Capacitor lifting piece robot cooperative welding system and method

Abstract

The invention discloses a capacitor lifting piece robot cooperative welding system and method. The system comprises an automatic box shell carrying robot, an automatic lifting piece welding device, an automatic box shell positioning and overturning device and an automatic lifting piece feeding device. The automatic box shell carrying robot is used for carrying capacitor box shells to the automatic box shell positioning and overturning device from the box shell feeding position. The automatic lifting piece feeding device is used for clamping lifting pieces, carrying the lifting pieces to the welding position and pressing the lifting pieces and the capacitor box shell. The lifting piece automatic welding device is used for welding the lifting piece and the capacitor box shell; and the automatic box shell positioning and overturning device is used for clamping, positioning and welding the capacitor box shell and overturning the capacitor box shell of which one side is welded for welding the other side.

Description

Technical Field

[0001] The invention belongs to the technical field of robot welding and relates to a capacitor climbing robot collaborative welding system and method. Background Art

[0002] As a component in a complete set of capacitors, the capacitor unit generally needs to be hung and installed in the capacitor frame, so there are 1 to 2 hanging hooks on each side of the outer shell of each capacitor unit, totaling 2 to 4 hanging hooks. The hanging hooks are made of stainless steel and are fixed to the stainless steel outer shell of the capacitor unit by welding. Due to the various specifications and models of capacitor units, the positions of the hanging hooks are different. At present, most of the hanging hook welding is done manually. Since the hanging hooks are distributed on both sides of the outer shell of the capacitor unit, the box shell needs to be moved and turned during the welding process, the labor intensity is high, and the welding quality fluctuates. During the hanging hook positioning process, different tooling needs to be adjusted or replaced to meet the changes in product specifications and models, resulting in low welding efficiency; and manual operation poses safety hazards. Summary of the invention

[0003] The present invention provides a capacitor hoisting robot collaborative welding system and method to overcome the problems of existing capacitor unit hoisting welding methods that lead to much manual intervention, high labor intensity for workers, low production efficiency and difficulty in ensuring stable welding quality.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] The capacitor climbing robot collaborative welding system includes a box shell automatic handling robot, a climbing automatic welding device, a box shell automatic positioning and turning device, and a climbing automatic feeding device;

[0006] The automatic box shell handling robot is used to carry the capacitor box shell from the box shell incoming material position to the box shell automatic positioning and turning device;

[0007] The automatic lifting device is used to clamp the lifting device, move the lifting device to the welding position and press it tightly against the capacitor box shell;

[0008] The automatic welding device for the hanging bracket is used to weld the hanging bracket to the capacitor box shell;

[0009] The automatic case positioning and flipping device is used to clamp and position the capacitor case for welding, and flip the capacitor case with one side welded to perform welding on the other side.

[0010] Furthermore, the automatic box shell handling robot includes a handling robot base, a handling robot body, a handling robot electrical control box and a handling robot suction cup gripper. The handling robot body is installed on the handling robot base, the handling robot suction cup gripper is installed on the handling robot body, and the handling robot electrical control box is used to control the handling robot body to drive the handling robot suction cup gripper to move the capacitor box shell.

[0011] Furthermore, the suction cup gripper of the handling robot includes a suction cup mounting frame, a suction cup mounting base plate, a plurality of suction cups, a valve body mounting plate, a vacuum generator and a plurality of solenoid valves, the suction cups are evenly mounted on the suction cup mounting base plate, the suction cup mounting base plate is mounted on the handling robot body through the suction cup mounting frame, the vacuum generator and the solenoid valve are mounted on the handling robot body through the valve body mounting plate, the vacuum generator is connected to the plurality of solenoid valves through pipelines, and the solenoid valve is connected to the suction cups through pipelines.

[0012] Furthermore, the automatic positioning and flipping device for the box shell includes a box shell positioning clamping mechanism and a flipping mechanism. The box shell positioning clamping mechanism is installed on the flipping mechanism and is used for clamping and positioning the capacitor box shell. The flipping mechanism is used to flip the box shell positioning clamping mechanism and the capacitor box shell welded on one side together, and flip the capacitor box shell from a side-lying posture to an upright posture.

[0013] Furthermore, the box shell positioning and clamping mechanism includes a base plate, a shell pad, a baffle, a rodless cylinder, a guide rail, a push plate, a cylinder swivel plate and several bearing swivel plates; the shell pad, rodless cylinder, guide rail, cylinder swivel plate and bearing swivel plate are installed on the base plate, the baffle is installed on the shell pad, and the push plate is installed on the rodless cylinder and the guide rail.

[0014] Furthermore, the flipping mechanism includes a flipping base, a cylinder, two bearing mechanisms with bases and four Oxford plates, one end of the cylinder is installed on the flipping base, and the other end is installed on the cylinder rotating plate of the box shell positioning and clamping mechanism, the bases of the two bearing mechanisms with bases are installed on the flipping base, the bearing drive shaft is installed together with the bearing rotating plate of the box shell positioning and clamping mechanism, and the four Oxford plates are installed on the flipping base.

[0015] Furthermore, the cylinder rotating plate and the bearing rotating plate are installed on the lower surface of the base plate, the cylinder rotating plate is connected to the cylinder, the bearing rotating plate is connected to the bearing mechanism with a base, the shell pad, the rodless cylinder, and the guide rail are installed on the upper surface of the base plate, the shell pad is centered, the rodless cylinder and the guide rail are installed on both sides of the shell pad, and the rodless cylinder is used to push the push plate to move forward and backward along the guide rail.

[0016] Furthermore, the automatic loading device for the hanging climbing includes a loading platform, a loading robot and a material box tooling; the loading robot is installed on the loading platform, and is used to clamp the hanging climbing in the material box tooling, carry it to the welding position and press it with the capacitor box shell, and carry and stack the empty material box tooling, and the material box tooling is placed on the loading platform for holding the hanging climbing;

[0017] The feeding robot comprises a feeding robot body, a feeding robot electrical control box and a robot gripper. The feeding robot body is mounted on a feeding platform, the robot gripper is mounted on the feeding robot body, and the feeding robot electrical control box is used to control the feeding robot body to move the robot gripper and the hoist to the welding operation position;

[0018] The robot gripper includes a connecting plate, a first finger cylinder, a first gripper mounting block, a first gripper, a first gripper block, a second gripper mounting block, a second gripper, a second gripper block, and a second finger cylinder, a third gripper mounting block, a third gripper, a third gripper block, a fourth gripper mounting block, a fourth gripper and a fourth gripper block. The first gripper block is mounted on the first gripper, and the first gripper is mounted on the first gripper mounting block. The assembly relationship of the remaining three groups of gripper blocks, grippers and gripper mounting blocks is the same. The first gripper mounting block and the second gripper mounting block are mounted on the first finger cylinder, and the third gripper mounting block and the fourth gripper mounting block are mounted on the second finger cylinder. The first finger cylinder and the second finger cylinder are mounted on the connecting plate, and the connecting plate is mounted on the feeding robot body.

[0019] Furthermore, the automatic welding device for hanging climbing includes a welding robot base, a welding robot body, a welding robot electrical control box and a laser welding device; the welding robot base is used to fix and support the welding robot body, the welding robot body is installed on the welding robot base, and is used to move the swing welding head of the laser welding device to the welding operation position, the welding robot electrical control box is used to control the welding robot body, and the laser welding device is used to generate high-energy laser to weld the hanging climbing and the capacitor box shell.

[0020] The capacitor climbing robot collaborative welding method uses a box shell automatic handling robot to carry the capacitor box shell from the box shell incoming material position to the box shell automatic positioning and turning device;

[0021] Use the automatic lifting device to clamp the lifting device, move the lifting device to the welding position and press it tightly with the capacitor box shell;

[0022] The capacitor case is clamped and positioned by using an automatic case positioning and flipping device, and the hanging bracket is welded to one side of the capacitor case by using an automatic welding device. After one side is welded, the capacitor case with one side welded is flipped by using an automatic case positioning and flipping device to weld the other side.

[0023] Compared with the prior art, the present invention has at least the following beneficial effects:

[0024] The robot collaborative welding system in the present invention realizes the unmanned and fully automatic function of hanging welding through the mutual cooperation of the box shell automatic handling robot, the hanging climbing automatic welding device, the box shell automatic positioning and flipping device and the hanging climbing automatic loading device, which greatly reduces the labor intensity of personnel and improves the welding quality.

[0025] The present invention is flexibly compatible with capacitor boxes of various specifications and sizes and various positions and quantities of lifting, and has wider practicality. It can weld products of various specifications without replacing tooling fixtures. It can automatically adjust the positioning and welding position and welding quantity by obtaining product design information, which greatly reduces the labor intensity of personnel and avoids quality problems caused by manual operation errors.

[0026] The present invention adopts cylinder clamping and positioning to ensure that the surface of the capacitor case has no permanent defects such as indentations and scratches; in the design of the longitudinal seam welding tooling, multiple groups of cylinders are used for clamping to ensure that the workpiece is stable during the welding process without displacement.

[0027] The present invention adopts cylinder clamping to position the capacitor case, and is supplemented by a push plate and a baffle, so as to adapt to capacitor cases with different cross-sections. The invention has a simple structure and is convenient for loading and unloading. The capacitor case can be clamped quickly to achieve shape correction and self-locking, thus saving time and effort.

[0028] The robot is used to pick up and place the hanging ladder, which achieves high-precision repeated positioning of the hanging ladder, with a repeated positioning accuracy of within ±0.2mm.

[0029] Laser welding is used to replace the traditional argon arc welding process. Compared with traditional argon arc welding, laser welding has the advantages of fast welding speed, small heat-affected zone, and good welding quality. Laser generates high-density energy during welding, which can heat and melt the welding materials in a very short time, reduce material deformation, and achieve high-quality welding. Laser welding has high energy density and concentrated heat. Compared with argon arc welding, the weld has a small heat-affected zone (small melt width), a large melt depth, and a strength greater than that of argon arc welding welds of the same length.

[0030] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings in the specification are used to provide further understanding of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 It is a structural schematic diagram of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the suction cup gripper of the handling robot;

[0034] Figure 3 It is a structural schematic diagram of the box shell positioning and clamping mechanism;

[0035] Figure 4 It is a structural schematic diagram of the flipping mechanism;

[0036] Figure 5 Schematic diagram of the robot gripper structure.

[0037] Among them, 1-handling robot base, 2-handling robot body, 3-handling robot suction cup gripper, 4-robot claw, 5-feeding robot body, 6-feeding table, 7-material box tooling, 8-feeding robot electrical control box, 9-box shell positioning clamping mechanism, 10-flip mechanism, 11-welding robot body, 12-welding robot base, 13-laser welding device, 14-welding robot electrical control box, 15-handling robot electrical control box, 21-suction cup, 22-suction cup mounting frame, 23-suction cup mounting base plate, 24-vacuum generator, 25-valve body mounting plate, 26-solenoid valve, 41-shell pad, 42-rodless cylinder , 43-push plate, 44-baffle, 45-guide rail, 47-cylinder rotating plate, 48-bearing rotating plate, 49-bottom plate, 51-flip base, 52-cylinder, 53-bearing mechanism with base, 54-Oxford plate, 61-connecting plate, 62-first finger cylinder, 63-first jaw mounting block, 64-first jaw, 65-first jaw clamping block, 66-second jaw mounting block, 67-second jaw, 68-second jaw clamping block, 69-second finger cylinder, 610-third jaw mounting block, 611-third jaw, 612-third jaw clamping block, 613-fourth jaw mounting block, 614-fourth jaw, 615-fourth jaw clamping block. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0039] Embodiment 1

[0040] See also Figures 1 to 5A capacitor climbing robot collaborative welding system includes a box shell automatic handling robot, a climbing automatic welding device, a box shell automatic positioning and flipping device, and a climbing automatic feeding device: the box shell automatic handling robot includes a handling robot base 1, a handling robot body 2, a handling robot electrical control box 15, and a handling robot suction cup gripper 3. The handling robot base 1 is used to fix and support the handling robot body 2. The handling robot body 2 is installed on the handling robot base 1, and is used to use the handling robot suction cup gripper 3 to transport the capacitor box shell from the box shell incoming position of the previous process to the box shell automatic positioning and flipping device, and return the handling robot suction cup gripper 3 to the box shell incoming position of the previous process again. The handling robot electrical control box 15 is used to control the handling robot body 2 and the handling robot suction cup gripper 3. The handling robot suction cup gripper 3 is installed on the handling robot body 2 to clamp the capacitor box shell. The climbing automatic welding device includes a welding robot base 12, a welding robot body 11, a welding robot electrical control box 14, and a laser welding device 13. The welding robot base 12 is used to fix and support the welding robot body 11. The welding robot body 11 is installed on the welding robot base 12, and is used to move the swing welding head of the laser welding device 13 to the welding operation position. The welding robot electrical control box 14 is used to control the welding robot body 11. The laser welding device 13 is used to generate high-energy laser to melt and connect the hanging climbing and the box shell. The box shell automatic positioning and flipping device includes a box shell positioning clamping mechanism 9 and a flipping mechanism 10. The box shell positioning clamping mechanism 9 is installed on the flipping mechanism 10, which is used for clamping and positioning the capacitor box shell. The flipping mechanism 10 is used to flip the box shell positioning clamping mechanism 9 and the welded capacitor box shell together, and flip the capacitor box shell from a side-lying posture to a standing posture. The hanging climbing automatic feeding device includes a feeding table 6, a feeding robot and a material box tooling 7. The feeding table 6 is used to support the feeding robot and the material box tooling 7. The material box tooling 7 is placed on the feeding table 6 and is used to hold the hanging climbing. The loading robot is installed on the loading platform 6, and is used to pick up the lifting and clamping in the material box tooling 7, transport it to the welding position and press it against the box shell, and transport and stack the empty material box tooling 7.

[0041] Furthermore, the suction cup gripper 3 of the handling robot includes a suction cup mounting frame 22, a suction cup mounting base plate 23, 16 suction cups 21, a valve body mounting plate 25, a vacuum generator 24 and 8 solenoid valves 26. The 16 suction cups 21 are evenly mounted on the suction cup mounting base plate 23 in two rows, and the suction cup mounting base plate 23 is mounted on the handling robot body 2 through the suction cup mounting frame 22. The vacuum generator 24 and the 8 solenoid valves 26 are mounted on the handling robot body 2 through the valve body mounting plate 25. The vacuum generator 24 is connected to the 8 solenoid valves 26 through pipelines, and each solenoid valve 26 is connected to two suction cups 21 through pipelines.

[0042] Furthermore, the housing positioning and clamping mechanism 9 comprises a bottom plate 49, a housing pad 41, a baffle 44, a rodless cylinder 42, a guide rail 45, a push plate 43, a cylinder rotating plate 47 and four bearing rotating plates 48. The housing pad 41, the rodless cylinder 42, the guide rail 45, the cylinder rotating plate 47 and the four bearing rotating plates 48 are mounted on the bottom plate 49, the baffle 44 is mounted on the housing pad 41, and the push plate 43 is mounted on the rodless cylinder 42 and the guide rail 45.

[0043] Furthermore, the flip mechanism 10 includes a flip base 51, a cylinder 52, two bearing mechanisms 53 with bases, and four Oxford plates 54. One end of the cylinder 52 is mounted on the flip base 51, and the other end is mounted on the cylinder rotating plate 47 of the box shell positioning clamping mechanism 9. The bases of the two bearing mechanisms 53 with bases are mounted on the flip base 51, the bearing drive shaft is mounted together with the bearing rotating plate 48 of the box shell positioning clamping mechanism 9, and the four Oxford plates 54 are mounted on the flip base 51.

[0044] Furthermore, the feeding robot includes a feeding robot body 5, a feeding robot electrical control box 8 and a robot gripper 4. The feeding robot body 5 is mounted on a feeding platform 6, and is used to move the robot gripper 4 and the lifting device to the welding operation position. The robot gripper 4 includes a connecting plate 61, a first finger cylinder 62, a first gripper mounting block 63, a first gripper 64, a first gripper clamping block 65, a second gripper mounting block 66, a second gripper 67, a second gripper clamping block 68, and a second finger cylinder 69, a third gripper mounting block 610, a third gripper 611, a third gripper clamping block 612, a fourth gripper mounting block 613, a fourth gripper 614 and a fourth gripper clamping block 615. The first gripper clamping block 65 is mounted on the first gripper 64, and the first gripper 64 is mounted on the first gripper mounting block 63. The assembly relationship of the remaining three groups of gripper clamping blocks, grippers and gripper mounting blocks is the same. The first gripper mounting block 63 and the second gripper mounting block 66 are mounted on the first finger cylinder 62, the third gripper mounting block 610 and the fourth gripper mounting block 613 are mounted on the second finger cylinder 69, the first finger cylinder 62 and the second finger cylinder 69 are mounted on the connecting plate 61, and the connecting plate 61 is mounted on the loading robot body 5.

[0045] Embodiment 2

[0046] See also Figures 1 to 5A capacitor crane robot collaborative welding system includes a box shell automatic handling robot, a crane automatic welding device, a box shell automatic positioning and flipping device, and a crane automatic feeding device. The box shell automatic handling robot cooperates with the box shell automatic positioning and flipping device to transport, position and clamp the capacitor box shell; the crane automatic welding device cooperates with the box shell automatic positioning and flipping device and the crane automatic feeding device to weld the capacitor box shell and the crane together.

[0047] The automatic box shell handling robot comprises a handling robot base 1, a handling robot body 2, a handling robot electrical control box 15 and a handling robot suction cup gripper 3. The handling robot suction cup gripper 3 is mounted on the handling robot body 2, and the handling robot body 2 is mounted on the handling robot base 1.

[0048] The suction cup gripper 3 of the handling robot includes a suction cup mounting frame 22, a suction cup mounting base plate 23, 16 suction cups 21, a valve body mounting plate 25, a vacuum generator 24 and 8 solenoid valves 26. The 16 suction cups 21 are evenly mounted on the suction cup mounting base plate 23 in two rows, and the suction cup mounting base plate 23 is mounted on the handling robot body 2 through the suction cup mounting frame 22. The vacuum generator 24 and the 8 solenoid valves 26 are mounted on the handling robot body 2 through the valve body mounting plate 25. The vacuum generator 24 is connected to the 8 solenoid valves 26 through a pipeline, and each solenoid valve 26 is connected to two suction cups 21 through a pipeline. When in use, the handling robot body 2 first moves the suction cup gripper 3 of the handling robot to the material incoming position of the box shell of the previous process, and the suction cup 21 is pressed on the surface of the box shell, and then the solenoid valve 26 is opened, and the vacuum generator 24 starts to work to generate suction, so that the suction cup 21 is tightly adsorbed on the surface of the capacitor box shell.

[0049] The automatic welding device comprises a welding robot base 12, a welding robot body 11, a welding robot electrical control box 14 and a laser welding device 13. The welding robot body 11 is mounted on the welding robot base 12.

[0050] The automatic positioning and flipping device for the case shell includes a case shell positioning clamping mechanism 9 and a flipping mechanism 10. The case shell positioning clamping mechanism 9 is installed on the flipping mechanism 10 and is used for clamping and positioning the capacitor case shell. The flipping mechanism 10 is used to flip the case shell positioning clamping mechanism 9 and the welded capacitor case shell together, and flip the capacitor case shell from a side-lying posture to an upright posture. The case shell positioning clamping mechanism 9 includes a bottom plate 49, a shell pad 41, a baffle 44, a rodless cylinder 42, a guide rail 45, a push plate 43, a cylinder rotating plate 47 and four bearing rotating plates 48. The flipping mechanism 10 includes a flipping base 51, a cylinder 52, two bearing mechanisms 53 with a base and four Oxford plates 54.

[0051] The housing pad 41, the rodless cylinder 42, the guide rail 45, the cylinder rotating plate 47 and the four bearing rotating plates 48 are all mounted on the bottom plate 41, wherein the cylinder rotating plate 47 and the four bearing rotating plates 48 are mounted on the lower surface of the bottom plate 49, the cylinder rotating plate 47 is connected to the cylinder 52 on the flip mechanism 10, and the four bearing rotating plates 48 are connected to the two bearing mechanisms 53 with bases on the flip mechanism 10. The housing pad 41, the rodless cylinder 42 and the guide rail 45 are mounted on the upper surface of the bottom plate 41, the housing pad 41 is centered, and the rodless cylinder 42 and the guide rail 45 are mounted on both sides of the housing pad 41. The baffle 44 is mounted on the housing pad 41, and the push plate 43 is mounted on the rodless cylinder 42 and the guide rail 45. The rodless cylinder 42 pushes the push plate 43 to move forward and backward along the guide rail 45. One end of the cylinder 52 is mounted on the flip base 51, and the other end is mounted on the cylinder rotating plate 47 of the box shell positioning clamping mechanism 9. The bases of the two bearing mechanisms 53 with bases are installed on the flip base 51, and the bearing drive shaft is installed together with the bearing rotating plate 47 of the box shell positioning clamping mechanism 9. The cylinder 52 can push the box shell positioning clamping mechanism 9 to stand up or down as a whole. Four Oxford boards are installed on the flip base to play a buffering role when the clamping mechanism 9 is stood up or down as a whole.

[0052] The automatic loading device for hanging climbing includes a loading platform 6, a loading robot and a material box tooling 7. The loading robot is installed on the loading platform 6, and is used to clamp the hanging climbing in the material box tooling 7, transport it to the welding position and press it with the box shell, and transport and stack the empty material box tooling. The material box tooling 7 is placed on the loading platform 6 and is used to hold the hanging climbing. The loading robot includes a loading robot body 5, a loading robot electrical control box 8 and a robot gripper 4. The robot gripper includes a connecting plate 61, a first finger cylinder 62, a first gripper mounting block 63, a first gripper 64, a first gripper clamping block 65, a second gripper mounting block 66, a second gripper 67, a second gripper clamping block 68, and a second finger cylinder 69, a third gripper mounting block 610, a third gripper 611, a third gripper clamping block 612, a fourth gripper mounting block 613, a fourth gripper 614 and a fourth gripper clamping block 615. The first clamping jaw block 65 is mounted on the first clamping jaw 64, and the first clamping jaw 64 is mounted on the first clamping jaw mounting block 63. The assembly relationship of the remaining three groups of clamping jaw blocks, clamping jaws and clamping jaw mounting blocks is the same. The first clamping jaw mounting block 63 and the second clamping jaw mounting block 68 are mounted on the first finger cylinder 62, and the third clamping jaw mounting block 610 and the fourth clamping jaw mounting block 613 are mounted on the second finger cylinder 69. Through the extension and retraction of the first finger cylinder 62, the first clamping jaw mounting block 63 is driven to move forward and backward, so that the spacing between the first clamping jaw block 65 and the second clamping jaw block 68 changes, and the clamping of the hanging climbing is realized. Through the extension and retraction of the second finger cylinder 69, the third clamping jaw mounting block 610 is driven to move forward and backward, so that the spacing between the third clamping jaw block 612 and the fourth clamping jaw block 615 changes, and the clamping of the hanging climbing is realized. The first finger cylinder 62 and the second finger cylinder 69 are mounted on the connecting plate 61, and the connecting plate 61 is mounted on the feeding robot body 5.

[0053] When in use, the handling robot body 2 first moves the handling robot suction cup gripper 3 to the material incoming position of the box shell of the previous process, and the suction cup 21 is pressed on the surface of the box shell. Then the solenoid valve 26 opens, and the vacuum generator 24 starts to work to generate suction, so that the suction cup 21 is tightly adsorbed on the surface of the capacitor box shell. The handling robot body 2 moves the handling robot suction cup gripper 3 and the capacitor box shell together to the shell pad 41 of the box shell positioning clamping mechanism 9, and puts one end of the box shell against the baffle 44. The rodless cylinder 42 drives the push plate 43 to slide on the guide rail 45 and press against the other end of the box shell. The vacuum generator 24 stops working, the suction on the suction cup 21 disappears, and the handling robot body 2 moves the handling robot suction cup gripper 3 away. The feeding robot body 5 moves the robot gripper 4 to the first hanging position at the material box tooling 7, and the first finger cylinder 62 contracts, driving the first gripper mounting block 63 to move inward, so that the distance between the first gripper block 65 and the second gripper block 68 is reduced until the hanging is clamped. The feeding robot body 5 moves the robot gripper 4 and the clamped hanging to the welding position and presses it with the box shell. At this time, the two sides of the hanging are overlapped with the box shell. The welding robot body 11 moves the swing welding head of the laser welding device 13 to one end of the overlapping line between one side of the hanging and the box shell, and the laser generator works to generate a laser beam. The welding robot body 11 drives the swing welding head to move along the overlapping line to the other end. After reaching the other end of the overlapping line, the welding of this side is completed, and the laser generator stops working. The welding robot body 11 then moves the swing welding head of the laser welding device 13 to one end of the overlapping line between the other side of the hanging and the box shell, and the laser generator works to generate a laser beam. The welding robot body 11 drives the swing welding head to move along the overlapping line to the other end. After reaching the other end of the lap wire, the laser generator stops working and the welding of this hanging climb is completed. Depending on the number of designed hanging climbs, this surface needs to complete the welding of 1 to 2 hanging climbs. The first finger cylinder 62 of the feeding robot extends, driving the first clamping jaw mounting block 63 to move outward, so that the distance between the first clamping jaw block 65 and the second clamping jaw block 68 increases, the hanging climb is released, and the feeding robot moves away. The handling robot body 2 then moves the handling robot suction cup gripper 3 to this box shell, and the suction cup 21 is pressed on the surface of the box shell, and then the solenoid valve 26 opens, and the vacuum generator 24 starts to work to generate suction, so that the suction cup 21 is tightly adsorbed on the surface of the capacitor box shell. The rodless cylinder 42 drives the push plate 43 to slide on the guide rail 45, so that the push plate 43 is away from the box shell and the clamping state is released. The handling robot body 2 removes the box shell from the box shell positioning clamping mechanism 9 through the handling robot suction cup gripper 3, and rotates it 180 degrees in the air, so that the box shell is hung with the welded side facing downward and the unwelded side facing upward.The handling robot body 2 moves the handling robot suction cup gripper 3 and the capacitor case together to the housing pad 41 of the case positioning clamping mechanism 9, and presses one end of the case against the baffle 44. The rodless cylinder 42 drives the push plate 43 to slide on the guide rail 45 and press against the other end of the case. The vacuum generator 24 stops working, the suction force on the suction cup 21 disappears, and the handling robot body 2 moves the handling robot suction cup gripper 3 away. The loading robot body 5 moves the robot gripper 4 to the second or third hanging position at the material box tooling 7, and the second finger cylinder 69 contracts, driving the third gripper mounting block 610 to move inward, so that the distance between the third gripper clamping block 612 and the fourth gripper clamping block 615 is reduced until the hanging is clamped. The feeding robot body 5 moves the robot gripper 4 and the clamped hanging bracket to the welding position and presses it against the box shell. At this time, the two sides of the hanging bracket overlap with the box shell. The welding robot body 11 moves the swing welding head of the laser welding device 13 to one end of the overlapping line between the hanging bracket and the box shell. The laser generator works to generate a laser beam. The welding robot body 11 drives the swing welding head to move along the overlapping line to the other end. After reaching the other end of the overlapping line, the welding of this side is completed and the laser generator stops working. The welding robot body 11 then moves the swing welding head of the laser welding device 13 to one end of the overlapping line between the other side of the hanging bracket and the box shell. The laser generator works to generate a laser beam. The welding robot body 11 drives the swing welding head to move along the overlapping line to the other end. After reaching the other end of the overlapping line, the laser generator stops working and the welding of this hanging bracket is completed. According to the number of designed hanging brackets, the welding of 1 to 2 hanging brackets needs to be completed on this side of the box shell, and all welding is completed. The second finger cylinder 69 of the feeding robot extends, driving the third clamping jaw mounting block 610 to move outward, so that the distance between the third clamping jaw block 612 and the fourth clamping jaw block 615 increases, the lifting is released, and the feeding robot moves away. The rodless cylinder 42 drives the push plate 43 to slide on the guide rail 45, so that the push plate 43 is away from the box shell, and the clamping state is released. The cylinder 52 of the flip mechanism 10 extends, pushing the box shell positioning clamping mechanism 9 and the welded box shell to stand up as a whole. The welded box shell is sent to the next station through the conveyor line.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the pending claims of the invention.

Claims

1. Capacitor climbing robot collaborative welding system, characterized in that: It includes automatic box shell handling robot, automatic hanging welding device, automatic box shell positioning and turning device and automatic hanging feeding device; The automatic box shell handling robot is used to carry the capacitor box shell from the box shell incoming material position to the box shell automatic positioning and turning device; The automatic lifting device is used to clamp the lifting device, move the lifting device to the welding position and press it tightly against the capacitor box shell; The automatic welding device for the hanging bracket is used to weld the hanging bracket to the capacitor box shell; The automatic case positioning and flipping device is used to clamp and position the capacitor case for welding, and flip the capacitor case with one side welded to perform welding on the other side.

2. The capacitor climbing robot collaborative welding system according to claim 1 is characterized in that: The automatic box shell handling robot comprises a handling robot base (1), a handling robot body (2), a handling robot electrical control box (15) and a handling robot suction cup gripper (3); the handling robot body (2) is mounted on the handling robot base (1); the handling robot suction cup gripper (3) is mounted on the handling robot body (2); and the handling robot electrical control box (15) is used to control the handling robot body (2) to drive the handling robot suction cup gripper (3) to move the capacitor box shell.

3. The capacitor climbing robot collaborative welding system according to claim 2 is characterized in that: The handling robot suction cup gripper (3) comprises a suction cup mounting frame, a suction cup mounting base plate, a plurality of suction cups (21), a valve body mounting plate, a vacuum generator and a plurality of solenoid valves, wherein the suction cups (21) are evenly mounted on the suction cup mounting base plate, the suction cup mounting base plate is mounted on the handling robot body (2) via the suction cup mounting frame, the vacuum generator and the solenoid valve are mounted on the handling robot body (2) via the valve body mounting plate, the vacuum generator is connected to the plurality of solenoid valves via pipelines, and the solenoid valve is connected to the suction cups (21) via pipelines.

4. The capacitor climbing robot collaborative welding system according to claim 1, characterized in that: The automatic case positioning and flipping device comprises a case positioning and clamping mechanism (9) and a flipping mechanism (10); the case positioning and clamping mechanism (9) is mounted on the flipping mechanism (10) and is used for clamping and positioning the capacitor case; the flipping mechanism (10) is used for flipping the case positioning and clamping mechanism (9) and the capacitor case with one side welded together, so as to flip the capacitor case from a sideways position to an upright position.

5. The capacitor climbing robot collaborative welding system according to claim 4 is characterized in that: The box shell positioning clamping mechanism (9) comprises a base plate, a shell pad, a baffle, a rodless cylinder, a guide rail, a push plate, a cylinder rotating plate and a plurality of bearing rotating plates; the shell pad, the rodless cylinder, the guide rail, the cylinder rotating plate and the bearing rotating plate are mounted on the base plate, the baffle is mounted on the shell pad, and the push plate is mounted on the rodless cylinder and the guide rail.

6. The capacitor climbing robot collaborative welding system according to claim 5, characterized in that: The flip mechanism (10) comprises a flip base, a cylinder, two bearing mechanisms with bases and four Oxford plates, one end of the cylinder is mounted on the flip base, and the other end is mounted on the cylinder rotating plate of the box shell positioning clamping mechanism (9), the bases of the two bearing mechanisms with bases are mounted on the flip base, the bearing drive shaft is mounted together with the bearing rotating plate of the box shell positioning clamping mechanism (9), and the four Oxford plates are mounted on the flip base.

7. The capacitor climbing robot collaborative welding system according to claim 6, characterized in that: The cylinder rotating plate and the bearing rotating plate are installed on the lower surface of the base plate, the cylinder rotating plate is connected to the cylinder, the bearing rotating plate is connected to the bearing mechanism with a base, the shell pad, the rodless cylinder, and the guide rail are installed on the upper surface of the base plate, the shell pad is centered, the rodless cylinder and the guide rail are installed on both sides of the shell pad, and the rodless cylinder is used to push the push plate to move forward and backward along the guide rail.

8. The capacitor climbing robot collaborative welding system according to claim 1, characterized in that: The automatic loading device for hanging climbing comprises a loading platform (6), a loading robot and a material box tooling (7); the loading robot is installed on the loading platform (6) and is used to clamp the hanging climbing in the material box tooling (7), transport it to the welding position and press it against the capacitor box shell, and transport and stack the empty material box tooling; the material box tooling (7) is placed on the loading platform (6) and is used to hold the hanging climbing; The feeding robot comprises a feeding robot body (5), a feeding robot electrical control box (8) and a robot gripper (4); the feeding robot body (5) is mounted on a feeding platform (6); the robot gripper (4) is mounted on the feeding robot body (5); and the feeding robot electrical control box (8) is used to control the feeding robot body (5) to move the robot gripper (4) and the crane to a welding operation position; The robot gripper (4) comprises a connecting plate, a first finger cylinder, a first gripper mounting block, a first gripper, a first gripper block, a second gripper mounting block, a second gripper, a second gripper block, and a second finger cylinder, a third gripper mounting block, a third gripper, a third gripper block, a fourth gripper mounting block, a fourth gripper and a fourth gripper block. The first gripper block is mounted on the first gripper, and the first gripper is mounted on the first gripper mounting block. The assembly relationship of the remaining three groups of gripper blocks, grippers and gripper mounting blocks is the same. The first gripper mounting block and the second gripper mounting block are mounted on the first finger cylinder, and the third gripper mounting block and the fourth gripper mounting block are mounted on the second finger cylinder. The first finger cylinder and the second finger cylinder are mounted on the connecting plate, and the connecting plate is mounted on the feeding robot body (5).

9. The capacitor climbing robot collaborative welding system according to claim 1, characterized in that: The automatic welding device for hanging climbing comprises a welding robot base (12), a welding robot body (11), a welding robot electrical control box (14) and a laser welding device (13); the welding robot base (12) is used to fix and support the welding robot body (11), the welding robot body (11) is installed on the welding robot base (12), and is used to move the swing welding head of the laser welding device (13) to the welding operation position, the welding robot electrical control box (14) is used to control the welding robot body (11), and the laser welding device (13) is used to generate high-energy laser to weld the hanging climbing and the capacitor box shell.

10. A capacitor climbing robot collaborative welding method, based on the capacitor climbing robot collaborative welding system according to any one of claims 1 to 9, characterized in that: The automatic case handling robot is used to carry the capacitor case from the case incoming material position to the case automatic positioning and turning device; Use the automatic lifting device to clamp the lifting device, move the lifting device to the welding position and press it tightly with the capacitor box shell; The capacitor case is clamped and positioned by using an automatic case positioning and flipping device, and the hanging bracket is welded to one side of the capacitor case by using an automatic welding device. After one side is welded, the capacitor case with one side welded is flipped by using an automatic case positioning and flipping device for welding the other side.

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