Robot welding equipment and method for sheet metal part machining

Abstract

The invention belongs to the technical field of sheet metal part welding, particularly relates to robot welding equipment and method for sheet metal part machining, and aims at solving the problem that welding positioning equipment in the prior art can stop continuous welding in the welding process. The positions, close to the four corners, of the upper surface of the fixed bracket are provided with carrier rollers which are equal in height and parallel in axis, and the upper surfaces of the four carrier rollers are provided with the same arc-shaped supporting plate. And a sliding rail consistent with the length direction of the fixed bracket is arranged above the rear side of the fixed bracket, and a linear driving seat and a welding manipulator are arranged on the sliding rail. The two sheet metal part bodies can be tightly held on the outer wall of the inner supporting combined frame before welding, the two sheet metal part bodies are stably erected above the wood cushion block, when the position to be welded is about to reach the position of the soft rope body at one end, the soft rope body is loosened in advance, and at the moment, a welding gun can continuously advance without stop.

Description

Technical Field

[0001] The present invention relates to the technical field of sheet metal welding, and in particular to a robot welding device and method for sheet metal processing. Background Art

[0002] Sheet metal parts are products processed by sheet metal technology, such as strip profiles with special-shaped cross-sections that are bent. Sheet metal parts are indispensable in our lives. Due to actual production needs, it is usually necessary to weld two sheet metal parts, so the welding positioning mechanism of sheet metal parts will be used.

[0003] After searching, it is found that the welding positioning mechanism in the prior art usually uses a clamp to clamp two sheet metal parts first, then put them close together, and then adjust the position so that the whole is close to the welding equipment at the most suitable angle for welding; however, this clamping method for auxiliary welding has the following disadvantages, namely, when the welding gun reaches the clamping position, it is necessary to stop the machine to change the clamping position. Once the clamping position is adjusted, it is easy to cause the overall position to shift, that is, the weld position is shifted, which easily leads to inaccurate welding in the later stage; therefore, we need a new type of equipment for sheet metal welding that does not affect the continuous welding of the welding machine. Summary of the invention

[0004] In view of the technical problem that the welding positioning equipment in the prior art may block the welding process, the present invention adopts the following technical solution:

[0005] A robot welding device for sheet metal processing, comprising a fixed bracket with an overall rectangular frame structure, wherein rollers with equal heights and parallel axis lines are arranged near the four corners of the upper surface of the fixed bracket, and the upper surfaces of the four rollers are provided with the same arc-shaped support plate; a slide rail consistent with the length direction of the fixed bracket is arranged on the upper rear side of the fixed bracket, and a linear drive seat and a welding manipulator are arranged on the slide rail, and channel steel slide rails parallel and symmetrical to each other are respectively fixed at the edges of both sides of the arc-shaped support plate, and a channel steel slide rail is fixed between the two channel steel slide rails. There is a same loading pallet; a plurality of positioning mechanisms are slidably connected to the two channel steel slide rails, and each positioning mechanism includes two stop rope pull mechanisms sliding on the two channel steel slide rails respectively; the center line of the two stop rope pull mechanisms in the same group is perpendicular to the extension direction of the channel steel slide rail, and each stop rope pull mechanism includes a soft rope body extending to the top of the loading pallet; the opposite ends of the two soft rope bodies in the same positioning mechanism are fixed with the same inner support assembly frame; wooden pads are fixed to the upper surface of the loading pallet near both ends.

[0006] Furthermore, the upper surface of the wooden pad is provided with a limiting groove that is compatible with the cross-sectional shape of the bottom edge of the sheet metal body, and screw holes for fixing the wooden pad are provided at both ends of the loading pallet; this can not only protect the edges of the sheet metal body from bumps, but also assist in quickly completing the assembly of the sheet metal body to be welded during loading.

[0007] Furthermore, side roller frames are fixed on the upper surface of the fixed bracket near the four corners, and the rollers are rotatably connected to the corresponding side roller frames; limiting roller frames are fixed in the middle of both ends of the fixed bracket, and anti-slip bearings are embedded in the opposite sides of the two limiting roller frames near the top ends, and the opposite ends of the two anti-slip bearings are rotatably connected with anti-derail wheels; the two anti-derail wheels are symmetrically distributed, and the anti-derail wheels are located on the upper surface of the arc-shaped support plate; cooperating with the four rollers can not only press the arc-shaped support plate tightly against the four rollers to ensure that it always rotates around its axis, but also prevent the arc-shaped support plate from axial movement.

[0008] Furthermore, two upwardly tilted L-shaped support seats are fixed to the rear side of the fixed bracket, and the two ends of the slide rail are respectively fixed to the top of the two L-shaped support seats; a worm gear rack is fixed in the middle of the circumferential outer wall of the arc-shaped support plate, and the central angle of the worm gear rack is equal to 190 degrees; a motor frame is fixed in the middle of the rear side of the fixed bracket, and an inclined reduction motor is fixed to the top of the motor frame, and the end of the output shaft of the reduction motor is socketed and fixed with a worm sleeve that meshes with the worm gear rack.

[0009] Furthermore, the inner support assembly frame includes two equal and parallel inner plates welded together, and the shape of the inner plates is adapted to the internal shape of the longitudinal section when the two sheet metal bodies are embraced together, and hexagonal nuts are welded near the bottom ends on the opposite sides of the two inner plates; self-locking screws are provided at both ends of the soft rope body, and the hexagonal nuts are adapted to the self-locking screws; the docking and disassembly of the soft rope body and the inner support assembly frame can be made more convenient.

[0010] Furthermore, the anti-retraction pull rope mechanism includes a boss slider slidably connected in the channel steel slide rail, a V-shaped bearing frame with an opening upward is fixed to the top of the boss slider away from the side of the loading support plate, and two coaxial sliding bearings are fixed to the top of the V-shaped bearing frame, and the same sliding push rod is slidably connected between the two sliding bearings; an axial rod frame is fixed to the bottom of the groove of the V-shaped bearing frame near the edge, and a horizontal transmission rod is arranged at the top of the axial rod frame, and a pinion and a driven worm wheel are respectively fixed at both ends of the transmission rod; the circumferential outer wall of the sliding push rod is close to the pinion A rack slot is provided above the top, and a rack rod meshing with the pinion gear is clamped in the rack slot; a vertically arranged servo motor is also fixed to the upper surface of the boss slider, and a worm meshing with the driven worm gear is fixed to the top of the output shaft of the servo motor; a tension spring is fixed to the top of the sliding push rod, and a fixing column is fixed to the end of the tension spring away from the sliding push rod, and a threaded hole compatible with the self-locking screw is provided in the middle of the fixing column; when it is necessary to tighten the restraint on the sheet metal body, it is only necessary to control the two servo motors in the same group of positioning mechanisms to start.

[0011] Furthermore, the diameter of the driven worm gear is larger than the diameter of the pinion, and an anti-twist groove is provided on the circumferential outer wall of the sliding push rod. The sliding push rod is inclined, and one end with a tension spring is higher than the other end. With the setting of the tension spring, radius parts of different heights can be tightened and fixed.

[0012] Furthermore, rectangular through holes are opened in the middle of the loading support plate near both ends, and fixed support blocks are slidably connected in the two rectangular through holes, and two angle steel brackets parallel to each other for connecting the two are fixed between the bottom ends of the two fixed support blocks, and the same connecting plate is fixed in the middle of the lower surface of the two angle steel brackets, and a jack is fixed at the bottom end of the connecting plate, and a U-shaped hanger is fixed at the bottom end of the jack, and the U-shaped hanger includes a support plate and four hanging plates, and the top of the hanging plate is fixed to the lower surface of the loading support plate by bolts; the two fixed A double-screw lifter is fixed to the top of each fixed support block; and the double-screw lifter includes a main sleeve with a vertical tubular structure, and push nuts with opposite thread directions are welded to the upper and lower ends of the main sleeve respectively, and screw one and screw two are respectively threaded in the two push nuts, a slot block is fixed to the top of screw one, and the bottom end of screw two is welded and fixed to the top of the corresponding fixed support block; side ears are fixed to the outer wall of the main sleeve, and horizontal jacks are opened on the side faces of the side ears; a supporting strip that engages with the slot block is reserved at the bottom of the inner support assembly frame.

[0013] Furthermore, the jacking device comprises two bases 1 and 2 of mutually symmetrical structures, and hinge holes are reserved near both sides of the upper surface of the base 1, and the two hinge holes are respectively rotatably connected with an outer connecting rod 1 and an outer connecting rod 2 which are symmetrical and have an H-shaped structure as a whole; the lower surface of the base 2 is respectively hinged with an inner connecting rod 1 and an inner connecting rod 2 which are adapted to the sizes of the outer connecting rod 1 and the outer connecting rod 2; an articulated shaft 1 is hinged between the outer connecting rod 1 and the inner connecting rod 1; an articulated shaft 2 is hinged between the inner connecting rod 2 and the outer connecting rod 2, and a transverse rope hole is opened in the middle of the articulated shaft 2, two hydraulic jacks are fixed on the side of the articulated shaft 2 away from the articulated shaft 1, and the end heights of the extension rods of the two hydraulic jacks are the same, and a steel wire rope is fixed in the middle of the pull plate, and the steel wire rope is fixed to the side of the articulated shaft 1 through the rope hole; when it is necessary to control the welding position to rise, it is only necessary to control the extension rods of the two hydraulic jacks to extend at the same time.

[0014] A robot welding method for sheet metal processing comprises the following steps:

[0015] S1: Before use, cut multiple inner plates according to the internal shape of the sheet metal body after assembling, and then weld them to form two inner support assembly frames; then place the inner support assembly frames inside the sheet metal body close to the two ends, and then place the sheet metal body on top of the wooden pads at both ends of the loading pallet;

[0016] S2: fix one end of the two soft rope bodies to the hexagonal nuts at the bottom of the inner support assembly frame respectively, and pass the other end of the two soft rope bodies upward around the sheet metal body and fix them to the fixed column in the anti-retraction rope pulling mechanism; then control the two servo motors in the same group to start at the same time to tighten the two soft rope bodies;

[0017] S3; at the same time, the jacking device is controlled to start, the bundled sheet metal body is raised to a certain height, and the reduction motor is controlled to start, so that the whole weld is turned to the side close to the welding manipulator; welding is performed in the best posture; before welding, the two double-screw lifters can be adjusted to ensure that both ends of the sheet metal body are level.

[0018] The beneficial effects of the present invention are:

[0019] 1. By setting up the inner support assembly frame and two soft rope bodies, the two sheet metal bodies can be tightly held on the outer wall of the inner support assembly frame before welding, and the two sheet metal bodies can be stably placed on the top of the wooden pad. When the welding position is about to reach the position of the soft rope body at one end, the soft rope body is loosened in advance, and the welding gun can continue to move forward without stopping.

[0020] 2. By using the worm gear rack and the worm sleeve meshing with each other set on the outer wall of the arc-shaped support plate, in conjunction with the jacking device and the double-screw lifter, the sheet metal parts that are bundled and held together can be brought close to the welding manipulator in the best posture, making welding more convenient and improving welding quality.

[0021] 3. By setting up two double-screw lifters that can be lifted and lowered as a whole, and cooperating with a pull rope mechanism with a tension spring, the sheet metal body can be lifted up for a certain distance after being clamped, so that the device can exert a greater pre-tightening force on the sheet metal body to avoid cracking during welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of a robot welding device for sheet metal processing proposed by the present invention before use;

[0023] Figure 2 This is a schematic diagram of the structure of a robot welding device for sheet metal processing proposed by the present invention when loading;

[0024] Figure 3 A side view of a sheet metal processing robot welding device proposed by the present invention during loading;

[0025] Figure 4 This is a schematic diagram of the overall structure of a robot welding device for sheet metal processing proposed by the present invention during welding;

[0026] Figure 5 A side view of a robot welding device for sheet metal processing proposed by the present invention during welding;

[0027] Figure 6 This is a schematic diagram of the overall structure of an arc-shaped support plate and a fixed bracket of a sheet metal processing robot welding equipment proposed by the present invention;

[0028] Figure 7 A schematic diagram of the three-dimensional structure of a fixed bracket in a robot welding device for sheet metal processing proposed by the present invention;

[0029] Figure 8 This is a schematic diagram of the exploded structure of an internal support assembly frame in a robot welding device for sheet metal processing proposed by the present invention;

[0030] Fig. 9 This is a schematic diagram of the overall structure of a stop-and-retract rope mechanism of a robot welding device for sheet metal processing proposed by the present invention;

[0031] Fig.10 This is a schematic diagram of the exploded structure of a stop-and-retract rope mechanism of a robot welding device for sheet metal processing proposed by the present invention;

[0032] Fig.11 This is a schematic diagram of the overall installation position structure of a lifter in a robot welding device for sheet metal processing proposed by the present invention;

[0033] Fig.12 This is a schematic diagram of the explosion structure of a lifter in a robot welding device for sheet metal processing proposed by the present invention.

[0034] In the figure: 1, fixed bracket; 101, L-shaped support seat; 102, limit roller frame; 103, roller; 104, side roller frame; 105, motor frame; 106, anti-derailment wheel; 2, arc-shaped support plate; 3, angle steel bracket; 4, double screw lifter; 401, main sleeve; 402, screw one; 403, side ear; 404, screw two; 405, slot block; 5, loading support plate; 501, U-shaped hanger; 502, rectangular perforation; 6, channel steel slide rail; 7, stop rope mechanism; 701, boss slider; 702, V-shaped bearing frame; 703, sliding bearing; 704, sliding top rod; 705, driven worm wheel; 706, tension spring; 707, fixed column; 708, worm; 709 , servo motor; 710, shaft frame; 711, rack slot; 712, rack rod; 8, wooden pad; 9, worm gear rack; 10, welding manipulator; 11, linear drive seat; 12, slide rail; 13, reduction motor; 14, lifter; 141, base one; 142, base two; 143, outer connecting rod one; 144, inner connecting rod one; 145, inner connecting rod two; 146, outer connecting rod two; 147, hinge shaft one; 148, hinge shaft two; 149, wire rope; 150, hydraulic push rod; 15, worm sleeve; 16, soft rope body; 161, self-locking screw; 17, inner support assembly frame; 171, hexagonal nut; 18, sheet metal body; 19, connecting plate; 20, fixed support block. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] In this embodiment, refer to Figure 1-12A robot welding device for sheet metal processing includes a fixed bracket 1 with an overall rectangular frame structure, and rollers 103 with equal heights and parallel axis lines are arranged near the four corners of the upper surface of the fixed bracket 1, and the upper surfaces of the four rollers 103 are provided with the same arc-shaped support plate 2; a slide rail 12 consistent with the length direction of the fixed bracket 1 is arranged on the upper rear side of the fixed bracket 1, and a linear drive seat 11 and a welding manipulator 10 are arranged on the slide rail 12, and channel steel slide rails 6 parallel and symmetrical to each other are respectively fixed at the edges of the two sides of the arc-shaped support plate 2, and the same loading support plate 5 is fixed between the two channel steel slide rails 6; a plurality of positioning mechanisms are slidably connected to the two channel steel slide rails 6, and each positioning mechanism includes two anti-retraction rope mechanisms 7 that slide on the two channel steel slide rails 6 respectively; the two anti-retraction rope mechanisms 7 of the same group The center line is perpendicular to the extension direction of the channel steel slide rail 6, and each anti-retraction pull rope mechanism 7 includes a soft rope body 16 extending above the upper material support plate 5; the two soft rope bodies 16 in the same positioning mechanism are fixed with the same inner support assembly frame 17 at the opposite ends; wooden pads 8 are fixed to the upper surface of the loading support plate 5 near both ends; through the provided inner support assembly frame 17 and the two soft rope bodies 16, the two sheet metal bodies 18 can be tightly embraced against the outer wall of the inner support assembly frame 17 before welding, and the two sheet metal bodies 18 can be stably placed above the wooden pad 8, and when the welding position is about to reach the position of the soft rope body 16 at one end, the soft rope body 16 is loosened in advance, and the welding gun can continue to move forward without stopping, and before the soft rope body 16 is untied, the end has been welded for a section and has been fixed.

[0037] The upper surface of the wooden pad 8 is provided with a limiting groove that is compatible with the cross-sectional shape of the bottom edge of the sheet metal body 18, and screw holes for fixing the wooden pad 8 are provided at both ends of the loading support plate 5; by providing a wooden pad 8 with a limiting groove, not only can the edge of the sheet metal body 18 be protected from collision, but also it can assist in quickly completing the assembly of the sheet metal body 18 to be welded during loading.

[0038] Reference Figure 6-Figure 7 , side roller frames 104 are fixed on the upper surface of the fixed bracket 1 near the four corners, and the rollers 103 are rotatably connected to the corresponding side roller frames 104; limited roller frames 102 are fixed in the middle of both ends of the fixed bracket 1, and anti-dropping bearings are embedded in the opposite sides of the two limited roller frames 102 near the top ends, and the opposite ends of the two anti-dropping bearings are rotatably connected with anti-derail wheels 106; the two anti-derail wheels 106 are symmetrically distributed, and the anti-derail wheels 106 are located on the upper surface of the arc-shaped support plate 2; by providing two anti-derail wheels 106, in conjunction with four rollers 103, not only can the arc-shaped support plate 2 be pressed tightly against the four rollers 103, ensuring that it always rotates around its axis, but also preventing the arc-shaped support plate 2 from swaying axially.

[0039] Reference Figure 3, Figure 6-Figure 7 Two upwardly tilted L-shaped support seats 101 are fixed to the rear side of the fixed bracket 1, and the two ends of the slide rail 12 are respectively fixed to the top of the two L-shaped support seats 101; a worm gear rack 9 is fixed in the middle of the circumferential outer wall of the arc-shaped support plate 2, and the central angle of the worm gear rack 9 is equal to 190 degrees; a motor frame 105 is fixed to the middle of the rear side of the fixed bracket 1, and an inclined reduction motor 13 is fixed to the top of the motor frame 105, and a worm sleeve 15 meshing with the worm gear rack 9 is fixed to the end of the output shaft of the reduction motor 13; by means of the worm gear rack 9 and the worm sleeve 15 meshing with the worm gear rack 9 arranged on the outer wall of the arc-shaped support plate 2, the sheet metal body 18 that is bundled and held together can be brought close to the welding robot 10 in the best posture, thereby making welding more convenient to improve the welding quality.

[0040] Reference Figure 4 and Figure 8 The inner support assembly frame 17 includes two inner plates that are equal and welded together in parallel, and the shape of the inner plates is adapted to the internal shape of the longitudinal section when the two sheet metal bodies 18 are embraced together, and hexagonal nuts 171 are welded near the bottom ends on the opposite sides of the two inner plates; self-locking screws 161 are provided at both ends of the soft rope body 16, and the hexagonal nuts 171 are adapted to the self-locking screws 161; through the setting of the inner support assembly frame 17 and the setting with the hexagonal nuts 171, the docking and disassembly of the soft rope body 16 and the inner support assembly frame 17 can be made more convenient.

[0041] Reference Figure 4 , Figure 9-10The anti-retraction rope mechanism 7 includes a boss slider 701 slidably connected to the channel steel slide rail 6, a V-shaped bearing frame 702 with an opening upward is fixed to the top of the boss slider 701 away from the side of the loading support plate 5, and two coaxial sliding bearings 703 are fixed to the top of the V-shaped bearing frame 702, and the same sliding push rod 704 is slidably connected between the two sliding bearings 703; a shaft rod frame 710 is fixed to the bottom of the groove of the V-shaped bearing frame 702 near the edge, and a horizontal transmission rod is arranged at the top of the shaft rod frame 710, and a pinion and a driven worm wheel 705 are fixed at both ends of the transmission rod respectively; a rack slot 711 is opened on the circumferential outer wall of the sliding push rod 704 near the top of the pinion, and the rack A rack rod 712 meshing with the pinion gear is clamped in the slot 711, and a vertically arranged servo motor 709 is also fixed to the upper surface of the boss slider 701, and a worm 708 meshing with the driven worm gear 705 is fixed to the top end of the output shaft of the servo motor 709; a tension spring 706 is fixed to the top end of the sliding push rod 704, and a fixing column 707 is fixed to the end of the tension spring 706 away from the sliding push rod 704, and a threaded hole compatible with the self-locking screw 161 is opened in the middle of the fixing column 707; by means of the set back-stop pull rope mechanism 7, when it is necessary to tighten the restraint on the sheet metal body 18, it is only necessary to control the two servo motors 709 in the same group of positioning mechanisms to start.

[0042] Reference Figure 4 , Figure 9-10 The diameter of the driven worm wheel 705 is larger than the diameter of the pinion, and the circumferential outer wall of the sliding push rod 704 is also provided with an anti-twist groove. The sliding push rod 704 is inclined, and one end with the tension spring 706 is higher than the other end. By setting the sliding push rod 704 with an upward-curved structure and cooperating with the setting of the tension spring 706, the radius member body 18 of different heights can be tightened and fixed.

[0043] Reference Figure 3 , Figure 4 , Fig.11, rectangular through holes 502 are opened in the middle of the loading support plate 5 near both ends, and fixed support blocks 20 are slidably connected in the two rectangular through holes 502, and two angle steel brackets 3 parallel to each other for connecting the two are fixed between the bottom ends of the two fixed support blocks 20, and the same connecting plate 19 is fixed in the middle of the lower surface of the two angle steel brackets 3, and a jacking device 14 is fixed at the bottom end of the connecting plate 19, and a U-shaped hanger 501 is fixed at the bottom end of the jacking device 14, and the U-shaped hanger 501 includes a support plate and four hanging plates, and the top of the hanging plate is fixed to the lower surface of the loading support plate 5 by bolts; the tops of the two fixed support blocks 20 are fixed with a double-screw lifter 4; and the double-screw lifter 4 includes a main sleeve 401 with a vertical tubular structure, and the upper and lower ends of the main sleeve 401 are respectively welded with The push nuts have opposite thread directions, and the two push nuts are respectively threaded with screw rod 1 402 and screw rod 2 404, the top of screw rod 1 402 is fixed with a slot block 405, and the bottom end of screw rod 2 404 is welded and fixed to the top of the corresponding fixed support block 20; the outer wall of the main sleeve 401 is fixed with a side ear 403, and the side of the side ear 403 is provided with a horizontal jack; the bottom of the inner support assembly frame 17 is reserved with a supporting strip that engages with the slot block 405; by arranging two double-screw lifters 4 that can be lifted and lowered as a whole, in conjunction with a stop rope mechanism 7 with a tension spring 706, the sheet metal body 18 can continue to be lifted for a distance after being clamped, so that the device can exert a greater pre-tightening force on the sheet metal body 18 to avoid cracking during welding.

[0044] Reference Figure 3-Figure 4 , Figure 10-12 The jacking device 14 includes two mutually symmetrical bases 141 and 142 with the same structure, and hinge holes are reserved near both sides of the upper surface of the base 141, and the two hinge holes are respectively rotatably connected with the outer connecting rod 143 and the outer connecting rod 2 146 which are symmetrical and have an H-shaped structure as a whole; the lower surface of the base 2 142 is respectively hinged with the inner connecting rod 144 and the inner connecting rod 2 145 which are adapted to the size of the outer connecting rod 143 and the outer connecting rod 2 146; the outer connecting rod 143 and the inner connecting rod 144 are hinged with a hinge shaft 147; the inner connecting rod 2 145 and An articulated shaft 148 is hinged between the second outer connecting rod 146, and a horizontal rope hole is opened in the middle of the second articulated shaft 148. Two hydraulic push rods 150 are fixed on the side of the second articulated shaft 148 away from the first articulated shaft 147, and the end heights of the extension rods of the two hydraulic push rods 150 have the same pull plate, and a steel wire rope 149 is fixed in the middle of the pull plate. The steel wire rope 149 passes through the rope hole and is fixed to the side of the articulated shaft 147; through the set jacking device 14, when it is necessary to control the welding position to rise, it is only necessary to control the extension rods of the two hydraulic push rods 150 to extend at the same time.

[0045] A robot welding method for sheet metal processing comprises the following steps:

[0046] S1: Before use, a plurality of inner plates are cut according to the internal shape of the sheet metal body 18 after being combined, and then welded to form two inner support assembly frames 17; then the inner support assembly frames 17 are placed inside the sheet metal body 18 close to the two ends, and then the sheet metal body 18 is placed above the wooden pads 8 at the two ends of the loading pallet 5;

[0047] S2: fix one end of the two soft rope bodies 16 in the hexagonal nut 171 at the bottom of the inner support assembly frame 17, and pass the other end of the two soft rope bodies 16 upward around the sheet metal body 18 and fix them on the fixed column in the rope-stopping mechanism 7; then control the two servo motors 709 in the same group to start at the same time to tighten the two soft rope bodies 16;

[0048] S3; at the same time, the jacking device 14 is controlled to start, the bundled sheet metal body 18 is raised to a certain height, and the reduction motor 13 is controlled to start, so that the whole weld is turned to the side close to the welding robot 10; welding is performed in the best posture; before welding, the two double-screw lifters 4 can be adjusted to ensure that the two ends of the sheet metal body 18 are level.

[0049] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot welding device for sheet metal processing, comprising a fixed bracket (1) with an overall rectangular frame structure, wherein rollers (103) of equal height and parallel axis lines are arranged on the upper surface of the fixed bracket (1) near the four corners, and the upper surfaces of the four rollers (103) are provided with the same arc-shaped support plate (2); a slide rail (12) consistent with the length direction of the fixed bracket (1) is arranged on the upper rear side of the fixed bracket (1), and a linear drive seat (11) and a welding manipulator (10) are arranged on the slide rail (12), characterized in that: The two side edges of the arc-shaped support plate (2) are respectively fixed with channel steel slide rails (6) which are parallel and symmetrical to each other, and the same loading support plate (5) is fixed between the two channel steel slide rails (6); a plurality of positioning mechanisms are slidably connected to the two channel steel slide rails (6), and each positioning mechanism includes two stop-retracting pull rope mechanisms (7) which slide on the two channel steel slide rails (6) respectively; the center line of the two stop-retracting pull rope mechanisms (7) of the same group is perpendicular to the extension direction of the channel steel slide rail (6), and each stop-retracting pull rope mechanism (7) includes a soft rope body (16) extending toward the top of the loading support plate (5); the opposite ends of the two soft rope bodies (16) in the same positioning mechanism are fixed with the same inner support assembly frame (17); wooden pads (8) are fixed to the upper surface of the loading support plate (5) near both ends.

2. The robot welding equipment for sheet metal processing according to claim 1, characterized in that: The upper surface of the wooden pad (8) is provided with a limiting groove which matches the cross-sectional shape of the bottom edge of the sheet metal body (18), and screw holes for fixing the wooden pad (8) are provided at both ends of the loading support plate (5).

3. The robot welding equipment for sheet metal processing according to claim 2, characterized in that: Side roller frames (104) are fixed near the four corners of the upper surface of the fixed bracket (1), and the rollers (103) are rotatably connected to the corresponding side roller frames (104); limited roller frames (102) are fixed in the middle of both ends of the fixed bracket (1), and anti-derailing bearings are embedded near the tops on the opposite sides of the two limited roller frames (102), and anti-derailing wheels (106) are rotatably connected to the opposite ends of the two anti-derailing bearings; the two anti-derailing wheels (106) are symmetrically distributed, and the anti-derailing wheels (106) are located on the upper surface of the arc-shaped support plate (2).

4. The robot welding equipment for sheet metal processing according to claim 3, characterized in that: Two upwardly tilted L-shaped support seats (101) are fixed to the rear side of the fixed bracket (1), and the two ends of the slide rail (12) are respectively fixed to the top ends of the two L-shaped support seats (101); a worm gear rack (9) is fixed to the middle of the circumferential outer wall of the arc-shaped support plate (2), and the central angle of the worm gear rack (9) is equal to 190 degrees; a motor frame (105) is fixed to the middle of the rear side of the fixed bracket (1), and an inclined reduction motor (13) is fixed to the top end of the motor frame (105), and a worm sleeve (15) meshing with the worm gear rack (9) is fixed to the end of the output shaft of the reduction motor (13).

5. The robot welding equipment for sheet metal processing according to claim 4, characterized in that: The inner support assembly frame (17) comprises two inner plates which are congruent and welded together in parallel, and the shape of the inner plates is adapted to the internal shape of the longitudinal section when the two sheet metal bodies (18) are embraced together, and hexagonal nuts (171) are welded near the bottom ends on opposite sides of the two inner plates; self-locking screws (161) are provided at both ends of the soft rope body (16), and the hexagonal nuts (171) are adapted to the self-locking screws (161).

6. The robot welding equipment for sheet metal processing according to claim 5, characterized in that: The anti-retraction rope mechanism (7) includes a boss slider (701) slidably connected in the channel steel slide rail (6), a V-shaped bearing frame (702) with an opening facing upward is fixed to the top of the boss slider (701) away from the loading support plate (5), and two coaxial sliding bearings (703) are fixed to the top of the V-shaped bearing frame (702), and the same sliding push rod (704) is slidably connected between the two sliding bearings (703); a shaft rod frame (710) is fixed near the edge of the groove bottom of the V-shaped bearing frame (702), and a horizontal transmission rod is arranged at the top of the shaft rod frame (710), and a small gear and a driven worm wheel (705) are respectively fixed at both ends of the transmission rod; the sliding push rod A rack groove (711) is formed on the circumferential outer wall of the gear (704) near the top of the pinion gear, and a rack rod (712) meshing with the pinion gear is clamped in the rack groove (711); a vertically arranged servo motor (709) is also fixed on the upper surface of the boss slider (701), and a worm (708) meshing with the driven worm wheel (705) is fixed on the top of the output shaft of the servo motor (709); a tension spring (706) is fixed on the top of the sliding push rod (704), and a fixing column (707) is fixed on the end of the tension spring (706) away from the sliding push rod (704), and a threaded hole matching the self-locking screw (161) is formed in the middle of the fixing column (707).

7. The robot welding equipment for sheet metal processing according to claim 6, characterized in that: The diameter of the driven worm wheel (705) is larger than the diameter of the pinion gear, and the circumferential outer wall of the sliding push rod (704) is also provided with an anti-twist groove. The sliding push rod (704) is inclined, and one end with a tension spring (706) is higher than the other end.

8. The robot welding equipment for sheet metal processing according to claim 1, characterized in that: The middle of the loading support plate (5) is provided with rectangular through-holes (502) near both ends, and fixed support blocks (20) are slidably connected in the two rectangular through-holes (502). Two angle steel brackets (3) parallel to each other for connecting the two are fixed between the bottom ends of the two fixed support blocks (20). The same connecting plate (19) is fixed in the middle of the lower surface of the two angle steel brackets (3), and a jack (14) is fixed at the bottom end of the connecting plate (19). A U-shaped hanger (501) is fixed at the bottom end of the jack (14), and the U-shaped hanger (501) includes a support plate and four hanging plates, and the top ends of the hanging plates are fixed to the lower surface of the loading support plate (5) by bolts; the top ends of the two fixed support blocks (20) are fixed A twin-screw lifter (4) is fixed thereto; the twin-screw lifter (4) comprises a main sleeve (401) of a vertical tubular structure, the upper and lower ends of the main sleeve (401) are respectively welded with push nuts with opposite thread directions, and the two push nuts are respectively threaded with a first screw (402) and a second screw (404), the top end of the first screw (402) is fixed with a slot block (405), and the bottom end of the second screw (404) is welded and fixed to the top end of the corresponding fixed support block (20); a side ear (403) is fixed to the outer wall of the main sleeve (401), and a horizontal jack is opened on the side of the side ear (403); a supporting strip engaged with the slot block (405) is reserved at the bottom of the inner support assembly frame (17).

9. The robot welding equipment for sheet metal processing according to claim 8, characterized in that: The jacking device (14) comprises two mutually symmetrical bases (141) and bases (142) of identical structure, and hinge holes are reserved near both sides of the upper surface of the base (141), and the two hinge holes are respectively rotatably connected with an outer connecting rod (143) and an outer connecting rod (146) which are symmetrical to each other and have an overall H-shaped structure; the lower surface of the base (142) is respectively hinged with an inner connecting rod (144) and an inner connecting rod (145) whose sizes are matched with the outer connecting rod (143) and the outer connecting rod (146); the outer connecting rod (143) and the inner connecting rod (146) are respectively hinged. 144) is hinged with an articulated shaft one (147); an articulated shaft two (148) is hinged between the inner connecting rod two (145) and the outer connecting rod two (146), and a transverse rope hole is opened in the middle of the articulated shaft two (148), and two hydraulic push rods (150) are fixed on the side of the articulated shaft two (148) away from the articulated shaft one (147), and the end heights of the extension rods of the two hydraulic push rods (150) are the same pull plate, and a steel wire rope (149) is fixed in the middle of the pull plate, and the steel wire rope (149) passes through the rope hole and is fixed to the side of the articulated shaft one (147).

10. A robot welding method for sheet metal processing, comprising the robot welding device for sheet metal processing as claimed in claim 9, characterized in that: The following steps are involved: S1: Before use, a plurality of inner plates are cut according to the internal shape of the sheet metal body (18) after being assembled, and then welded to form two inner support assembly frames (17); then the inner support assembly frames (17) are placed inside the sheet metal body (18) that is held together and close to the two ends, and then the sheet metal body (18) is placed above the wooden pads (8) at the two ends of the loading pallet (5); S2: fix one end of the two soft rope bodies (16) in the hexagonal nuts (171) at the bottom of the inner support assembly frame (17), and pass the other end of the two soft rope bodies (16) upward around the sheet metal body (18) and fix them on the fixed column in the rope-stopping mechanism (7); then control the two servo motors (709) of the same group to start simultaneously to tighten the two soft rope bodies (16); S3; at the same time, the jacking device (14) is controlled to start, the bundled sheet metal body (18) is raised to a certain height, and the reduction motor (13) is controlled to start, so that the entire weld is turned to the side close to the welding manipulator (10); welding is performed in the best posture; before welding, the two ends of the sheet metal body (18) can be ensured to be level by adjusting the two double-screw lifters (4).

Images