Double-station robot projection welding workstation

Abstract

The invention provides a double-station robot projection welding workstation, and relates to the technical field of projection welding workstations. The top of the base is provided with a feeding conveyor and a discharging conveyor, and the feeding conveyor and the discharging conveyor are arranged left and right. A supporting rod is installed on the top of the base close to the right end edge, and a 3D vision instrument is installed on the top of the supporting rod. A six-axis robot A and a six-axis robot B are installed on the top of the base and arranged front and back. The 3D vision device is used for identifying and guiding the six-axis robot A and the six-axis robot B to grab parts, 3D vision identification is high in adaptability, 2D vision is used for identifying part projection welding holes, the part projection welding precision is fully guaranteed, the six-axis robot A and the six-axis robot B alternately grab projection welding, and the utilization rate of the projection welding machine is fully increased. The problems that in the application process of an existing projection welding work station, a single robot is mostly adopted for feeding and discharging operation, the performance of a projection welding machine is difficult to give full play, and the projection welding efficiency of parts is low are solved.

Description

Technical Field

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

[0002] Projection welding is a high-efficiency welding method that can perform multiple-point welding at the same time, and can be used to replace arc welding, brazing and bite welding. Compared with spot welding, the difference between projection welding and spot welding is that projections are pre-processed on the plate, or the profiles and chamfers on the weldment that can concentrate the current are used as the mutual contact parts during welding. The projection welding workstation is a device that uses projection welding technology to complete various workpiece welding operations. The nut can be welded on the processed workpiece by projection welding.

[0003] For example, the Chinese patent "CN113664354B A projection welding device that can be used in the vehicle field" includes a frame and a servo tooling that is used to place the workpiece to be projection welded and is movable relative to the frame. The projection welding device also includes a plurality of electrode heads mounted on the frame, and a plurality of conveying devices corresponding to the plurality of electrode heads for conveying the projection welding elements to be projection welded.

[0004] At present, in the application process of existing projection welding workstations, a single robot is mostly used for loading and unloading operations, which makes it difficult to give full play to the performance of the projection welding machine, and the efficiency of projection welding of parts is low. In addition, the recognition effect of projection welding holes of parts is not good, and the accuracy of projection welding of parts cannot be fully guaranteed. It is easy to cause deviation in projection welding of parts. It is also necessary to remove the nuts of the parts with projection welding deviation and then re-projection welding. Summary of the invention

[0005] The present invention relates to a dual-station robot projection welding workstation, which solves the problem that in the application process of existing projection welding workstations, a single robot is mostly used for loading and unloading operations, which makes it difficult to give full play to the performance of the projection welding machine, and the efficiency of projection welding on parts is low. The recognition effect of projection welding holes on parts is not good, and the accuracy of projection welding on parts cannot be fully guaranteed, which easily causes deviations in projection welding of parts, and the nuts of parts with projection welding deviations need to be removed and then re-projection welding is carried out.

[0006] In a first aspect of the present disclosure, a dual-station robot projection welding workstation is provided, which specifically includes: a base, a loading conveyor, a unloading conveyor, a support rod, a 3D vision instrument, a six-axis robot A, a 2D vision instrument A, a six-axis robot B, a 2D vision instrument B, a projection welder, a nut conveyor A, a nut conveyor B, a control computer, and a protective fence; a loading conveyor and an unloading conveyor are installed on the top of the base, and the loading conveyor and the unloading conveyor are arranged on the left and right; a support rod is installed on the top of the base near the right end edge, and a 3D vision instrument is installed on the top of the support rod; a six-axis robot A and a six-axis robot B are installed on the top of the base, and the six-axis robot A and the six-axis robot B are arranged front to back; the top of the base is It is equipped with 2D vision instrument A and 2D vision instrument B, which are arranged front and back, and six-axis robots A and six-axis robots B are located at the interval between 2D vision instrument A and 2D vision instrument B; a projection welder, nut conveyor A and nut conveyor B are installed on the top of the base near the left end, and the two sides of the projection welder are connected to the nut conveyor A and nut conveyor B; a control computer is installed on the top of the base near the left front end, and the control computer is connected to the loading conveyor, unloading conveyor, 3D vision instrument, six-axis robot A, 2D vision instrument A, six-axis robot B, 2D vision instrument B, projection welder, nut conveyor A and nut conveyor B through lines; a protective fence is installed on the periphery of the top of the base.

[0007] Furthermore, the projection welding machine is located on the left side of the unloading conveyor, the nut conveyor A is located in front of the unloading conveyor, and the nut conveyor B is located behind the unloading conveyor. The nuts are manually put into the vibration plates of the nut conveyor A and the nut conveyor B respectively. The nut conveyor A and the nut conveyor B convey the nuts to the projection welding machine, so that the nuts reach the projection welding position of the parts, and the nuts are welded together with the parts through the projection welding machine.

[0008] Furthermore, the support rod is L-shaped, the 3D vision instrument is located on the top of the feeding conveyor, the 3D vision instrument faces downward, and the parts scheduled for production are manually placed on the feeding conveyor in order as single pieces or stacked piles. The feeding conveyor transports the parts to the bottom of the 3D vision instrument, and the 3D vision instrument alternately guides the six-axis robot A and the six-axis robot B to grab the parts on the feeding conveyor.

[0009] Furthermore, the six-axis robot A is located between the loading conveyor and the unloading conveyor.

[0010] Furthermore, the 2D vision instrument A is located between the loading conveyor and the unloading conveyor, the 2D vision instrument A is located in front of the six-axis robot A, and the manipulator of the six-axis robot A moves at the loading conveyor, the unloading conveyor, the 2D vision instrument A and the projection welding machine.

[0011] Furthermore, the six-axis robot B is located at the interval between the loading conveyor and the unloading conveyor, and the six-axis robot B is located behind the six-axis robot A.

[0012] Furthermore, the 2D vision instrument B is located at the interval between the loading conveyor and the unloading conveyor, the 2D vision instrument B is located behind the six-axis robot B, and the manipulator of the six-axis robot B moves at the loading conveyor, the unloading conveyor, the 2D vision instrument B and the projection welding machine. The six-axis robot A grabs the part above the 2D vision instrument A, the 2D vision instrument A identifies the position of the projection welding hole of the part, and guides the six-axis robot A to put the part accurately at the working position of the projection welding machine; the six-axis robot B grabs the part above the 2D vision instrument B, the 2D vision instrument B identifies the position of the projection welding hole of the part, and guides the six-axis robot B to put the part accurately at the working position of the projection welding machine, the projection welding machine completes automatic projection welding, and after the projection welding is completed, the six-axis robots A and the six-axis robots B put the parts on the unloading conveyor, and then return to the 3D vision instrument to guide the grabbing of the parts, the unloading conveyor transports the parts to the end of the line, and the end of the line parts are manually collected into the container.

[0013] Furthermore, the protective fence is connected to the support rod and the control computer, the loading conveyor, the unloading conveyor, the six-axis robot A, the 2D vision instrument A, the six-axis robot B, and the 2D vision instrument B are located inside the protective fence, the front end of the loading conveyor and the front end of the unloading conveyor are located outside the protective fence, the nut conveyor A and the nut conveyor B are connected to the protective fence, and the activity areas of the six-axis robot A and the six-axis robot B are isolated and protected by the protective fence.

[0014] The present invention provides a dual-station robot projection welding workstation, which has the following beneficial effects:

[0015] When the present invention is in use, nuts are manually put into the vibrating plates of nut conveyor A and nut conveyor B respectively, nut conveyor A and nut conveyor B convey the nuts to the projection welding machine, so that the nuts reach the projection welding position of the parts, and the nuts are welded together with the parts by the projection welding machine; the parts scheduled for production are manually placed on the loading conveyor in order as single pieces or stacked piles, the loading conveyor transports the parts to the bottom of the 3D vision instrument, and the 3D vision instrument alternately guides the six-axis robot A and the six-axis robot B to grab the parts on the loading conveyor; the 3D vision instrument recognizes and guides the six-axis robot A and the six-axis robot B to grab the parts, and the 3D vision recognition has strong adaptability.

[0016] In addition, the six-axis robot A grabs the part above the 2D vision instrument A, the 2D vision instrument A identifies the position of the projection welding hole of the part, and guides the six-axis robot A to place the part accurately at the working position of the projection welding machine; the six-axis robot B grabs the part above the 2D vision instrument B, the 2D vision instrument B identifies the position of the projection welding hole of the part, and guides the six-axis robot B to place the part accurately at the working position of the projection welding machine, and uses 2D vision to identify the projection welding holes of the part to fully ensure the projection welding accuracy of the part; the projection welding machine completes automatic projection welding, and after the projection welding is completed, the six-axis robot A and the six-axis robot B put the part on the unloading conveyor, and then return to the 3D vision instrument to guide the grabbing of the part, with high grabbing accuracy and strong motion flexibility. The unloading conveyor transports the part to the end of the line, and the parts at the end of the line are manually collected into the container; the six-axis robot A and the six-axis robot B grab the projection welding alternately to fully improve the utilization rate of the projection welding machine.

[0017] In addition, the activity areas of the six-axis robot A and the six-axis robot B are isolated and protected by protective fences, effectively preventing idle personnel from affecting the normal projection welding operations of parts and ensuring the safety of the operations.

[0018] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0020] The drawings described below are only related to some embodiments of the present invention, but are not intended to limit the present invention.

[0021] In the attached picture:

[0022] Figure 1 The overall left front axle side structural diagram of the dual-station robot projection welding workstation of the present application is shown;

[0023] Figure 2 The overall right rear axle side structural diagram of the dual-station robot projection welding workstation of the present application is shown;

[0024] Figure 3 A schematic diagram of the support rod axial side structure of a dual-station robot projection welding workstation of the present application is shown;

[0025] Figure 4 A schematic diagram of the axis side structure of the six-axis robot A and the 2D vision instrument A of the dual-station robot projection welding workstation of the present application is shown;

[0026] Figure 5 A schematic diagram of the six-axis robot B and the 2D vision instrument B-axis side structure of the dual-station robot projection welding workstation of the present application is shown;

[0027] Figure 6 A schematic diagram of the connection structure of a projection welding machine, a nut conveyor A and a nut conveyor B of a dual-station robot projection welding workstation of the present application is shown.

[0028] Reference numerals list

[0029] 1. Base; 2. Loading conveyor; 3. Unloading conveyor; 4. Support rod; 41. 3D vision instrument; 5. Six-axis robot A; 6. 2D vision instrument A; 7. Six-axis robot B; 8. 2D vision instrument B; 9. Projection welding machine; 10. Nut conveyor A; 11. Nut conveyor B; 12. Control computer; 13. Protective fence. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment 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.

[0031] Example 1: Please refer to Figures 1 to 6 :

[0032] The present invention proposes a dual-station robot projection welding workstation, comprising: a base 1, a loading conveyor 2, a unloading conveyor 3, a support rod 4, a 3D visual instrument 41, a six-axis robot A5, a 2D visual instrument A6, a six-axis robot B7, a 2D visual instrument B8, a projection welding machine 9, a nut conveyor A10, a nut conveyor B11, a control computer 12, and a protective fence 13; a loading conveyor 2 and an unloading conveyor 3 are installed on the top of the base 1, and the loading conveyor 2 and the unloading conveyor 3 are arranged on the left and right; a support rod 4 is installed on the top of the base 1 near the right end edge, and a 3D visual instrument 41 is installed on the top of the support rod 4; ... a 3D visual instrument 41 is installed on the top of the support rod 4; a six-axis robot A5 A 2D vision instrument A6 and a 2D vision instrument B8 are installed on the top of the base 1, and the 2D vision instrument A6 and the 2D vision instrument B8 are arranged front and back, and the six-axis robot A5 and the six-axis robot B7 are located at the interval between the 2D vision instrument A6 and the 2D vision instrument B8; a projection welder 9, a nut conveyor A10 and a nut conveyor B11 are installed on the top of the base 1 near the left end, and the two sides of the projection welder 9 are connected to the nut conveyor A10 and the nut conveyor B11; a control computer 12 is installed on the top of the base 1 near the left front end, and the control computer 12 is connected through the line It is connected with the loading conveyor 2, the unloading conveyor 3, the 3D visual instrument 41, the six-axis robot A5, the 2D visual instrument A6, the six-axis robot B7, the 2D visual instrument B8, the projection welding machine 9, the nut conveyor A10 and the nut conveyor B11; a protective fence 13 is installed on the outer periphery of the top of the base 1; the projection welding machine 9 is located on the left side of the unloading conveyor 3, the nut conveyor A10 is located in front of the unloading conveyor 3, and the nut conveyor B11 is located at the rear side of the unloading conveyor 3, and the nuts are manually put into the vibration plates of the nut conveyor A10 and the nut conveyor B11 respectively, and the nut conveyor A10 and the nut conveyor B11 convey the nuts to the projection welding machine 9 The nut is made to reach the projection welding position of the part, and the nut is welded to the part through the projection welding machine 9; the support rod 4 is L-shaped, and the 3D vision instrument 41 is located on the top of the feeding conveyor 2, and the 3D vision instrument 41 faces downward. The parts scheduled for production are manually placed on the feeding conveyor 2 in order as single pieces or stacked piles, and the feeding conveyor 2 transports the parts to the bottom of the 3D vision instrument 41, and the 3D vision instrument 41 alternately guides the six-axis robot A5 and the six-axis robot B7 to grab the parts on the feeding conveyor 2; the 3D vision instrument 41 identifies and guides the six-axis robot A5 and the six-axis robot B7 to grab the parts, and the 3D visual recognition has strong adaptability.

[0033] In the disclosed embodiment, the six-axis robot A5 is located at the interval between the loading conveyor 2 and the unloading conveyor 3, the 2D visual instrument A6 is located at the interval between the loading conveyor 2 and the unloading conveyor 3, the 2D visual instrument A6 is located in front of the six-axis robot A5, and the manipulator of the six-axis robot A5 moves at the loading conveyor 2, the unloading conveyor 3, the 2D visual instrument A6 and the projection welding machine 9, the six-axis robot B7 is located at the interval between the loading conveyor 2 and the unloading conveyor 3, the six-axis robot B7 is located behind the six-axis robot A5, the 2D visual instrument B8 is located at the interval between the loading conveyor 2 and the unloading conveyor 3, the 2D visual instrument B8 is located behind the six-axis robot B7, and the manipulator of the six-axis robot B7 moves at the loading conveyor 2, the unloading conveyor 3, the 2D visual instrument B8 and the projection welding machine 9;

[0034] By adopting the above technical scheme, the six-axis robot A5 grabs the part above the 2D vision instrument A6, the 2D vision instrument A6 identifies the position of the projection welding hole of the part, and guides the six-axis robot A5 to accurately place the part at the working position of the projection welding machine 9; the six-axis robot B7 grabs the part above the 2D vision instrument B8, the 2D vision instrument B8 identifies the position of the projection welding hole of the part, and guides the six-axis robot B7 to accurately place the part at the working position of the projection welding machine 9, and adopts 2D vision to identify the projection welding hole of the part to fully ensure the projection welding accuracy of the part; the projection welding machine 9 completes automatic projection welding, and after the projection welding is completed, the six-axis robots A5 and B7 put the parts on the unloading conveyor 3, and then return to the 3D vision instrument 41 to guide the grabbing of the parts, with high grabbing accuracy and strong movement flexibility, the unloading conveyor 3 transports the parts to the end of the line, and the parts at the end of the line are manually collected into the container; the six-axis robot A5 and the six-axis robot B7 grab the projection welding alternately to fully improve the utilization rate of the projection welding machine 9.

[0035] Embodiment 2, on the basis of embodiment 1, the protective fence 13 is connected to the support rod 4 and the control computer 12, the loading conveyor 2, the unloading conveyor 3, the six-axis robot A5, the 2D vision instrument A6, the six-axis robot B7, and the 2D vision instrument B8 are located inside the protective fence 13, the front end of the loading conveyor 2 and the front end of the unloading conveyor 3 are located outside the protective fence 13, and the nut conveyor A10 and the nut conveyor B11 are connected to the protective fence 13;

[0036] By adopting the above technical solution, the activity areas of the six-axis robot A5 and the six-axis robot B7 are isolated and protected by the protective fence 13, which effectively prevents idle personnel from affecting the normal projection welding operation of parts and ensures the safety of the operation.

[0037] The working principle of this embodiment is as follows: the scheduled production parts are manually placed on the loading conveyor 2 in order as single pieces or stacked materials, the loading conveyor 2 transports the parts to the bottom of the 3D vision instrument 41, and the 3D vision instrument 41 alternately guides the six-axis robot A5 and the six-axis robot B7 to grab the parts on the loading conveyor 2, and the 3D vision instrument 41 identifies and guides the six-axis robots A5 and B7 to grab the parts, and the 3D vision recognition has strong adaptability; the six-axis robot A5 grabs the parts above the 2D vision instrument A6, the 2D vision instrument A6 identifies the position of the projection welding hole of the parts, and guides the six-axis robot A5 to put the parts accurately into the working position of the projection welding machine 9; the six-axis robot B7 grabs the parts above the 2D vision instrument B8, the 2D vision instrument B8 identifies the position of the projection welding hole of the parts, and guides the six-axis robot B7 to put the parts The parts are accurately placed at the working position of the projection welding machine 9, and the projection welding holes of the parts are identified by 2D vision to fully ensure the projection welding accuracy of the parts; the nuts are manually put into the vibration plates of the nut conveyor A10 and the nut conveyor B11 respectively, and the nut conveyor A10 and the nut conveyor B11 convey the nuts to the projection welding machine 9, so that the nuts reach the projection welding position of the parts, and the nuts and the parts are welded together by the projection welding machine 9; the projection welding machine 9 completes automatic projection welding, and after the projection welding is completed, the six-axis robot A5 and the six-axis robot B7 put the parts on the unloading conveyor 3, and then return to the 3D vision instrument 41 to guide the grabbing of the parts, and the unloading conveyor 3 transports the parts to the end of the line, and the parts at the end of the line are manually collected into the container; the activity area of ​​the six-axis robot A5 and the six-axis robot B7 is isolated and protected by the protective fence 13, which effectively prevents idle personnel from affecting the normal projection welding operation of parts.

[0038] In this article, there are a few points to note:

[0039] 1. The drawings of the embodiments of the present disclosure only involve structures related to the embodiments of the present disclosure, and other structures may refer to general designs.

[0040] 2. In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0041] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A dual-station robot projection welding workstation, characterized in that: include: A base (1), a loading conveyor (2), a unloading conveyor (3), a support rod (4), a 3D visual instrument (41), a six-axis robot A (5), a 2D visual instrument A (6), a six-axis robot B (7), a 2D visual instrument B (8), a projection welding machine (9), a nut conveyor A (10), a nut conveyor B (11), a control computer (12), and a protective fence (13); a loading conveyor (2) and a unloading conveyor (3) are installed on the top of the base (1), and the loading conveyor (2) and the unloading conveyor (3) are arranged on the left and right; a support rod (4) is installed on the top of the base (1) near the right end edge, and a 3D visual instrument (41) is installed on the top of the support rod (4); a six-axis robot A (5) and a six-axis robot B (7) are installed on the top of the base (1), and the six-axis robot A (5) and the six-axis robot B (7) are arranged front and back; a 2D visual instrument A (6) and a 2D visual instrument B ( 8), 2D vision instrument A (6) and 2D vision instrument B (8) are arranged in front and back, and six-axis robot A (5) and six-axis robot B (7) are located at the interval between 2D vision instrument A (6) and 2D vision instrument B (8); a projection welder (9), a nut conveyor A (10) and a nut conveyor B (11) are installed near the left end of the top of the base (1), and the two sides of the projection welder (9) are connected to the nut conveyor A (10) and the nut conveyor B (11); a control computer (12) is installed near the left front end of the top of the base (1), and the control computer (12) is connected to the loading conveyor (2), the unloading conveyor (3), the 3D vision instrument (41), the six-axis robot A (5), the 2D vision instrument A (6), the six-axis robot B (7), the 2D vision instrument B (8), the projection welder (9), the nut conveyor A (10) and the nut conveyor B (11) through lines; a protective fence (13) is installed on the outer periphery of the top of the base (1).

2. A dual-station robot projection welding workstation according to claim 1, characterized in that: The projection welding machine (9) is located on the left side of the unloading conveyor (3), the nut conveyor A (10) is located in front of the unloading conveyor (3), and the nut conveyor B (11) is located at the rear of the unloading conveyor (3).

3. A dual-station robot projection welding workstation according to claim 1, characterized in that: The support rod (4) is L-shaped, and the 3D vision instrument (41) is located on the top of the feeding conveyor (2), and the 3D vision instrument (41) faces downward.

4. A dual-station robot projection welding workstation according to claim 1, characterized in that: The six-axis robot A (5) is located at the interval between the loading conveyor (2) and the unloading conveyor (3).

5. A dual-station robot projection welding workstation according to claim 1, characterized in that: The 2D vision instrument A (6) is located at the interval between the loading conveyor (2) and the unloading conveyor (3), and the 2D vision instrument A (6) is located in front of the six-axis robot A (5). The manipulator of the six-axis robot A (5) moves at the loading conveyor (2), the unloading conveyor (3), the 2D vision instrument A (6) and the projection welding machine (9).

6. A dual-station robot projection welding workstation according to claim 1, characterized in that: The six-axis robot B (7) is located at the interval between the loading conveyor (2) and the unloading conveyor (3), and the six-axis robot B (7) is located behind the six-axis robot A (5).

7. A dual-station robot projection welding workstation according to claim 1, characterized in that: The 2D vision instrument B (8) is located at the interval between the loading conveyor (2) and the unloading conveyor (3), and the 2D vision instrument B (8) is located behind the six-axis robot B (7). The manipulator of the six-axis robot B (7) moves at the loading conveyor (2), the unloading conveyor (3), the 2D vision instrument B (8) and the projection welding machine (9).

8. A dual-station robot projection welding workstation according to claim 1, characterized in that: The protective fence (13) is connected to the support rod (4) and the control computer (12); the loading conveyor (2), the unloading conveyor (3), the six-axis robot A (5), the 2D visual instrument A (6), the six-axis robot B (7), and the 2D visual instrument B (8) are located inside the protective fence (13); the front end of the loading conveyor (2) and the front end of the unloading conveyor (3) are located outside the protective fence (13); and the nut conveyor A (10) and the nut conveyor B (11) are connected to the protective fence (13).

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