Robot welding equipment and method for sheet metal processing

Abstract

The present invention belongs to the technical field of sheet metal welding, and in particular to a robotic welding device and method for sheet metal processing. In view of the problem that the welding positioning equipment in the prior art will block the continuous welding during the welding process, the following scheme is proposed, including a fixed bracket with an overall rectangular frame structure, wherein the upper surface of the fixed bracket is provided with rollers of equal height and parallel axis lines near the four corners, 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 provided on the upper rear side of the fixed bracket, and a linear drive seat and a welding manipulator are provided on the slide rail. The present invention can hold two sheet metal bodies tightly against the outer wall of the inner support assembly before welding, and stably support the two sheet metal bodies above 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.

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 out. We cannot live without sheet metal parts everywhere 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 the 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, that is, 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 can easily lead 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] To address the technical problem that the welding positioning equipment in the prior art may block the welding process, the present invention adopts the following technical solutions:

[0005] A robotic welding device for sheet metal processing, comprising a fixed bracket with an overall rectangular frame structure, wherein the upper surface of the fixed bracket is provided with rollers of equal height and parallel axis lines near the four corners, 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 provided on the upper rear side of the fixed bracket, and a linear drive seat and a welding manipulator are provided on the slide rail, and parallel and symmetrical channel steel slide rails are respectively fixed to the edges of both sides of the arc-shaped support plate, and a fixed groove is provided between the two channel steel slide rails. There is a same loading pallet; multiple groups of positioning mechanisms are slidably connected to the two channel steel slide rails, and each group of positioning mechanisms includes two anti-retraction rope mechanisms sliding on the two channel steel slide rails respectively; the center line of the two anti-retraction rope mechanisms in the same group is perpendicular to the extension direction of the channel steel slide rail, and each anti-retraction rope 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 internal support combination 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 adapted to 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 support plate; it 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 bodies to be welded during loading.

[0007] Furthermore, side roller frames are fixed near the four corners on the upper surface of the fixed bracket, and the rollers are rotatably connected to the corresponding side roller frames; limiting roller frames are fixed to the middle parts of both ends of the fixed bracket, and anti-slip bearings are embedded on 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 on 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 upward-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 on the opposite sides of the two inner plates near the bottom ends; self-locking screws are provided at both ends of the soft rope body, and the hexagonal nuts are adapted to the self-locking screws; this can make the docking and disassembly of the soft rope body and the inner support assembly frame more convenient.

[0010] Furthermore, the anti-retraction rope mechanism includes a boss slider slidably connected to the channel steel slide rail, and a V-shaped bearing frame with an upward opening 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; a shaft 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 provided at the top of the shaft rod frame, and a small gear and a driven worm gear are fixed at both ends of the transmission rod respectively; the circumferential outer wall of the sliding push rod is close to the small gear A rack slot is provided above the slider, 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 end of the output shaft of the servo motor; a tension spring is fixed to the top end 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 the circumferential outer wall of the sliding push rod is also provided with an anti-twisting groove. The sliding push rod is inclined, and one end with a tension spring is higher than the other end. In conjunction 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 are fixed between the bottom ends of the two fixed support blocks for connecting the two, and the same connecting plate is fixed to the middle of the lower surface of the two angle steel brackets, and a jack is fixed to the bottom end of the connecting plate, and a U-shaped hanger is fixed to 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 the fixed support block; and the double-screw lifter includes a main sleeve with a vertical tubular structure, and the upper and lower ends of the main sleeve are respectively welded with push nuts with opposite thread directions, and the two push nuts are respectively threaded with screw one and screw two, and the top of screw one is fixed with a slot block, and the bottom end of screw two is welded and fixed to the top of the corresponding fixed support block; the outer wall of the main sleeve is fixed with a side ear, and the side of the side ear is provided with a horizontal jack; the bottom of the inner support assembly frame is reserved with a supporting strip that engages with the slot block.

[0013] Furthermore, the jacking device includes two bases 1 and 2 with 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 to each other 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 horizontal rope hole is opened in the middle of the articulated shaft 2, and 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 two hydraulic jack extension rods 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 lifting of the welding position, 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 it is assembled, and then weld them to form two inner support assembly frames; then place the inner support assembly frames inside the embraced sheet metal body near 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: One end of the two flexible rope bodies is fixed to the hexagonal nut at the bottom end of the inner support assembly frame, and the other end is passed upward around the sheet metal body and fixed to the fixed column in the rope-pulling mechanism; then the two servo motors in the same group are controlled to start simultaneously to tighten the two flexible rope bodies;

[0017] S3; At the same time, the jack is controlled to start, and the bundled sheet metal body is raised to a certain height, and the reduction motor is controlled to start, so that the entire weld is turned to the side close to the welding robot; 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 against the outer wall of the inner support assembly frame before welding, and the two sheet metal bodies can be firmly placed on 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 robot 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 coordinating 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, avoiding cracking during welding. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0024] Figure 3 This is a side view of a robotic welding device for sheet metal processing proposed by the present invention during loading;

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

[0026] Figure 5 This is a side view of a robotic 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 the arc-shaped support plate and fixed bracket of a sheet metal processing robot welding equipment proposed by the present invention;

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

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

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

[0032] Figure 11 This is a schematic diagram of the overall installation position structure of a jack in a robotic welding device for sheet metal processing proposed by the present invention;

[0033] Figure 12 This is a schematic diagram of the exploded structure of a lifter in a robotic 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 support plate; 3. Angle steel bracket; 4. Twin screw lifter; 401. Main sleeve; 402. Screw 1; 403. Side ear; 404. Screw 2; 405. Slot block; 5. Loading support plate; 501. U-shaped hanger; 502. Rectangular perforation; 6. Channel steel slide rail; 7. Retraction rope mechanism; 701. Boss slider; 702. V-shaped bearing frame; 703. Sliding bearing; 704. Sliding push rod; 705. Driven worm gear; 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, articulated shaft one; 148, articulated shaft two; 149, wire rope; 150, hydraulic jack; 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, fixing support block. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described 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 1-12, a robot welding equipment for sheet metal processing, including a fixed bracket 1 with an overall rectangular frame structure, the upper surface of the fixed bracket 1 is provided with rollers 103 of equal height and parallel axis near the four corners, and the upper surface of the four rollers 103 is provided with the same arc-shaped support plate 2; a slide rail 12 is provided on the upper rear side of the fixed bracket 1 in the same length direction as the fixed bracket 1, and a linear drive seat 11 and a welding manipulator 10 are provided on the slide rail 12, parallel and symmetrical channel steel slide rails 6 are respectively fixed on the two side edges 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 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 opposite ends; the upper surface of the loading support plate 5 is fixed with wooden pads 8 near both ends; through the provision of the 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 firmly placed above the wooden pad 8. 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. At this time, 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 adapted to 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 it can also assist in quickly completing the assembly of the sheet metal body 18 to be welded during loading.

[0038] Reference Figure 6-Figure 7 , the upper surface of the fixed bracket 1 is fixed with side roller frames 104 near the four corners, and the rollers 103 are rotatably connected to the corresponding side roller frames 104; the middle part of both ends of the fixed bracket 1 is fixed with limited roller frames 102, and the two side limit roller frames 102 opposite to each other are embedded with anti-slip bearings near the top, and the opposite end of the two anti-slip bearings is 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 supporting plate 2; by the two anti-derail wheels 106 that are provided, the four rollers 103 are cooperated to not only press the arc supporting plate 2 tightly on the four rollers 103, ensure that it rotates around its axis all the time, and prevent the arc supporting plate 2 from swaying axially.

[0039] Reference Figure 3、 Figure 6-Figure 7 Two upward-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 the end of the output shaft of the reduction motor 13 is sleeved and fixed with a worm sleeve 15 that meshes with the worm gear rack 9; by means of the worm gear rack 9 and the worm sleeve 15 that meshes with it 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 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 18 are embraced together, and hexagonal nuts 171 are welded on the opposite sides of the two inner plates near the bottom ends; 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, and a V-shaped bearing frame 702 with an upward opening is fixed on the side of the top of the boss slider 701 away from the loading support plate 5, and two coaxial sliding bearings 703 are fixed on 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 provided at the top of the shaft rod frame 710, and a small gear and a driven worm gear 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 small gear, and the rack A rack rod 712 meshing with the pinion 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 of the output shaft of the servo motor 709; a tension spring 706 is fixed to the top of the sliding push rod 704, and a fixed column 707 is fixed to the end of the tension spring 706 away from the sliding push rod 704, and a threaded hole is provided in the middle of the fixed column 707 that is compatible with the self-locking screw 161; through the set back-stop 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 gear 705 is larger than the diameter of the pinion, and the outer circumferential wall of the sliding push rod 704 is also provided with an anti-twisting 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 、 Figure 11, a rectangular through-hole 502 is opened in the middle of the loading support plate 5 near both ends, and a fixed support block 20 is 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 to the middle of the lower surface of the two angle steel brackets 3, and a jacking device 14 is fixed to the bottom end of the connecting plate 19, and a U-shaped hanger 501 is fixed to 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; a twin-screw lifter 4 is fixed to the top of the two fixed support blocks 20; and the twin-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 welded respectively. The push nuts have opposite thread directions, and screw one 402 and screw two 404 are respectively screwed in the two push nuts, the top of screw one 402 is fixed with a slot block 405, and the bottom end of screw two 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 setting two double-screw lifters 4 that can be lifted and lowered as a whole, in conjunction with the anti-retreat pull 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, thereby avoiding 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. The two hinge holes are respectively connected to the outer connecting rod 143 and the outer connecting rod 2 146 which are symmetrical and have an H-shaped structure. 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. A hinge shaft 147 is hinged between the outer connecting rod 143 and the inner connecting rod 144. The inner connecting rod 2 145 and A hinge shaft 2 148 is hinged between the outer connecting rod 2 146, and a horizontal rope hole is opened in the middle of the hinge shaft 2 148. Two hydraulic push rods 150 are fixed on the side of the hinge shaft 2 148 away from the hinge shaft 1 147, 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 hinge shaft 147; through the set jack 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, cut multiple inner plates according to the internal shape of the sheet metal body 18 after assembling, and then weld them to form two inner support assembly frames 17; then place the inner support assembly frames 17 inside the embraced sheet metal body 18 near the two ends, and then place the sheet metal body 18 on top of the wooden pads 8 at both ends of the loading pallet 5;

[0047] S2: One end of each of the two cord bodies 16 is fixed to the hexagonal nut 171 at the bottom end of the inner support assembly frame 17, and the other end is passed upward through the sheet metal body 18 and fixed to the fixed column in the rope-retaining mechanism 7; then the two servo motors 709 in the same group are controlled to start simultaneously to tighten the two cord 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 entire weld is turned to the side close to the welding robot 10; welding is performed in the best posture; before welding, the two twin-screw lifters 4 can be adjusted to ensure that both ends of the sheet metal body 18 are level.

[0049] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A robotic welding device for sheet metal processing, comprising a fixed bracket (1) having an overall rectangular frame structure, wherein rollers (103) of equal height and parallel axis lines are provided 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 a same arc-shaped support plate (2); a slide rail (12) in the same length direction as the fixed bracket (1) is provided above the rear side of the fixed bracket (1), and a linear drive seat (11) and a welding robot (10) are provided on the slide rail (12), characterized in that: The edges of both sides of the arc-shaped support plate (2) are respectively fixed with channel steel slide rails (6) that are parallel and symmetrical to each other, and a 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 rope pull mechanisms (7) that slide on the two channel steel slide rails (6) respectively; the center line of the two stop rope pull mechanisms (7) in the same group is perpendicular to the extension direction of the channel steel slide rail (6), and each stop rope pull mechanism (7) includes a soft rope body (16) extending toward the top of the loading support plate (5); the two soft rope bodies (16) in the same positioning mechanism are fixed with a same inner support assembly frame (17) at opposite ends; wooden pads (8) are fixed to the upper surface of the loading support plate (5) near both ends; 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), 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 to the middle of the lower surface of the two angle steel brackets (3), and a jack (14) is fixed to the bottom end of the connecting plate (19), and a U-shaped hanger (501) is fixed to the bottom end of the jack (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 top ends of the two fixed support blocks (20) are both A twin-screw lifter (4) is fixed; the twin-screw lifter (4) includes a main sleeve (401) of a vertical tubular structure, and 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 screwed with screw one (402) and screw two (404), the top end of screw one (402) is fixed with a slot block (405), and the bottom end of screw two (404) is welded and fixed to the top end 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).

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 that 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 to 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); limiting roller frames (102) are fixed to the middle of both ends of the fixed bracket (1), and anti-derailment bearings are embedded near the tops on the opposite sides of the two limiting roller frames (102), and anti-derailment wheels (106) are rotatably connected to the opposite ends of the two anti-derailment bearings; the two anti-derailment wheels (106) are symmetrically distributed, and the anti-derailment 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 at 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) that meshes 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) includes two inner plates that are congruent and parallel to each other and are 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 (18) are embraced together. Hexagonal nuts (171) are welded to the opposite sides of the two inner plates near the bottom ends; 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 robotic 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 to the channel steel slide rail (6), a V-shaped bearing frame (702) with an upward opening is fixed on the top of the boss slider (701) away from the loading support plate (5), and two coaxial sliding bearings (703) are fixed on 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 provided on the top of the shaft rod frame (710), and a small gear and a driven worm wheel (705) are fixed at both ends of the transmission rod; the sliding push rod A rack slot (711) is provided on the outer circumferential wall of the (704) near the top of the pinion, and a rack rod (712) meshing with the pinion is engaged in the rack slot (711). 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 wheel (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 matching the self-locking screw (161) is provided in the middle of the fixing column (707).

7. The robotic 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, and an anti-twist groove is formed on the circumferential outer wall of the sliding push rod (704). The sliding push rod (704) is inclined, and one end of the tension spring (706) is higher than the other end.

8. The robotic welding equipment for sheet metal processing according to claim 1, characterized in that: The jacking device (14) comprises two mutually symmetrical bases (141) and bases (142) with identical structures, and hinge holes are reserved near both sides of the upper surface of the base (141), and the two hinge holes are respectively connected to the outer connecting rod (143) and the outer connecting rod (146) which are symmetrical to each other and have an H-shaped structure as a whole; the lower surface of the base (142) is respectively hinged to the inner connecting rod (144) and the inner connecting rod (145) which are adapted to the size of 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 a hinge shaft one (147); between the inner connecting rod two (145) and the outer connecting rod two (146), a hinge shaft two (148) is hinged, and a horizontal rope hole is opened in the middle of the hinge shaft two (148), and two hydraulic push rods (150) are fixed on the side of the hinge shaft two (148) away from the hinge shaft one (147), and the ends of the extension rods of the two hydraulic push rods (150) have the same pull plate at the same height, 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 hinge shaft one (147).

9. A robotic welding method for sheet metal processing, comprising the robotic welding device for sheet metal processing according to claim 8, 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 combined, and then two inner support assembly frames (17) are welded together; the inner support assembly frames (17) are then placed inside the sheet metal body (18) near the two ends, and then the sheet metal body (18) is placed above the wooden pads (8) at both ends of the loading pallet (5); S2: One end of each of the two soft rope bodies (16) is fixed to the hexagonal nut (171) at the bottom end of the inner support assembly frame (17), and the other end is passed upward around the sheet metal body (18) and fixed to the fixed column in the rope-stopping mechanism (7); then the two servo motors (709) in the same group are controlled to start simultaneously to tighten the two soft rope bodies (16); S3; At the same time, the jacking device (14) is controlled to start, and 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 twin-screw lifters (4).

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