Welding machine for L-shaped parts

Abstract

The invention discloses an L-shaped part welding machine, an L-shaped part comprises a sheet body, one side of the sheet body is provided with a folded edge, the welding machine comprises a jig platform, a secondary positioning mechanism, a feeding mechanism, a welding mechanism, a multi-axis transferring mechanical arm and a material blocking mechanism, and the jig platform is suitable for loading a main body workpiece; the secondary positioning mechanism is used for performing secondary positioning on the L-shaped workpiece and keeping the L-shaped workpiece in a vertical state; the feeding mechanism is arranged close to the secondary positioning mechanism and used for transferring the single L-shaped pieces into the secondary positioning mechanism. The welding mechanism is used for welding the folded edge of the L-shaped part with a preset area on the main body workpiece; the multi-axis transfer manipulator is used for transferring the L-shaped part positioned in the secondary positioning mechanism to the jig; the material blocking mechanism is used for blocking the outer side of the sheet body in the welding process so that the L-shaped piece can be kept in a stable vertical state. According to the L-shaped part welding machine, full automation of the welding process of the L-shaped part is achieved, and the welding efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to welding equipment, in particular to an L-shaped piece welding machine. Background Art

[0002] As electronic products continue to develop in the direction of being lighter, thinner and smaller, the components and structural parts inside electronic devices are also becoming increasingly miniaturized. Among many electronic devices, mobile phones are the most typical portable electronic products, and their internal structure precision and assembly requirements are particularly prominent. In the manufacturing process of mobile phones, it is often necessary to weld various tiny metal structural parts to the motherboard or other functional components, among which the welding of L-shaped metal parts is a representative difficulty.

[0003] For example, due to the extremely small size of L-shaped parts, it is difficult to accurately position them on the automated production line, and positional deviation is prone to occur; in addition, the two parts of the L-shaped structure are in different planes, which increases the difficulty of positioning and welding. These technical difficulties affect the automation level and production efficiency of electronic product manufacturing. Therefore, how to achieve efficient and reliable automated welding of L-shaped metal parts has become a technical problem that needs to be solved in the field of electronic product manufacturing. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the purpose of the present invention is to provide an L-shaped piece welding machine.

[0005] To achieve the above object, according to an L-shaped member welding machine of an embodiment of the present invention, the L-shaped member includes a sheet body, one side of the sheet body has a folded edge, and the L-shaped member welding machine includes:

[0006] The fixture platform is suitable for loading the main workpiece;

[0007] A secondary positioning mechanism, used for performing secondary positioning on the L-shaped workpiece and keeping it in a vertical state, in which the sheet body is kept vertical and the folded edge is kept horizontal;

[0008] A feeding mechanism, the feeding mechanism is arranged adjacent to the secondary positioning mechanism, and is used to transfer the single L-shaped piece to the secondary positioning mechanism, so as to perform secondary positioning on the L-shaped piece through the secondary positioning mechanism;

[0009] A welding mechanism, which is disposed above the jig platform and is used to weld the folded edge of the L-shaped member to a predetermined area on the main workpiece, so that the L-shaped member is welded to the main workpiece;

[0010] A multi-axis transfer robot, which is disposed adjacent to the secondary positioning mechanism and the fixture platform and is used to transfer the L-shaped piece after being positioned in the secondary positioning mechanism to the fixture and keep it at a predetermined position on the main workpiece;

[0011] A material blocking mechanism is arranged adjacent to the jig platform and is used to block the outer side of the sheet during the welding process so that the L-shaped member maintains a stable vertical state.

[0012] The L-shaped piece welding machine provided according to the embodiment of the present invention realizes the fully automated operation of the L-shaped piece welding process. The feeding mechanism transfers the L-shaped piece to the secondary positioning mechanism, and the L-shaped piece is secondarily positioned by the secondary positioning mechanism to ensure that the L-shaped piece maintains an ideal vertical state and a correct position. The multi-axis transfer manipulator can accurately transfer the L-shaped piece from the secondary positioning mechanism to the fixture platform; and during the welding process, the material blocking mechanism is used to resist the outside of the sheet body, effectively preventing the L-shaped piece from tilting or deforming during the welding process, thereby ensuring the stability of the welding quality. This multi-mechanism coordinated cooperation not only significantly improves the automation and work efficiency of the L-shaped piece welding, but also effectively solves the welding quality problems caused by the special shape of the L-shaped piece through precise positioning and stable support, thereby ensuring the consistency and reliability of the welding products.

[0013] In addition, the L-shaped piece welding machine according to the above embodiment of the present invention may also have the following additional technical features:

[0014] According to one embodiment of the present invention, the material blocking mechanism comprises a three-axis motion module and a stopper, wherein the three-axis motion module can move in the directions of the X-axis, the Y-axis and the Z-axis, and the stopper is arranged on the three-axis motion module and moves under the drive of the three-axis motion module;

[0015] The stopper has a finger portion suitable for stopping the outer side of the sheet body, and the finger portion is provided with a clearance opening for avoiding the multi-axis transfer robot.

[0016] According to one embodiment of the present invention, the L-shaped piece welding machine further includes a feeding mechanism, and the feeding mechanism includes:

[0017] A material box, the material box is used to load a material tray, one side of the material box is opened to form an outlet, and a grabbing structure is provided on one end of the material tray close to the outlet;

[0018] A transfer seat, the transfer seat is arranged side by side with the material box in the Y-axis direction, and the transfer seat has a loading slot suitable for loading the supply tray;

[0019] A first Y-axis motion module, which is connected to the transfer base and is used to drive the transfer base to move along the Y-axis direction to approach or move away from the material box;

[0020] A clamping claw mechanism, used for grabbing the grabbing structure when the transfer base is close to the material box;

[0021] The second Y-axis motion module is arranged on the first Y-axis motion module and is connected to the clamping mechanism, so as to drive the clamping mechanism to move along the Y-axis direction, so as to move the material tray in the material box into the loading slot of the transfer base through the clamping mechanism.

[0022] According to one embodiment of the present invention, a layer cavity is provided in the material box for stacking a plurality of material trays;

[0023] The feeding mechanism also includes a lifting platform, and the material box is arranged on the lifting platform, so that the material box can be driven to rise and fall by the lifting platform, so that one of the multiple material trays is horizontally aligned with the clamping claw mechanism.

[0024] According to one embodiment of the present invention, the feeding mechanism comprises:

[0025] A feeding robot, the feeding robot comprising a dual-axis motion module, a rotary cylinder and a suction head, the dual-axis motion module being capable of moving in the X-axis and the Z-axis, the rotary cylinder being arranged at the execution end of the dual-axis motion module; the suction head being mounted on the rotary cylinder, and being capable of taking out a single piece of the L-shaped piece from the transfer seat under the drive of the dual-axis motion module, and being driven by the rotary cylinder to rotate 90° so as to switch the L-shaped piece from a horizontal state to a vertical state;

[0026] The material picking camera is arranged on the dual-axis motion module and can be moved to the photo-taking position above the transfer seat under the drive of the dual-axis motion module.

[0027] According to one embodiment of the present invention, the secondary positioning mechanism comprises:

[0028] A positioning platform, the positioning platform having a first positioning side surface and a second positioning side surface intersecting with the first positioning side surface;

[0029] A first positioning cylinder, wherein the execution end of the first positioning cylinder is connected to a first positioning block, the first positioning block is located outside the first positioning side surface and defines a gap suitable for the sheet body to be inserted, so as to position the sheet body;

[0030] A second positioning cylinder, wherein the execution end of the second positioning cylinder is connected to a second positioning block, and the second positioning block is located outside the second positioning side surface, and is used for pushing the end of the sheet body to be flush with the second positioning side surface.

[0031] According to one embodiment of the present invention, the welding mechanism comprises:

[0032] A multi-axis motion module, wherein the multi-axis motion module can move in at least two axes: an X-axis, a Y-axis, and a Z-axis;

[0033] A visual positioning camera, which is arranged at the execution end of the multi-axis motion module and is used to visually locate the welding position on the fixture platform;

[0034] A welding module is arranged at the execution end of the multi-axis motion module and is used to weld the L-shaped part and the main workpiece.

[0035] According to one embodiment of the present invention, the jig platform includes a third Y-axis motion module, a jig seat and a clamping mechanism, the jig seat is arranged on the third Y-axis motion module, and the jig seat has a loading space suitable for loading the main workpiece, and the clamping mechanism is arranged around the jig seat to clamp and fix the main workpiece on the jig seat.

[0036] According to one embodiment of the present invention, the multi-axis transfer robot comprises:

[0037] Multi-joint manipulator;

[0038] The gripping mechanism includes a base, a fixed jaw, a movable jaw and a push rod cylinder. One end of the base is fixed to the execution end of the multi-joint manipulator, the fixed jaw is installed on the other end of the base, the movable jaw is pivoted to the fixed jaw and is located on the outside of the fixed jaw, and the push rod cylinder is arranged on the base to push the movable jaw to rotate and close or open with the fixed jaw.

[0039] According to one embodiment of the present invention, a drawer member slidable along the Y-axis is provided on the lifting platform, and the material box is detachably arranged on the drawer member.

[0040] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0042] Figure 1 1 is a schematic structural diagram of an L-shaped piece welding machine according to an embodiment of the present invention from one viewing angle;

[0043] Figure 2 is a structural schematic diagram of the L-shaped piece welding machine from another perspective of an embodiment of the present invention;

[0044] Figure 3 1 is a schematic structural diagram of a feeding mechanism in an L-shaped piece welding machine according to an embodiment of the present invention;

[0045] Figure 4 is a side view of a feeding mechanism in an L-shaped piece welding machine according to an embodiment of the present invention;

[0046] Figure 5 1 is a schematic structural diagram of a material blocking mechanism in an L-shaped piece welding machine according to an embodiment of the present invention;

[0047] Figure 6 1 is a schematic diagram of the structure of a multi-axis transfer manipulator in an L-shaped piece welding machine according to an embodiment of the present invention;

[0048] Figure 7 yes Figure 6 A partial enlarged view of the middle A;

[0049] Figure 8 1 is a schematic structural diagram of a welding mechanism in an L-shaped piece welding machine according to an embodiment of the present invention;

[0050] Fig. 9 It is a structural schematic diagram of a feeding mechanism in an L-shaped piece welding machine according to an embodiment of the present invention;

[0051] Fig.10 It is a structural schematic diagram of the secondary positioning mechanism in the L-shaped piece welding machine according to an embodiment of the present invention.

[0052] Reference numerals:

[0053] 10. Jig platform;

[0054] 20. Secondary positioning mechanism;

[0055] 201, positioning platform;

[0056] 202, first positioning cylinder;

[0057] 2021, first positioning block;

[0058] 203, second positioning cylinder;

[0059] 2031, second positioning block;

[0060] 204, X-axis motion module;

[0061] S201, first positioning side;

[0062] S202, second positioning side;

[0063] 30. Feeding mechanism;

[0064] 301, dual-axis motion module;

[0065] 302, rotary cylinder;

[0066] 303, suction head;

[0067] 304, material taking camera;

[0068] 40. Welding mechanism;

[0069] 401. Multi-axis motion mechanism;

[0070] 402, welding module;

[0071] 403, visual positioning camera;

[0072] 50. Multi-axis transfer robot;

[0073] 501. Multi-joint manipulator;

[0074] 502. Grasping mechanism;

[0075] 5021, base;

[0076] 5022, fixed jaws;

[0077] 5023, movable jaws;

[0078] 5024, push rod cylinder;

[0079] 60. Material blocking mechanism;

[0080] 601, three-axis motion module;

[0081] 602, stopper;

[0082] 602a, finger;

[0083] H60, avoid empty spaces;

[0084] 70. Feeding mechanism;

[0085] 701, material box;

[0086] 702, transfer seat;

[0087] 703, first Y-axis motion module;

[0088] 704, clamping mechanism;

[0089] 7041, clamping cylinder;

[0090] 7042, jaw member;

[0091] 705, second Y-axis motion module;

[0092] 706. Lifting platform;

[0093] 707, material tray;

[0094] 707a, T-slot;

[0095] 708. Drawer pieces.

[0096] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0097] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0098] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “circumferential”, “radial”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0099] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0100] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0101] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0102] The L-shaped piece welding machine according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0103] Reference Figures 1 to 10 As shown, according to an L-shaped part welding machine provided in an embodiment of the present invention, the L-shaped part includes a sheet body, one side of the sheet body has a folded edge, and the L-shaped part welding machine includes a fixture platform 10, a secondary positioning mechanism 20, a loading mechanism 30, a welding mechanism 40, a multi-axis transfer robot 50 and a material blocking mechanism 60.

[0104] Specifically, the fixture platform 10 is suitable for loading the main workpiece, that is, the main workpiece can be loaded and fixed on the fixture platform 10. Exemplarily, the fixture platform 10 includes a work surface, and a positioning structure is provided on the work surface for cooperating and fixing the main workpiece.

[0105] The secondary positioning mechanism 20 is used to perform secondary positioning on the L-shaped workpiece and keep it in a vertical state. In the vertical state, the sheet body remains vertical and the folded edge remains horizontal. Since the L-shaped part needs to be welded to the main workpiece in a vertical state during welding, specifically, the folded edge is welded horizontally to the main workpiece. Therefore, when transferring the L-shaped workpiece to the main workpiece, it is necessary to ensure that the L-shaped part remains in a vertical state, and since the size of the L-shaped part is small and the size of the folded edge is even smaller, the grasping of the L-shaped part needs to be more precise. By positioning the L-shaped part through the secondary positioning mechanism 20 and keeping it in a vertical state, it can be ensured that the multi-axis transfer robot 50 can accurately grasp the L-shaped part.

[0106] The feeding mechanism 30 is disposed adjacent to the secondary positioning mechanism 20, and is used to transfer the single L-shaped piece to the secondary positioning mechanism 20, so as to perform secondary positioning on the L-shaped piece through the secondary positioning mechanism 20. That is, the feeding mechanism 30 can be used to transfer the single L-shaped piece to the secondary positioning mechanism 20. For example, in actual application, a plurality of L-shaped pieces are placed in a predetermined state in the material tray 707, and the feeding mechanism 30 can take out one L-shaped piece from the material tray 707 each time and transfer it to the secondary positioning mechanism 20, so as to perform secondary positioning on the L-shaped piece through the secondary positioning mechanism 20.

[0107] The welding mechanism 40 is disposed above the jig platform 10 and is used to weld the folded edge of the L-shaped piece to a predetermined area on the main workpiece so that the L-shaped piece is welded to the main workpiece. Preferably, the welding mechanism 40 can adopt a laser welding method, which has the advantages of fast welding speed and small heat-affected zone.

[0108] The multi-axis transfer robot 50 is disposed adjacent to the secondary positioning mechanism 20 and the fixture platform 10, and is used to transfer the L-shaped piece after being positioned in the secondary positioning mechanism 20 to the fixture, and keep it at a predetermined position on the main workpiece. After the secondary positioning mechanism 20 performs secondary positioning on the L-shaped piece, the multi-axis coordinated movement of the multi-axis transfer robot 50 can smoothly transfer the L-shaped piece in the secondary positioning mechanism 20 to a predetermined position on the fixture platform 10, and keep it in a vertical state.

[0109] The material blocking mechanism 60 is arranged adjacent to the jig platform 10, and is used to block the outer side of the sheet during the welding process, so that the L-shaped part can maintain a stable vertical state. On the one hand, the multi-axis transfer robot 50 transfers the L-shaped part to the main workpiece on the jig platform 10, and keeps the folded edge of the L-shaped part in contact with the welding area on the main workpiece. On the other hand, the material blocking mechanism 60 is used to block the outer side of the folded edge of the L-shaped part, so that the L-shaped part remains stable. In this state, the folded edge of the L-shaped part is welded by the welding mechanism 40, so that the L-shaped part is welded and fixed to the main workpiece.

[0110] During the working process, first, the feeding mechanism 30 conveys the single L-shaped piece to the secondary positioning mechanism 20, and uses the secondary positioning mechanism 20 to perform secondary positioning on the L-shaped piece and keep the L-shaped piece in a vertical state; then, the multi-axis transfer manipulator 50 clamps the positioned L-shaped piece and transfers it to a predetermined position on the fixture platform 10; then, the blocking mechanism 60 moves into position, which abuts against the outer side of the L-shaped piece; finally, the welding mechanism 40 descends to an appropriate position to weld the folded edge of the L-shaped piece to the predetermined area of ​​the main workpiece. After the welding is completed, each mechanism is reset to complete the welding.

[0111] The L-shaped piece welding machine provided according to the embodiment of the present invention realizes the fully automated operation of the L-shaped piece welding process. The feeding mechanism 30 transfers the L-shaped piece to the secondary positioning mechanism 20, and the L-shaped piece is secondary positioned by the secondary positioning mechanism 20 to ensure that the L-shaped piece maintains an ideal vertical state and a correct position. The multi-axis transfer manipulator 50 can accurately transfer the L-shaped piece from the secondary positioning mechanism 20 to the fixture platform 10; and during the welding process, the blocking mechanism 60 is used to resist the outside of the sheet body, effectively preventing the L-shaped piece from tilting or deforming during the welding process, thereby ensuring the stability of the welding quality. This multi-mechanism coordinated cooperation not only significantly improves the automation and work efficiency of the L-shaped piece welding, but also effectively solves the welding quality problems caused by the special shape of the L-shaped piece through precise positioning and stable support, thereby ensuring the consistency and reliability of the welding products.

[0112] Reference Figure 5 As shown, in one embodiment of the present invention, the material blocking mechanism 60 includes a three-axis motion module 601 and a stopper 602. The three-axis motion module 601 can move in the directions of the X-axis, the Y-axis, and the Z-axis, and can achieve precise movement in three-dimensional space.

[0113] The stopper 602 is provided on the three-axis motion module 601 and moves under the drive of the three-axis motion module 601. The stopper 602 has a finger portion 602a suitable for stopping the outer side of the sheet body, and the finger portion 602a is provided with a clearance opening H60 for avoiding the multi-axis transfer robot 50. Exemplarily, the clearance opening H60 is a U-shaped opening structure, and the width and depth of the opening are determined according to the size of the end of the multi-axis transfer robot 50, ensuring that the multi-axis transfer robot 50 will not interfere with the finger portion 602a when clamping the L-shaped piece.

[0114] In actual application, when the multi-axis transfer robot 50 transfers the L-shaped part to the fixture platform 10, the three-axis motion module 601 drives the stopper 602 to move to a predetermined position, so that the inner side of the finger 602a is close to the outer side of the sheet. Due to the provision of the air-avoidance H60, the end effector of the multi-axis transfer robot 50 can smoothly pass through the air-avoidance H60 to complete the placement and holding of the L-shaped part. During the welding process, the stopper 602 and the multi-axis transfer robot 50 remain stationary to ensure that the L-shaped part always remains in a vertical state.

[0115] This embodiment adopts a three-axis motion module 601 and a stopper 602 with an air-avoiding opening H60, which not only realizes the precise positioning and blocking function of the material blocking mechanism 60, but also solves the interference problem between the stopper 602 and the multi-axis transfer manipulator 50. This design not only ensures the stability of the L-shaped part during the welding process, but also improves the continuity and efficiency of the entire welding process. At the same time, the three-axis motion module 601 enables the material blocking mechanism 60 to cooperate with other mechanisms, ensuring reliable coordinated movement in a limited space, and ensuring the orderly and stable progress of the entire welding process.

[0116] Reference Figures 1 to 4 As shown, in one embodiment of the present invention, the L-shaped piece welding machine also includes a feeding mechanism 70, and the feeding mechanism 70 includes a material box 701, a transfer seat 702, a first Y-axis motion module 703, a clamping mechanism 704 and a second Y-axis motion module 705.

[0117] The material box 701 is used to load the material tray 707, and the L-shaped parts to be welded are placed in a predetermined arrangement in the material tray 707. One side of the material box 701 is opened to form an outlet, and the outlet can slide out the material tray 707. A gripping structure is provided on one end of the material tray 707 near the outlet, which is used to cooperate with the clamping mechanism 704 to grip the material tray 707, so that the clamping mechanism 704 can grip the material tray 707.

[0118] The transfer base 702 is arranged side by side with the material box 701 in the Y-axis direction, and the two can maintain a certain distance. The transfer base 702 has a loading slot suitable for loading the material tray 707. The shape and size of the loading slot are adapted to the shape of the material tray 707, ensuring that the material tray 707 can be stably loaded therein.

[0119] The first Y-axis motion module 703 is connected to the transfer seat 702, and is used to drive the transfer seat 702 to move along the Y-axis direction to approach or move away from the material box 701. When the transfer seat 702 approaches the material box 701, the grabbing mechanism 502 can grab the grabbing structure on the material tray 707, thereby grabbing the material tray 707. When the transfer seat 702 moves away from the material box 701, the grabbing mechanism 502 can slide the material tray 707 into the transfer seat 702.

[0120] The clamp mechanism 704 is used to grasp the grasping structure when the transfer base 702 is close to the material box 701. Exemplarily, the grasping structure is a T-slot 707a, and the clamp mechanism 704 can use a clamping cylinder 7041 and a pair of clamping jaws 7042, the pair of clamping jaws 7042 are adapted to the shape and size of the T-slot 707a, and the clamping cylinder 7041 drives the pair of clamping jaws 7042 to open or close.

[0121] The second Y-axis motion module 705 is arranged on the first Y-axis motion module 703 and is connected to the clamping mechanism 704 to drive the clamping mechanism 704 to move along the Y-axis direction, so as to move the material tray 707 in the material box 701 into the loading slot of the transfer seat 702 through the clamping mechanism 704.

[0122] When it is necessary to grab the material tray 707, first the first Y-axis motion module 703 drives the transfer seat 702 and the first Y-axis motion module 703, and the clamping mechanism 704 to move to a predetermined position on one side of the material box 701. Then, a pair of clamping jaws 7042 can be driven to close by the clamping cylinder 7041, and the second Y-axis motion module 705 drives the clamping jaw mechanism 704 to approach the material box 701, so that the clamping jaw 7042 is inserted into the T-slot 707a. Further, a pair of clamping jaws 7042 are driven to open by the driving cylinder, and then cooperate with the T-slot 707a. Finally, the second Y-axis motion module 705 drives the clamping jaw mechanism 704 to move to the side away from the material box 701. In this way, the material tray 707 can be pulled out of the material box 701 and loaded into the loading slot of the transfer seat 702.

[0123] In this embodiment, the automatic feeding of the material tray 707 is realized by adopting the coordinated motion mode of the dual Y-axis motion module, combining the clamping mechanism 704 and the transfer base 702. This design not only improves the automation level of the L-shaped piece welding machine, but also ensures the stability and safety of the transfer process of the material tray 707 through precise mechanical motion control and reliable clamping mechanism 704. The entire feeding mechanism 70 adopts a modular design, which is easy to maintain and provides reliable material guarantee for the automatic welding of L-shaped pieces.

[0124] Reference Figure 3As shown, in one embodiment of the present invention, a layer cavity is provided in the material box 701 for stacking a plurality of material trays 707. The feeding mechanism 70 further includes a lifting platform 706, on which the material box 701 is provided, so that the lifting platform 706 drives the material box 701 to rise and fall, so that one of the plurality of material trays 707 is horizontally aligned with the clamping mechanism 704.

[0125] That is, the material box 701 can stack multiple material trays 707. During use, after a material tray 707 on the bottom layer is removed, the height of the material box 701 can be lowered by the lifting platform 706, so that the height of the material tray 707 on the upper layer is lowered to be aligned with the clamping mechanism 704, so that the material tray 707 can be grasped by the clamping mechanism 704 during the next loading, so that the multiple stacked material trays 707 in the material box 701 can be taken out in sequence.

[0126] In this embodiment, the multi-layer storage design of the material box 701 improves the material storage capacity of the equipment, reduces the frequency of manual material replenishment, and significantly improves production efficiency.

[0127] Preferably, a drawer 708 slidable along the Y axis is provided on the lifting platform 706, and the material box 701 is detachably arranged on the drawer 708. In this way, by pushing in or pulling out the drawer 708, it is convenient for the operator to replace the material tray 707 in the material box 701, thereby realizing fast and safe material feeding.

[0128] Reference Fig. 9 As shown, in one embodiment of the present invention, the feeding mechanism 30 includes a feeding robot and a material taking camera 304, and the feeding robot includes a dual-axis motion module 301, a rotary cylinder 302 and a suction head 303. The dual-axis motion module 301 can move in the X-axis and the Z-axis, and the rotary cylinder 302 is arranged at the execution end of the dual-axis motion module 301, and can move horizontally along the X-axis and up and down along the Z-axis under the drive of the dual-axis motion module 301.

[0129] The suction head 303 is mounted on the rotating cylinder 302, and can take out a single L-shaped piece from the transfer seat 702 under the drive of the dual-axis motion module 301, and rotate 90° under the drive of the rotating cylinder 302 to switch the L-shaped piece from a horizontal state to a vertical state. Exemplarily, the suction head 303 adopts a vacuum adsorption structure, and the adsorption surface of the suction head 303 is adapted to the sheet body. After the adsorption surface of the suction head 303 contacts the sheet body, the horizontal L-shaped piece can be grasped by vacuum adsorption.

[0130] The material picking camera 304 is arranged on the dual-axis motion module 301, and can be moved to the photographing position above the transfer seat 702 under the drive of the dual-axis motion module 301. The material picking camera 304 can be a high-resolution industrial camera, which is installed on the dual-axis motion module 301 and maintains a fixed relative position relationship with the suction head 303.

[0131] The working process of the feeding mechanism 30 is as follows:

[0132] Driven by the dual-axis motion module 301, the material picking camera 304 moves to the preset photo position above the transfer base 702. The material picking camera 304 captures the image of the L-shaped part in the material tray 707 and calculates the precise position and angle of the L-shaped part through the machine vision algorithm. The system calculates the motion trajectory required by the suction head 303 based on the visual positioning result.

[0133] The dual-axis motion module 301 drives the suction head 303 to move to the specified position to absorb the L-shaped part. After the suction head 303 contacts the sheet of the L-shaped part, the L-shaped part is absorbed by vacuum adsorption. The dual-axis motion module 301 controls the suction head 303 to lift the L-shaped part to a safe height. The rotary cylinder 302 drives the suction head 303 to rotate 90°, adjusting the L-shaped part from a horizontal state to a vertical state. Finally, the L-shaped part is transferred to the secondary positioning mechanism 20 to complete the loading process.

[0134] The feeding mechanism 30 of this embodiment, through the cooperation of the dual-axis motion module 301, the rotary cylinder 302 and the suction head 303, combined with machine vision technology, realizes the precise positioning, reliable grasping and posture adjustment of the L-shaped parts, ensures stable and reliable feeding, and provides stable and accurate workpiece input for subsequent welding processes.

[0135] Reference Fig.10 As shown, in one embodiment of the present invention, the secondary positioning mechanism 20 includes a positioning platform 201, a first positioning cylinder 202 and a second positioning cylinder 203. The positioning platform 201 has a first positioning side surface S201 and a second positioning side surface S202 intersecting with the first positioning side surface S201. Preferably, the first positioning side surface S201 and the second positioning side surface S202 form a reference plane perpendicular to each other.

[0136] The execution end of the first positioning cylinder 202 is connected with a first positioning block 2021, which is located outside the first positioning side surface S201 and defines a gap suitable for the sheet to be inserted, so as to position the sheet. The first positioning block 2021 can move under the drive of the first positioning cylinder 202 to clamp or release the sheet, ensuring that the L-shaped piece maintains a stable vertical state.

[0137] The execution end of the second positioning cylinder 203 is connected to a second positioning block 2031, which is located outside the second positioning side surface S202 and is used to push the end of the sheet to be flush with the second positioning side surface S202. The second positioning block 2031, driven by the second positioning cylinder 203, can push the end of the sheet to be flush with the second positioning side surface S202, thereby achieving accurate positioning of the L-shaped member in the horizontal direction.

[0138] In the actual working process, when the L-shaped piece is delivered by the feeding mechanism 30, its sheet is first inserted into the reserved gap between the first positioning block 2021 and the first positioning side S201 to achieve preliminary positioning. Then, the second positioning cylinder 203 is started to drive the second positioning block 2031 to push the end of the L-shaped piece until it is strictly flush with the second positioning side S202. Finally, the first positioning cylinder 202 drives the first positioning block 2021 to move, clamping and positioning the sheet of the L-shaped piece. Finally, the entire positioning process is completed.

[0139] In this embodiment, the secondary positioning mechanism 20 adopts dual-cylinder driven positioning, and cooperates with the first positioning side S201 and the second positioning side S202 of the positioning platform 201 to achieve high-precision bidirectional positioning of the L-shaped part. In this way, not only the accuracy and reliability of positioning are ensured, but also the structure is simple, which can effectively meet the strict requirements of subsequent welding processes on the position accuracy of the workpiece.

[0140] Exemplarily, the secondary positioning platform also includes an X-axis motion module 204, and the positioning table 201 is arranged on the X-axis motion module 204. The positioning table 201 can be driven to move along the X-axis direction through the X-axis motion module 204, so that it can better cooperate with the loading mechanism 30 to complete the loading process.

[0141] Reference Figure 8 As shown, in one embodiment of the present invention, the welding mechanism 40 includes a multi-axis motion module 401, a visual positioning camera 403 and a welding module 402, and the multi-axis motion module 401 can move in at least two axes of X-axis, Y-axis and Z-axis.

[0142] The visual positioning camera 403 is arranged at the execution end of the multi-axis motion module 401, and is used to visually position the welding position on the fixture platform 10. The visual positioning camera 403 uses a high-resolution industrial camera to perform real-time visual positioning of the welding position on the fixture platform 10, accurately identifies the welding reference point through an image processing algorithm, and feeds back the coordinate information to the system, thereby realizing accurate positioning of the welding position.

[0143] The welding module 402 is disposed at the execution end of the multi-axis motion module 401 and is used to weld the L-shaped member and the main workpiece.

[0144] During the welding process, the preset welding position on the fixture platform 10 is first scanned and positioned by the visual positioning camera 403. The image processing system will analyze the acquired image information in real time and accurately calculate the spatial coordinates of the welding point. The control system then drives the multi-axis motion module 401 to drive the welding module 402 to move to the specified position based on these coordinate information. When the welding module 402 reaches the specified position, the system will start the welding module 402 for welding according to the preset welding process parameters.

[0145] The welding mechanism 40 realizes high automation and precise control of the welding process through the combination of the multi-axis motion module 401, the visual positioning camera 403 and the welding module 402, ensures the accuracy of the welding position, and significantly improves the production efficiency and welding quality.

[0146] Reference Figure 2 As shown, in one embodiment of the present invention, the fixture platform 10 includes a third Y-axis motion module, a fixture seat and a clamping mechanism, wherein the fixture seat is arranged on the third Y-axis motion module, and the fixture seat can be driven to move along the Y-axis direction by the third Y-axis motion module. The fixture seat has a loading space suitable for loading the main workpiece, the size and shape of the loading space match the shape of the main workpiece, and a positioning structure can be configured to ensure that the main workpiece can be accurately positioned.

[0147] The clamp mechanism is arranged around the jig seat to clamp and fix the main workpiece on the jig seat. When the main workpiece is placed in the loading space on the jig seat, the clamp mechanism will clamp it from the outside to fix the main workpiece. It is understandable that the clamp mechanism can adopt a clamping structure realized by a cylinder-driven clamp block, etc., as long as the workpiece can be clamped and fixed.

[0148] In this embodiment, the third Y-axis motion module is used to drive the fixture base to move along the Y-axis, and then cooperates with the multi-axis motion of the welding machine mechanism to ensure the position accuracy during the processing.

[0149] Reference Figure 6 to Figure 7 As shown, in one embodiment of the present invention, the multi-axis transfer manipulator 50 includes a multi-joint manipulator 501 and a gripping mechanism 502, wherein the gripping mechanism 502 includes a base 5021, a fixed clamping jaw 5022, a movable clamping jaw 5023 and a push rod cylinder 5024, and one end of the base 5021 is fixed to the execution end of the multi-joint manipulator 501. The multi-joint manipulator 501 can drive the gripping mechanism 502 to move precisely in a three-dimensional space.

[0150] The fixed jaw 5022 is installed at the other end of the base 5021, and the movable jaw 5023 is pivoted on the fixed jaw 5022 and is located outside the fixed jaw 5022. That is, the fixed jaw 5022 and the movable jaw 5023 can clamp the vertical L-shaped member. The push rod cylinder 5024 is set on the base 5021, and is used to push the movable jaw 5023 to rotate and close or open with the fixed jaw 5022. Figure 7 In the example, the movable clamp 5023 is an L-shaped structure, which is pivotally connected to the base 5021. The push rod cylinder 5024 moves in the up and down directions, which can push the horizontal part of the L-shaped structure, and then make the vertical part of the L-shaped structure move relative to the fixed clamp 5022, thereby realizing the opening and closing movement.

[0151] The combination of the multi-joint manipulator 501 and the gripping mechanism 502 enables flexible and accurate transfer of the L-shaped workpiece. The coordinated work of the fixed clamping jaw 5022 and the movable clamping jaw 5023, in conjunction with the precise control of the push rod cylinder 5024, ensures the reliability and stability of the L-shaped workpiece clamping, and ensures the stability and reliability of the entire welding process.

[0152] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0153] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An L-shaped piece welding machine, wherein the L-shaped piece comprises a sheet, one side of the sheet has a folded edge, characterized in that: The L-shaped welding machine includes: The fixture platform is suitable for loading the main workpiece; A secondary positioning mechanism, used for performing secondary positioning on the L-shaped workpiece and keeping it in a vertical state, in which the sheet body is kept vertical and the folded edge is kept horizontal; A feeding mechanism, the feeding mechanism is arranged adjacent to the secondary positioning mechanism, and is used to transfer the single L-shaped piece to the secondary positioning mechanism, so as to perform secondary positioning on the L-shaped piece through the secondary positioning mechanism; A welding mechanism, which is disposed above the jig platform and is used to weld the folded edge of the L-shaped member to a predetermined area on the main workpiece, so that the L-shaped member is welded to the main workpiece; A multi-axis transfer robot, which is disposed adjacent to the secondary positioning mechanism and the fixture platform and is used to transfer the L-shaped piece after being positioned in the secondary positioning mechanism to the fixture and keep it at a predetermined position on the main workpiece; A material blocking mechanism is arranged adjacent to the jig platform and is used to block the outer side of the sheet during the welding process so that the L-shaped member maintains a stable vertical state.

2. The L-shaped piece welding machine according to claim 1, characterized in that: The material blocking mechanism includes a three-axis motion module and a stopper, wherein the three-axis motion module can move in the directions of the X-axis, the Y-axis and the Z-axis, and the stopper is arranged on the three-axis motion module and moves under the drive of the three-axis motion module; The stopper has a finger portion suitable for stopping the outer side of the sheet body, and the finger portion is provided with a clearance opening for avoiding the multi-axis transfer robot.

3. The L-shaped piece welding machine according to claim 1, characterized in that: The L-shaped piece welding machine also includes a feeding mechanism, which includes: A material box, the material box is used to load a material tray, one side of the material box is opened to form an outlet, and a grabbing structure is provided on one end of the material tray close to the outlet; A transfer seat, the transfer seat is arranged side by side with the material box in the Y-axis direction, and the transfer seat has a loading slot suitable for loading the supply tray; A first Y-axis motion module, which is connected to the transfer base and is used to drive the transfer base to move along the Y-axis direction to approach or move away from the material box; A clamping claw mechanism, used for grabbing the grabbing structure when the transfer base is close to the material box; The second Y-axis motion module is arranged on the first Y-axis motion module and is connected to the clamping mechanism, so as to drive the clamping mechanism to move along the Y-axis direction, so as to move the material tray in the material box into the loading slot of the transfer base through the clamping mechanism.

4. The L-shaped piece welding machine according to claim 3, characterized in that: The material box is provided with a layer cavity for stacking a plurality of material trays; The feeding mechanism also includes a lifting platform, and the material box is arranged on the lifting platform, so that the material box can be driven to rise and fall by the lifting platform, so that one of the multiple material trays is horizontally aligned with the clamping claw mechanism.

5. The L-shaped piece welding machine according to claim 3, characterized in that: The feeding mechanism comprises: A feeding robot, the feeding robot comprising a dual-axis motion module, a rotary cylinder and a suction head, the dual-axis motion module being capable of moving in the X-axis and the Z-axis, the rotary cylinder being arranged at the execution end of the dual-axis motion module; the suction head being mounted on the rotary cylinder, and being capable of taking out a single piece of the L-shaped piece from the transfer seat under the drive of the dual-axis motion module, and being driven by the rotary cylinder to rotate 90° so as to switch the L-shaped piece from a horizontal state to a vertical state; The material picking camera is arranged on the dual-axis motion module and can be moved to the photo-taking position above the transfer seat under the drive of the dual-axis motion module.

6. The L-shaped piece welding machine according to claim 1, characterized in that: The secondary positioning mechanism comprises: A positioning platform, the positioning platform having a first positioning side surface and a second positioning side surface intersecting with the first positioning side surface; A first positioning cylinder, wherein the execution end of the first positioning cylinder is connected to a first positioning block, the first positioning block is located outside the first positioning side surface and defines a gap suitable for the sheet body to be inserted, so as to position the sheet body; A second positioning cylinder, wherein the execution end of the second positioning cylinder is connected to a second positioning block, and the second positioning block is located outside the second positioning side surface, and is used for pushing the end of the sheet body to be flush with the second positioning side surface.

7. The L-shaped piece welding machine according to claim 1, characterized in that: The welding mechanism comprises: A multi-axis motion module, wherein the multi-axis motion module can move in at least two axes: an X-axis, a Y-axis, and a Z-axis; A visual positioning camera, which is arranged at the execution end of the multi-axis motion module and is used to visually locate the welding position on the fixture platform; A welding module is arranged at the execution end of the multi-axis motion module and is used to weld the L-shaped part and the main workpiece.

8. The L-shaped piece welding machine according to claim 1, characterized in that: The jig platform includes a third Y-axis motion module, a jig seat and a clamping mechanism. The jig seat is arranged on the third Y-axis motion module, and the jig seat has a loading space suitable for loading the main workpiece. The clamping mechanism is arranged around the jig seat to clamp and fix the main workpiece on the jig seat.

9. The L-shaped piece welding machine according to claim 1, characterized in that: The multi-axis transfer robot comprises: Multi-joint manipulator; The gripping mechanism includes a base, a fixed jaw, a movable jaw and a push rod cylinder. One end of the base is fixed to the execution end of the multi-joint manipulator, the fixed jaw is installed on the other end of the base, the movable jaw is pivoted to the fixed jaw and is located on the outside of the fixed jaw, and the push rod cylinder is arranged on the base to push the movable jaw to rotate and close or open with the fixed jaw.

10. The L-shaped piece welding machine according to claim 4, characterized in that: The lifting platform is provided with a drawer which is slidable along the Y-axis, and the material box is detachably arranged on the drawer.

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