first rectangular rod; 40, sleeve; 41, hydraulic cylinder; 42, second rectangular rod; 43, third T-shaped slider; 44, fourth T-shaped slider; 45, connecting sleeve block. DETAILED DESCRIPTION

[0029] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example 1

[0031] See also Figures 1 to 9The present embodiment provides a multifunctional industrial robot for an intelligent manufacturing automated production line, comprising: a workbench 1 and a three-axis linear module 2 installed on the top of the workbench 1, a first drive motor 3 is installed on the top of the three-axis linear module 2, an output end of the first drive motor 3 is connected to a one-way threaded screw 19, one end of the one-way threaded screw 19 penetrates the inner side of the three-axis linear module 2 and is rotatably connected to the three-axis linear module 2, an outer wall of the one-way threaded screw 19 is threadedly connected to a sliding plate 5, and the sliding plate 5 is slidably connected to the three-axis linear module 2, a welding gun 6 is arranged on one side of the sliding plate 5, a driving seat 7, the driving seat 7 is arranged on the top of the workbench 1, a sliding seat 8 is arranged above the driving seat 7, a pipe 9 is placed on the top of the sliding seat 8, a docking device for docking two pipes 9 is arranged on the top of the workbench 1, a power driving member for driving the pipe 9 to rotate in a circle is arranged at the end of the sliding seat 8, the docking device comprises a support seat 26 fixedly connected to the top of the workbench 1, a bidirectional threaded screw 28 is rotatably connected to the inner side of the support seat 26, and the support seat 2 A second drive motor 27 is installed on one side of 6, and the output end of the second drive motor 27 is connected to the bidirectional threaded screw 28. The inner side of the support seat 26 is fixedly connected to the first rectangular rod 39. The drive seat 7 is slidably connected to the outer wall of the first rectangular rod 39. The outer wall of the bidirectional threaded screw 28 is provided with positive threads and negative threads. There are two drive seats 7, which are respectively threadedly connected to the positive threads and the negative threads. The inner sides of the two drive seats 7 are provided with limit sliding grooves matching the first rectangular rod 39. The power drive member includes A fixed ring 32 is fixedly connected to one end of the sliding seat 8, and a rotating ring 35 is rotatably connected to the end of the fixed ring 32. A gear ring 36 is fixedly connected to the outer wall of the rotating ring 35. A third driving motor 33 is installed on one side of the fixed ring 32. A driving gear 34 is fixedly connected to the output end of the third driving motor 33, and the driving gear 34 is meshed with the gear ring 36. Four electric push rods 37 are fixedly connected to the outer wall of the rotating ring 35. The output end of each electric push rod 37 penetrates through the inner side of the rotating ring 35 and is fixedly connected to a pressing plate 38.

[0032] First, place the pipe 9 to be welded on the sliding seat 8, then start the four electric push rods 37, so that the four electric push rods 37 respectively drive a pressure plate 38 to press against the outer wall of the pipe 9, thereby fixing it, and then start the second drive motor 27, and the output end of the second drive motor 27 drives the bidirectional threaded screw 28 to rotate, thereby driving the two drive seats 7 to move laterally along the direction of the first rectangular rod 39, so that the two pipes 9 are docked. After the two pipes 9 are docked, the first drive motor 3 can be started, and the output end of the first drive motor 3 drives the unidirectional threaded screw 19 to rotate, thereby driving the sliding plate 5 to drive the welding gun 6 to move downward to the designated position for welding. At the same time, when the welding position needs to be changed, the third drive motor 33 can be started intermittently, and the output end of the third drive motor 33 drives the drive gear 34 to rotate, thereby driving the gear ring 36 to drive the pipe 9 to rotate in a circle, thereby realizing all-round welding of the pipe 9.

[0033] Example 2

[0034] The calibration mechanism is located on both sides of the three-axis linear module 2 and is used to calibrate the welding gun 6. The calibration mechanism includes a second fixed plate 20 fixedly connected to the end of the sliding plate 5, a first T-shaped slider 24 is slidably connected to the inner side of the second fixed plate 20, and the first T-shaped slider 24 is fixedly connected to the welding gun 6, a connecting spring 25 is installed between the first T-shaped slider 24 and the sliding plate 5, and spherical rods 22 are fixedly connected to both ends of the first T-shaped slider 24. The outer walls of both sides of the three-axis linear module 2 are fixedly connected to the first fixed plate 4, and the inner side of the first fixed plate 4 is fixedly connected to the power plate 21, and a slope 23 is provided on one side of the power plate 21;

[0035] When the sliding plate 5 drives the welding gun 6 to move downward and the sliding plate 5 is offset during long-term use, the spherical rod 22 will contact the inclined surface 23 during the downward movement. Under the action of the inclined surface 23, the first T-shaped slider 24 is pushed to drive the welding gun 6 to move toward the center position of the three-axis linear module 2, thereby realizing the calibration of the three-axis linear module 2, thereby improving the accuracy of the three-axis linear module 2 during welding, and further improving the overall practicality of the device.

[0036] Example 3

[0037] A tensioning auxiliary component for tightening the sliding seat 8 is arranged between the workbench 1 and the sliding seat 8, and the tensioning auxiliary component includes a second T-shaped slider 29 slidably connected to the inner side of the driving seat 7, the top of the second T-shaped slider 29 is fixedly connected to the sliding seat 8, and the bottom of the second T-shaped slider 29 is fixedly connected to a connecting plate 30, and a power spring 31 is installed between the connecting plate 30 and the driving seat 7. The tensioning auxiliary component also includes a sleeve 40 embedded in the top of the workbench 1, and a hydraulic cylinder 41 is installed on the inner side of the sleeve 40. The output end of the hydraulic cylinder 41 is connected to A U-shaped seat 12 is rotatably connected to a winding roller 13 on the inner side of the U-shaped seat 12, a traction rope 18 is wound on the outer wall of the winding roller 13, one end of the traction rope 18 is fixedly connected to the connecting plate 30, a second rectangular rod 42 is fixedly connected to the inner side of the sleeve 40, and the U-shaped seat 12 is slidably connected to the outer wall of the second rectangular rod 42, a stand 15 is fixedly connected to the top of the workbench 1, a first auxiliary wheel 16 and a second auxiliary wheel 17 are rotatably connected to the inner side of the stand 15, and the first auxiliary wheel 16 and the second auxiliary wheel 17 are pressed on the outer wall of the traction rope 18 respectively;

[0038] When the pipe 9 is clamped and then docked, the driving seat 7 can drive two groups of hydraulic cylinders 41 after stopping moving. The output end of the hydraulic cylinder 41 drives the U-shaped seat 12 to drive the winding roller 13 to move downward, thereby forming a pulling force on the sliding seat 8 through the traction rope 18, so that the ends of the two pipes 9 after docking can be continuously compressed under the action of external force, thereby reducing the weld gap and improving the quality of subsequent welding.

[0039] Example 4

[0040] The outer wall of the winding roller 13 is provided with a toggle unit for toggling the traction rope 18 for release or winding, and the toggle unit includes a support 10 fixedly connected to both sides of the driving seat 7, a fourth T-shaped slider 44 is slidably connected to the inner side of the support 10, one end of the fourth T-shaped slider 44 is fixedly connected to the spur rack 11, one end of the winding roller 13 passes through the outside of the U-shaped seat 12 and is fixedly connected to the spur gear 14, and the spur gear 14 is meshed with the spur rack 11, one side of the spur rack 11 is fixedly connected to the third T-shaped slider 43, the top of the U-shaped seat 12 is fixedly connected to the connecting sleeve 45, and the third T-shaped slider 43 is slidably connected to the connecting sleeve 45;

[0041] There are two groups of spur racks 11, third T-shaped sliders 43 and connecting sleeves 45. The two groups of spur racks 11, third T-shaped sliders 43 and connecting sleeves 45 are staggered to prevent collision during the docking of the two pipes 9. When the drive seat 7 moves laterally to dock the pipes 9, the spur rack 11 drives the U-shaped seat 12 to drive the winding roller 13 to rotate and wind up the traction rope 18, so that the traction rope 18 is always in a straightened state during the lateral movement of the drive seat 7, thereby facilitating the subsequent tightening of the traction rope 18, thereby improving the overall practicality of the device.

[0042] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional industrial robot for intelligent manufacturing automated production line, characterized in that: include; A workbench (1) and a three-axis linear module (2) installed on the top of the workbench (1), a first drive motor (3) is installed on the top of the three-axis linear module (2), the output end of the first drive motor (3) is connected to a one-way threaded screw (19), one end of the one-way threaded screw (19) penetrates the inner side of the three-axis linear module (2) and is rotatably connected to the three-axis linear module (2), the outer wall of the one-way threaded screw (19) is threadedly connected to a sliding plate (5), and the sliding plate (5) is slidably connected to the three-axis linear module (2), and a welding gun (6) is arranged on one side of the sliding plate (5); A calibration mechanism, located on both sides of the three-axis linear module (2), for calibrating the welding gun (6); A driving seat (7), wherein the driving seat (7) is arranged on the top of the workbench (1), a sliding seat (8) is arranged above the driving seat (7), a pipe (9) is placed on the top of the sliding seat (8), a docking device for docking two pipes (9) is arranged on the top of the workbench (1), and a power driving member for driving the pipe (9) to rotate in a circle is arranged at the end of the sliding seat (8).

2. A multifunctional industrial robot for intelligent manufacturing automated production line according to claim 1, characterized in that: The calibration mechanism comprises a second fixed plate (20) fixedly connected to the end of the sliding plate (5); a first T-shaped slider (24) is slidably connected to the inner side of the second fixed plate (20); the first T-shaped slider (24) is fixedly connected to the welding gun (6); a connecting spring (25) is installed between the first T-shaped slider (24) and the sliding plate (5); spherical rods (22) are fixedly connected to the two ends of the first T-shaped slider (24); the first fixed plate (4) is fixedly connected to the outer walls of both sides of the three-axis linear module (2); the first fixed plate (4) is fixedly connected to the inner side of the first fixed plate (4); a power plate (21) is fixedly connected; and a slope (23) is provided on one side of the power plate (21).

3. A multifunctional industrial robot for intelligent manufacturing automated production line according to claim 2, characterized in that: The docking device comprises a support seat (26) fixedly connected to the top of the workbench (1); a bidirectional threaded screw (28) is rotatably connected to the inner side of the support seat (26); a second drive motor (27) is installed on one side of the support seat (26), and the output end of the second drive motor (27) is connected to the bidirectional threaded screw (28); a first rectangular rod (39) is fixedly connected to the inner side of the support seat (26); the drive seat (7) is slidably connected to the outer wall of the first rectangular rod (39); and a tightening auxiliary component for tightening the sliding seat (8) is provided between the workbench (1) and the sliding seat (8).

4. A multifunctional industrial robot for intelligent manufacturing automated production line according to claim 3, characterized in that: The outer wall of the bidirectional threaded screw (28) is provided with a positive thread and a negative thread, and two drive seats (7) are provided. The two drive seats (7) are respectively threadedly connected to the positive thread and the negative thread outer wall, and the inner sides of the two drive seats (7) are provided with a limiting sliding groove matching the first rectangular rod (39).

5. The multifunctional industrial robot for intelligent manufacturing automated production line according to claim 3, characterized in that: The tensioning auxiliary component comprises a second T-shaped slider (29) slidably connected to the inner side of the driving seat (7), the top of the second T-shaped slider (29) is fixedly connected to the sliding seat (8), the bottom of the second T-shaped slider (29) is fixedly connected to a connecting plate (30), and a power spring (31) is installed between the connecting plate (30) and the driving seat (7).

6. A multifunctional industrial robot for intelligent manufacturing automated production line according to claim 5, characterized in that: The tensioning auxiliary component also includes a sleeve (40) embedded in the top of the workbench (1), a hydraulic cylinder (41) is installed on the inner side of the sleeve (40), the output end of the hydraulic cylinder (41) is connected to a U-shaped seat (12), the inner side of the U-shaped seat (12) is rotatably connected to a winding roller (13), the outer wall of the winding roller (13) is wound with a traction rope (18), one end of the traction rope (18) is fixedly connected to the connecting plate (30), the inner side of the sleeve (40) is fixedly connected to a second rectangular rod (42), and the U-shaped seat (12) is slidably connected to the outer wall of the second rectangular rod (42), and the outer wall of the winding roller (13) is provided with a toggle unit for toggling the traction rope (18) for release or winding.

7. A multifunctional industrial robot for intelligent manufacturing automated production line according to claim 6, characterized in that: The top of the workbench (1) is fixedly connected to a stand (15), and the inner side of the stand (15) is rotatably connected to a first auxiliary wheel (16) and a second auxiliary wheel (17), and the first auxiliary wheel (16) and the second auxiliary wheel (17) are respectively pressed on the outer wall of the traction rope (18).

8. The multifunctional industrial robot for intelligent manufacturing automated production line according to claim 7, characterized in that: The toggle unit comprises a support (10) fixedly connected to both sides of the drive seat (7); a fourth T-shaped slider (44) is slidably connected to the inner side of the support (10); one end of the fourth T-shaped slider (44) is fixedly connected to a spur rack (11); one end of the winding roller (13) passes through the outside of the U-shaped seat (12) and is fixedly connected to a spur gear (14); the spur gear (14) is meshed with the spur rack (11); one side of the spur rack (11) is fixedly connected to a third T-shaped slider (43); the top of the U-shaped seat (12) is fixedly connected to a connecting sleeve (45); and the third T-shaped slider (43) is slidably connected to the connecting sleeve (45).

9. The multifunctional industrial robot for intelligent manufacturing automated production line according to claim 1, characterized in that: The power drive member comprises a fixed ring (32) fixedly connected to one end of the sliding seat (8); the end of the fixed ring (32) is rotatably connected to a rotating ring (35); the outer wall of the rotating ring (35) is fixedly connected to a gear ring (36); a third driving motor (33) is installed on one side of the fixed ring (32); the output end of the third driving motor (33) is fixedly connected to a driving gear (34), and the driving gear (34) is meshed with the gear ring (36); the outer wall of the rotating ring (35) is fixedly connected to four electric push rods (37); the output end of each electric push rod (37) passes through the inner side of the rotating ring (35) and is fixedly connected to a pressure plate (38).

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