Automatic welding device based on collaborative robot

Abstract

The invention discloses an automatic welding device based on a collaborative robot, relates to the technical field of robot welding, and solves the technical problems that according to an existing automatic welding device based on the collaborative robot, continuous feeding and welding are difficult, a long time interval exists between feeding and welding, and the time needed by material welding is prolonged. A welding frame is fixed to the surface of a welding table assisting a robot to weld materials, a conveying table sliding along a square track under the structural transmission effect is arranged in the welding frame, the conveying table can slide to the designated position of the welding table, a discharging table is clamped into the welding table, and the conveying table can continue to rotate; furthermore, when the material on the surface of the material placing table is welded by the collaborative robot, the conveying table slides to the original position, the material placing table can be continuously placed on the surface of the conveying table, and the time interval between material welding and material conveying can be continuously shortened by controlling the welding time and the moving time of the conveying table; and the idle time of the collaborative robot and the time required for welding a single batch of materials are shortened.

Description

Technical Field

[0001] The invention belongs to the field of welding and relates to robot welding technology, in particular to an automated welding device based on a collaborative robot. Background Art

[0002] Collaborative robots refer to robots that can work with humans on production lines. In the field of material welding, the use of collaborative robots can improve production efficiency, ensure welding quality, and improve working conditions and safety. When collaborative robots perform automated welding, it is generally necessary to manually fix the material to the designated welding surface, and then the collaborative robot performs welding at the designated position of the material under the action of sensing or programming.

[0003] The reference patent name is: A welding robot (patent announcement number: CN115805398A). A placement plate that can move up and down and left and right is set on the welding table and external space of the welding robot. The placement plate can be embedded in the clamping groove on the surface of the welding table, and then the welding robot directly welds the material on the surface of the placement plate. A lower welding table is used to carry and move the material, instead of directly carrying heavier materials to a higher position by manpower, which saves manpower and improves work efficiency.

[0004] However, when implementing the above technical solution, the following problems exist: when the welding robot of the above device is welding, the placement plate needs to be embedded in the welding table to provide support for the material during the welding process, and the overall material welding is divided into three steps: material placement, welding and disassembly, and the three processes cannot overlap. Therefore, during the material placement and disassembly process, the welding robot has no welding object and is idle, and the utilization efficiency of the welding robot is limited. In addition, the three welding processes cannot overlap, which greatly prolongs the time required for material welding.

[0005] To this end, the present invention proposes an automated welding device based on a collaborative robot. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an automated welding device based on a collaborative robot, which solves the problem that the existing automated welding device based on a collaborative robot is difficult to continuously feed and weld, and there is a long time gap between feeding and welding, which prolongs the time required for material welding.

[0007] To achieve the above-mentioned object, an embodiment of the first aspect of the present invention provides an automated welding device based on a collaborative robot, comprising: a welding frame and a welding table, wherein the welding table is fixedly connected to the welding frame, and a feeding mechanism is arranged between the welding frame and the welding table, wherein the feeding mechanism comprises:

[0008] A transport platform, the transport platform is slidably connected to the welding frame, a material unloading platform is detachably connected to the surface of the transport platform, and the material unloading platform and the welding platform are detachably connected;

[0009] Two driving blocks, each of which is fixedly connected to the surface of the transport platform, and the two driving blocks are fixed on opposite surfaces, and the driving blocks are slidably connected to the welding frame;

[0010] An active block, wherein the active block is rotatably connected to the welding frame, an active rod is slidably connected inside the active block, an end of the active rod away from the active block is fixedly connected to a transfer column, a side of the transfer column close to the driving block is rotatably connected to the transfer block, the transfer block is fixedly connected to the driving block on one side, and an active spring is fixedly connected between the active block and the transfer column;

[0011] A guide rod is slidably connected to the interior of the transfer block, one end of the guide rod away from the ground is slidably connected to a guide column, and the guide column is fixedly connected to the welding frame.

[0012] Optionally, the welding frame includes a square frame, a bracket and a driving frame, the square frame and the bracket are respectively fixed on both sides of the welding table, the driving frame and the bracket are located on the same side, and the distance between the driving frame and the welding table is greater than the width of the guide rod.

[0013] Optionally, the active block is rotatably connected to the driving frame, and a guide groove is provided on the surface of the square frame, and the guide groove is adapted to the driving block on a side away from the transfer block.

[0014] Optionally, a contact block and a plurality of limit blocks are slidably connected inside the transport platform, the contact block contacts the surface of the unloading platform, the transport platform is rotatably connected inside the limit column, a spiral groove is provided inside the limit column, and the end of the contact block away from the unloading platform is fixedly connected to a limit shaft, and the limit shaft is adapted to the spiral groove.

[0015] Optionally, a transfer rod is rotatably connected between the limit block and the limit column, a plurality of limit slots are opened inside the transport platform, the limit slots are slidably connected to the limit block, and a limit spring is fixedly connected between the limit block and the limit slot.

[0016] Optionally, a through groove is formed on one end of the limit block away from the transport platform, a protruding rod is slidably connected inside the through groove, and a through spring is fixedly connected between the protruding rod and the through groove.

[0017] Optionally, two support rods are rotatably connected inside the welding table, the support rods have an arc-shaped side away from the bottom surface, the two support rods are symmetrically arranged, a support shaft is fixedly connected to the surface of the support rod, a support groove is opened inside the welding table, the support shaft is adapted to the support groove, and a support spring is fixedly connected between the support shaft and the support groove.

[0018] Optionally, a plurality of connecting rods are fixedly connected to the side of the transport platform away from the unloading platform, and a suction cup is fixedly connected to one end of the connecting rod away from the unloading platform. A scraping rod is fixedly connected between the driving frame and the square frame, and the width of the scraping rod close to the bracket is smaller than the width close to the driving frame.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: a welding frame is fixed on the surface of the welding table that assists the robot in welding materials, a sliding transport table is arranged inside the welding frame, and the transport table realizes the sliding of the transport table in a square trajectory under the action of the active block, the active rod and the transfer block, and then the transport table can slide to the specified position of the welding table. At this time, the unloading table on the surface of the transport table can be stuck into the inside of the welding table, and the transport table can continue to rotate. Then, when the material on the surface of the unloading table is automatically welded by the collaborative robot, the transport table will slide to the original position. At this time, the unloading table with material on its surface can continue to be placed on its surface. By controlling the welding time and the movement time of the transport table, the time interval between material welding and material transportation can be continuously shortened, the idle time of the collaborative robot can be shortened, and the time required for welding a single batch of materials can be shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural stereogram of the present invention;

[0021] Figure 2 It is a three-dimensional structural cross-sectional view of the active block of the present invention;

[0022] Figure 3 It is a three-dimensional structural cross-sectional view of the limit block of the present invention;

[0023] Figure 4 For the present invention Figure 1 A magnified view of the local structure at point A in the middle;

[0024] Figure 5 For the present invention Figure 3 A magnified view of the local structure at B in the middle;

[0025] Figure 6 For the present invention Figure 3 A magnified view of the local structure at C in the middle;

[0026] Figure 7 For the present invention Figure 3 Enlarged view of the local structure at point D in the middle.

[0027] In the figure: 1. welding frame; 2. welding table;

[0028] 31. Transport platform; 32. Unloading platform; 33. Driving block; 34. Active rod; 35. Transfer column; 36. Transfer block; 37. Active spring; 38. Guide rod; 39. Guide column; 310. Active block;

[0029] 41. square frame; 42. bracket; 43. drive frame; 44. guide groove;

[0030] 51. contact block; 52. limit block; 53. limit column; 54. spiral groove; 55. limit shaft; 56. transfer rod; 57. limit groove; 58. limit spring;

[0031] 61. through slot; 62. protruding rod; 63. through spring;

[0032] 71. support rod; 72. support shaft; 73. support spring;

[0033] 81. Connecting rod; 82. Suction cup; 83. Scraping rod. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only 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.

[0035] like Figure 1-7 As shown, an automated welding device based on a collaborative robot comprises a welding frame 1 and a welding table 2, wherein the welding table 2 is fixedly connected to the welding frame 1;

[0036] It should be noted that a collaborative robot is provided next to the welding table 2, and the collaborative robot can perform welding operations on the surface material of the welding table 2, that is, the collaborative robot can realize the welding of the material on the surface of the welding table 2;

[0037] It should be noted that there is a certain distance between the driving frame 43 and the welding table 2, and the height of the driving frame 43 is lower than the height of the bracket 42;

[0038] A feeding mechanism is provided between the welding frame 1 and the welding table 2, and the feeding mechanism comprises:

[0039] A transport platform 31, wherein the transport platform 31 is slidably connected to the welding frame 1, a material unloading platform 32 is detachably connected to the surface of the transport platform 31, and the material unloading platform 32 is detachably connected to the welding platform 2;

[0040] Two driving blocks 33, each of which is fixedly connected to the surface of the transport platform 31, and the two driving blocks 33 are fixed on opposite surfaces, and the driving blocks 33 are slidably connected to the welding frame 1;

[0041] An active block 310, wherein the active block 310 is rotatably connected to the welding frame 1, an active rod 34 is slidably connected inside the active block 310, an end of the active rod 34 away from the active block 310 is fixedly connected to a transfer column 35, a transfer block 36 is rotatably connected to a side of the transfer column 35 close to the driving block 33, the transfer block 36 is fixedly connected to the driving block 33 on one side, and an active spring 37 is fixedly connected between the active block 310 and the transfer column 35;

[0042] It should be noted that a motor is fixedly connected to one side of the welding frame 1, and a coupling (not shown in the figure) is fixedly connected to one end of the motor output shaft, and the coupling is fixedly connected to the active block 310; that is, when the motor is started, the active block 310 can achieve unidirectional rotation;

[0043] A guide rod 38, wherein the guide rod 38 is slidably connected to the inside of the transfer block 36, and a guide column 39 is slidably connected to one end of the guide rod 38 away from the ground, and the guide column 39 is fixedly connected to the welding frame 1;

[0044] It should be noted that a rectangular groove is provided on the surface of the welding frame 1 to provide a space for the guide rod 38 to slide between the welding frame 1 and the welding table 2;

[0045] In the actual application process of the automated welding device based on the collaborative robot, a welding frame 1 is fixed on the surface of the welding table 2 that assists the robot in welding materials, a slidable transport table 31 is arranged inside the welding frame 1, and the transport table 31 is slidable in a square track under the action of the active block 310, the active rod 34 and the transfer block 36, and then the transport table 31 can slide to the specified position of the welding table 2, at this time, the unloading table 32 on the surface of the transport table 31 can be inserted into the welding table 2, and the unloading table 32 can continue to rotate, and then when the material on the surface of the unloading table 32 is automatically welded by the collaborative robot, the transport table 31 will slide to the original position, and at this time, the unloading table 32 with the material on the surface can continue to be placed on its surface, and by controlling the welding time and the moving time of the transport table 31, the time interval between material welding and material transportation can be continuously shortened, the idle time of the collaborative robot can be shortened, and the time required for welding a single batch of materials can be shortened;

[0046] In some specific embodiments, the welding frame 1 includes a square frame 41, a bracket 42 and a driving frame 43, the square frame 41 and the bracket 42 are respectively fixed on both sides of the welding table 2, the driving frame 43 and the bracket 42 are located on the same side, and a certain width is separated between the driving frame 43 and the welding table 2, the active block 310 is rotatably connected to the driving frame 43, and a guide groove 44 is opened on the surface of the square frame 41, and the guide groove 44 is adapted to the driving block 33 on the side away from the transfer block 36;

[0047] It should be noted that the height of the bracket 42 is higher than the height of the driving frame 43, and the distance between the driving frame 43 and the welding table 2 is greater than the width of the guide rod 38;

[0048] In some specific implementation schemes, a contact block 51 and a plurality of limit blocks 52 are slidably connected inside the transport platform 31, the contact block 51 is in contact with the surface of the discharge platform 32, the transport platform 31 is rotatably connected to a limit column 53, a spiral groove 54 is provided inside the limit column 53, an end of the contact block 51 away from the discharge platform 32 is fixedly connected to a limit shaft 55, the limit shaft 55 is adapted to the spiral groove 54, a transfer rod 56 is rotatably connected between the limit block 52 and the limit column 53, a plurality of limit grooves 57 are provided inside the transport platform 31, the limit grooves 57 are slidably connected to the limit block 52, and a limit spring 58 is fixedly connected between the adapted limit block 52 and the limit groove 57;

[0049] In a further embodiment, a through groove 61 is formed on one end of the limit block 52 away from the transport platform 31, a protruding rod 62 is slidably connected inside the through groove 61, and a through spring 63 is fixedly connected between the protruding rod 62 and the through groove 61;

[0050] It should be noted that the protruding rod 62 is arc-shaped on the side close to the material unloading platform 32, and the limiting block 52 is arc-shaped on the side away from the material unloading platform 32;

[0051] In some specific implementation schemes, the welding platform 2 is internally rotatably connected to two support rods 71, the support rod 71 has an arc-shaped side away from the bottom surface, and the two support rods 71 ​​are symmetrically arranged, and a support shaft 72 is fixedly connected to the surface of the support rod 71. A support groove is opened inside the welding platform 2, and the support shaft 72 is adapted to the support groove, and a support spring 73 is fixedly connected between the support shaft 72 and the support groove;

[0052] In some specific embodiments, a plurality of connecting rods 81 are fixedly connected to one side of the transport platform 31 away from the unloading platform 32, and a suction cup 82 is fixedly connected to one end of the connecting rod 81 away from the unloading platform 32. A scraper rod 83 is fixedly connected between the driving frame 43 and the square frame 41, and the width of the scraper rod 83 on the side close to the bracket 42 is smaller than the width on the side close to the driving frame 43.

[0053] It should be noted that the height of the scraper bar 83 is consistent with the height of the suction cup 82 when the transport platform 31 is at the lowest position;

[0054] The working principle of the present invention is as follows: the material to be welded is placed on the surface of the discharge platform 32 on the surface of the transport platform 31, and the motor is started. The motor causes the active block 310 to rotate. The rotation of the active block 310 drives the active rod 34 to change its position. The active rod 34 causes the transfer block 36 to change its position, and then the transfer block 36 slides on the surface of the guide rod 38, and drives the guide rod 38 to slide on the surface of the guide column 39, so that the transport platform 31 slides in a square shape. After the transport platform 31 slides into the inside of the welding platform 2, the support rod 71 squeezes the limit block 52, causing the limit block 52 to slide into the inside of the transport platform 31, and at the same time, the protruding rod 62 slides into the limit block 52. During the sliding process of the limit block 52, the contact block 51 is caused to move up, driving a gap to be generated between the discharge platform 32 and the transport platform 31, and then the support rod 71 can be inserted between the unloading table 32 and the transport table 31, so that the unloading table 32 is clamped inside the welding table 2, and the surface material of the unloading table 32 is welded by the collaborative robot. When the transport table 31 drives the unloading table 32 to slide to the position of the welding table 2 again, the suction cup 82 will suck the original unloading table 32 on the surface of the welding table 2. With the movement of the transport table 31, the unloading table 32 with the surface material welded is prompted to move down and drive the support rod 71 to rotate. After there is no pressure on the surface of the support rod 71, it returns to its original position under the action of the support spring 73, and through contact with the limit block 52, the new unloading table 32 is clamped on the surface of the welding table 2. When the transport table 31 slides to the position of the scraper rod 83, the suction cup 82 is lifted, the unloading table 32 falls autonomously, and the material falls to the same position.

[0055] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. An automated welding device based on a collaborative robot, characterized in that: include: A welding frame (1) and a welding platform (2), wherein the welding platform (2) is fixedly connected to the welding frame (1), and a feeding mechanism is arranged between the welding frame (1) and the welding platform (2), wherein the feeding mechanism comprises: A transport platform (31), wherein the transport platform (31) is slidably connected to the welding frame (1), a material discharge platform (32) is detachably connected to the surface of the transport platform (31), and the material discharge platform (32) and the welding platform (2) are detachably connected; Two driving blocks (33), each of which is fixedly connected to the surface of the transport platform (31), and the two driving blocks (33) are fixed on opposite surfaces, and the driving blocks (33) are slidably connected to the welding frame (1); An active block (310), wherein the active block (310) is rotatably connected to the welding frame (1), an active rod (34) is slidably connected inside the active block (310), an end of the active rod (34) away from the active block (310) is fixedly connected to a transfer column (35), a side of the transfer column (35) close to the driving block (33) is rotatably connected to a transfer block (36), the transfer block (36) is fixedly connected to the driving block (33) on one side, and an active spring (37) is fixedly connected between the active block (310) and the transfer column (35); A guide rod (38) is slidably connected to the inside of the transfer block (36); an end of the guide rod (38) away from the ground is slidably connected to a guide column (39); and the guide column (39) is fixedly connected to the welding frame (1).

2. The automated welding device based on a collaborative robot according to claim 1, characterized in that: The welding frame (1) comprises a square frame (41), a bracket (42) and a driving frame (43); the square frame (41) and the bracket (42) are respectively fixed on two sides of a welding platform (2); the driving frame (43) and the bracket (42) are located on the same side; and the distance between the driving frame (43) and the welding platform (2) is greater than the width of the guide rod (38).

3. The automated welding device based on a collaborative robot according to claim 2, characterized in that: The active block (310) is rotatably connected to the driving frame (43); a guide groove (44) is provided on the surface of the square frame (41); and the guide groove (44) is adapted to the driving block (33) on a side away from the transfer block (36).

4. The automated welding device based on a collaborative robot according to claim 1, characterized in that: A contact block (51) and a plurality of limit blocks (52) are slidably connected inside the transport platform (31); the contact block (51) contacts the surface of the discharge platform (32); a limit column (53) is rotatably connected inside the transport platform (31); a spiral groove (54) is provided inside the limit column (53); a limit shaft (55) is fixedly connected to one end of the contact block (51) away from the discharge platform (32); the limit shaft (55) is adapted to fit the spiral groove (54).

5. The automated welding device based on a collaborative robot according to claim 4, characterized in that: A transfer rod (56) is rotatably connected between the limit block (52) and the limit column (53); a plurality of limit grooves (57) are provided inside the transport platform (31); the limit grooves (57) are slidably connected to the limit block (52); and a limit spring (58) is fixedly connected between the limit block (52) and the limit groove (57).

6. The automated welding device based on a collaborative robot according to claim 4, characterized in that: A through groove (61) is formed on one end of the limit block (52) away from the transport platform (31), a protruding rod (62) is slidably connected inside the through groove (61), and a through spring (63) is fixedly connected between the protruding rod (62) and the through groove (61).

7. The automated welding device based on a collaborative robot according to claim 1, characterized in that: Two support rods (71) are rotatably connected inside the welding platform (2); the side of the support rod (71) away from the bottom surface is arc-shaped; the two support rods (71) are symmetrically arranged; a support shaft (72) is fixedly connected to the surface of the support rod (71); a support groove is provided inside the welding platform (2); the support shaft (72) is adapted to the support groove; and a support spring (73) is fixedly connected between the support shaft (72) and the support groove.

8. The automated welding device based on a collaborative robot according to claim 2, characterized in that: A plurality of connecting rods (81) are fixedly connected to a side of the transport platform (31) away from the material discharging platform (32), and a suction cup (82) is fixedly connected to one end of the connecting rod (81) away from the material discharging platform (32). A scraper rod (83) is fixedly connected between the driving frame (43) and the square frame (41), and the width of the scraper rod (83) on a side close to the bracket (42) is smaller than the width of the side close to the driving frame (43).

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