L-shaped welding machine

Abstract

This invention discloses an L-shaped part welding machine. The L-shaped part includes a sheet body with a folded edge on one side. The welding machine includes a fixture platform, a secondary positioning mechanism, a feeding mechanism, a welding mechanism, a multi-axis transfer robot, and a blocking mechanism. The fixture platform is suitable for loading the main workpiece. The secondary positioning mechanism is used to perform secondary positioning on the L-shaped workpiece and keep it in a vertical state. The feeding mechanism is located adjacent to the secondary positioning mechanism and is used to transfer the single L-shaped part to the secondary positioning mechanism. The welding mechanism is used to weld the folded edge of the L-shaped part to a predetermined area on the main workpiece. The multi-axis transfer robot is used to transfer the L-shaped part, positioned in the secondary positioning mechanism, to the fixture. The blocking mechanism is used to block the outer side of the sheet body during the welding process to keep the L-shaped part in a stable vertical state. The L-shaped part welding machine of this invention realizes full automation of the L-shaped part welding process, improving welding efficiency and quality.

Description

Technical Field

[0001] This invention relates to welding equipment, and more particularly to an L-shaped welding machine. Background Technology

[0002] As electronic products continue to evolve towards thinner, lighter, and smaller designs, the internal components and structural parts of these devices are also becoming increasingly miniaturized. Among numerous electronic devices, mobile phones, as the most typical portable electronic products, exhibit particularly high precision in their internal structure and assembly requirements. In the manufacturing process of mobile phones, it is often necessary to solder various tiny metal structural parts onto the motherboard or other functional components. Soldering L-shaped metal parts is a representative challenge in this regard.

[0003] For example, due to the extremely small size of L-shaped parts, accurate positioning on automated production lines is difficult, and positional deviations are prone to occur. Furthermore, the two parts of the L-shaped structure are on different planes, increasing the difficulty of positioning and welding. These technical challenges affect and restrict the improvement of automation levels and production efficiency in electronic product manufacturing. Therefore, how to achieve efficient and reliable automated welding of L-shaped metal parts has become an urgent technical problem to be solved in the field of electronic product manufacturing. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in the related art. Therefore, the object of this invention is to provide an L-shaped component welding machine.

[0005] To achieve the above objectives, according to an embodiment of the present invention, an L-shaped part welding machine is provided, wherein the L-shaped part includes a sheet body, one side of which has a folded edge, and the L-shaped part welding machine includes:

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

[0007] A secondary positioning mechanism 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.

[0008] A feeding mechanism is provided adjacent to the secondary positioning mechanism and is used to transfer a single L-shaped part to the secondary positioning mechanism so that the L-shaped part can be repositioned by the secondary positioning mechanism.

[0009] A welding mechanism, disposed above the fixture platform, is used to weld the folded edge of the L-shaped part to a predetermined area on the main workpiece, so that the L-shaped part is welded to the main workpiece.

[0010] A multi-axis transfer robot is provided adjacent to the secondary positioning mechanism and the fixture platform. It is used to transfer the L-shaped part, which has been positioned in the secondary positioning mechanism, to the fixture and keep it in a predetermined position on the main workpiece.

[0011] A material blocking mechanism is provided adjacent to the fixture platform and is used to block the outer side of the sheet body during the welding process so that the L-shaped part remains in a stable vertical state.

[0012] The L-shaped part welding machine provided by the present invention realizes fully automated operation of the L-shaped part welding process. The feeding mechanism transfers the L-shaped part to the secondary positioning mechanism, which performs secondary positioning on the L-shaped part to ensure that it maintains an ideal vertical state and correct position. The multi-axis transfer robot can accurately transfer the L-shaped part from the secondary positioning mechanism to the fixture platform. During the welding process, the material blocking mechanism is used to block the outer side of the sheet body, effectively preventing the L-shaped part from tilting or deforming during the welding process, thus ensuring the stability of the welding quality. This multi-mechanism cooperation not only significantly improves the automation level and work efficiency of L-shaped part welding, but also effectively solves the welding quality problems caused by the special shape of the L-shaped part through precise positioning and stable support, ensuring the consistency and reliability of the welded products.

[0013] In addition, the L-shaped welding machine according to the above embodiments 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 includes a three-axis motion module and a stop member. The three-axis motion module is capable of moving in the X-axis, Y-axis and Z-axis directions. The stop member is disposed on the three-axis motion module and moves under the drive of the three-axis motion module.

[0015] The stop has a finger adapted to stop on the outside of the plate, and the finger is provided with a clearance opening for avoiding airflow to the multi-axis transfer manipulator.

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

[0017] A material bin for loading a material tray, one side of which is open to form an outlet, and a gripping structure is provided on the end of the material tray near the outlet;

[0018] A transfer seat is arranged side by side with the hopper in the Y-axis direction, and the transfer seat has a loading groove suitable for loading the feeding tray;

[0019] A first Y-axis motion module is connected to the transfer seat to drive the transfer seat to move along the Y-axis direction to move closer to or further away from the hopper.

[0020] A gripper mechanism for gripping the gripping structure when the transfer seat approaches the hopper;

[0021] The second Y-axis motion module is mounted on the first Y-axis motion module and connected to the gripper mechanism. It drives the gripper 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 seat through the gripper mechanism.

[0022] According to one embodiment of the present invention, the material box is provided with a layered cavity for stacking multiple material trays;

[0023] The feeding mechanism also includes a lifting platform, on which the material box is mounted, so that the lifting platform drives the material box to rise and fall, so that one of the multiple material trays is horizontally aligned with the gripper mechanism.

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

[0025] The loading robot includes a dual-axis motion module, a rotary cylinder, and a suction head. The dual-axis motion module is capable of moving along the X and Z axes. The rotary cylinder is located at the execution end of the dual-axis motion module. The suction head is mounted on the rotary cylinder and is capable of removing a single L-shaped part from the transfer seat under the drive of the dual-axis motion module. It also rotates 90° under the drive of the rotary cylinder to switch the L-shaped part from a horizontal to a vertical position.

[0026] The material handling camera is mounted on the dual-axis motion module and can move to a photographic positioning 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 includes:

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

[0029] A first positioning cylinder has an actuating end connected to a first positioning block. The first positioning block is located outside the first positioning side and defines a gap suitable for the insertion of the sheet body, so as to position the sheet body.

[0030] The second positioning cylinder has a second positioning block connected to its actuating end. The second positioning block is located outside the second positioning side and is used to push the end of the plate to be flush with the second positioning side.

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

[0032] A multi-axis motion module, wherein the multi-axis motion module is capable of moving in at least two axes: the X-axis, the Y-axis, and the Z-axis;

[0033] A visual positioning camera is installed at the execution end of the multi-axis motion module to perform visual positioning of the welding position on the fixture platform.

[0034] A welding module is located 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 fixture platform includes a third Y-axis motion module, a fixture seat, and a clamping mechanism. The fixture seat is disposed on the third Y-axis motion module and has a loading space suitable for loading the main workpiece. The clamping mechanism is disposed around the fixture seat for clamping and fixing the main workpiece on the fixture seat.

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

[0037] Multi-joint robotic arm;

[0038] The gripping mechanism includes a base, a fixed gripper, a movable gripper, and a pusher cylinder. One end of the base is fixed to the actuator of the multi-joint manipulator. The fixed gripper is mounted on the other end of the base. The movable gripper is pivotally connected to the fixed gripper and located outside the fixed gripper. The pusher cylinder is located on the base and is used to push the movable gripper to rotate, thereby closing or opening with the fixed gripper.

[0039] According to one embodiment of the present invention, the lifting platform is provided with a drawer component that is slidably mounted along the Y-axis, and the material box is detachably mounted on the drawer component.

[0040] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

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

[0043] Figure 2 This is a structural schematic diagram of the L-shaped welding machine according to another embodiment of the present invention;

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

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

[0046] Figure 5 This is a schematic diagram of the material-stopping mechanism in the L-shaped part welding machine according to an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the multi-axis transfer robot in the L-shaped part welding machine according to an embodiment of the present invention;

[0048] Figure 7 yes Figure 6 A magnified view of a section at point A in the middle;

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

[0050] Figure 9 This is a schematic diagram of the feeding mechanism in the L-shaped part welding machine according to an embodiment of the present invention;

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

[0052] Figure label:

[0053] 10. Jig platform;

[0054] 20. Secondary positioning mechanism;

[0055] 201. Positioning station;

[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 handling 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 robotic arm;

[0074] 502. Grabbing mechanism;

[0075] 5021, Base;

[0076] 5022, Fixed gripper;

[0077] 5023, Movable gripper;

[0078] 5024, pushrod cylinder;

[0079] 60. Material stop mechanism;

[0080] 601. Three-axis motion module;

[0081] 602. Stopping parts;

[0082] 602a, Finger part;

[0083] H60, air vent;

[0084] 70. Material supply mechanism;

[0085] 701. Material bin;

[0086] 702. Transfer stand;

[0087] 703. First Y-axis motion module;

[0088] 704. Gripper mechanism;

[0089] 7041, Clamping cylinder;

[0090] 7042, gripper components;

[0091] 705. Second Y-axis motion module;

[0092] 706. Lifting platform;

[0093] 707. Material tray;

[0094] 707a, T-slot;

[0095] 708. Drawer fittings.

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

[0097] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0098] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," and "radial," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0099] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0100] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0101] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

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

[0103] Reference Figures 1 to 10 As shown, according to an embodiment of the present invention, an L-shaped part welding machine is provided, wherein the L-shaped part includes a sheet body, one side of which has a folded edge, and the L-shaped part welding machine includes a fixture platform 10, a secondary positioning mechanism 20, a feeding 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. For example, the fixture platform 10 includes a worktable with a positioning structure for securing the main workpiece.

[0105] The secondary positioning mechanism 20 is used to perform secondary positioning of the L-shaped workpiece and keep it in a vertical state. In this vertical state, the sheet body remains vertical, and the folded edge remains horizontal. Since the L-shaped part needs to be welded vertically to the main workpiece during welding—specifically, the folded edge is welded horizontally to the main workpiece—it is necessary to ensure that the L-shaped part remains vertical when transferring it to the main workpiece. Furthermore, because the L-shaped part is relatively small, and the folded edge is even smaller, the gripping of the L-shaped part requires greater precision. Positioning the L-shaped part and keeping it vertical through the secondary positioning mechanism 20 ensures that the multi-axis transfer robot 50 can accurately grip the L-shaped part.

[0106] The feeding mechanism 30 is disposed adjacent to the secondary positioning mechanism 20 and is used to transfer single L-shaped parts to the secondary positioning mechanism 20 for secondary positioning of the L-shaped parts. That is, the feeding mechanism 30 can be used to transfer single L-shaped parts to the secondary positioning mechanism 20. For example, in practical applications, several L-shaped parts are placed in a predetermined state in the material tray 707, and the feeding mechanism 30 can take out one L-shaped part from the material tray 707 at a time and transfer it to the secondary positioning mechanism 20 for secondary positioning.

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

[0108] A 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 part, after being positioned in the secondary positioning mechanism 20, onto the fixture and hold it in a predetermined position on the main workpiece. After the secondary positioning mechanism 20 performs secondary positioning on the L-shaped part, the multi-axis coordinated movement of the multi-axis transfer robot 50 can smoothly transfer the L-shaped part from the secondary positioning mechanism 20 to a predetermined position on the fixture platform 10 and maintain its vertical state.

[0109] A material-blocking mechanism 60 is disposed adjacent to the fixture platform 10 and is used to block the outer side of the sheet body during the welding process to keep the L-shaped part in a stable vertical state. On one hand, the multi-axis transfer robot 50 transfers the L-shaped part to the main workpiece on the fixture platform 10, keeping 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 blocks the outer side of the folded edge of the L-shaped part to keep the L-shaped part stable. In this state, the welding mechanism 40 then welds the folded edge of the L-shaped part, so that the L-shaped part is welded and fixed to the main workpiece.

[0110] During the operation, firstly, the feeding mechanism 30 conveys the single L-shaped part to the secondary positioning mechanism 20, which performs secondary positioning on the L-shaped part and keeps it vertical. Then, the multi-axis transfer robot 50 clamps the positioned L-shaped part and transfers it to a predetermined position on the fixture platform 10. Next, the blocking mechanism 60 moves into position and abuts against the outer side of the L-shaped part. Finally, the welding mechanism 40 descends to an appropriate position and welds the folded edge of the L-shaped part to the predetermined area of ​​the main workpiece. After welding is completed, all mechanisms reset, and the welding is finished.

[0111] The L-shaped part welding machine provided according to the embodiments of the present invention realizes fully automated operation of the L-shaped part welding process. The feeding mechanism 30 transfers the L-shaped part to the secondary positioning mechanism 20, which performs secondary positioning on the L-shaped part to ensure that the L-shaped part maintains an ideal vertical state and correct position. The multi-axis transfer robot 50 can accurately transfer the L-shaped part from the secondary positioning mechanism 20 to the fixture platform 10. During the welding process, the material blocking mechanism 60 is used to block the outer side of the sheet body, effectively preventing the L-shaped part from tilting or deforming during the welding process, ensuring the stability of the welding quality. This multi-mechanism cooperation not only significantly improves the automation level and work efficiency of L-shaped part welding, but also effectively solves the welding quality problems caused by the special shape of the L-shaped part through precise positioning and stable support, ensuring the consistency and reliability of the welded 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 stop member 602. The three-axis motion module 601 can move in the X-axis, Y-axis and Z-axis directions, and can achieve precise movement in three-dimensional space.

[0113] A stop 602 is disposed on the three-axis motion module 601 and moves under the drive of the three-axis motion module 601. The stop 602 has a finger 602a adapted to stop on the outside of the plate body, and the finger 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 to ensure that there is no interference with the finger 602a when the multi-axis transfer robot 50 grips the L-shaped piece.

[0114] In practical applications, 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 stop 602 to move to a predetermined position, so that the inner side of the finger 602a is tightly against the outer side of the piece. Due to the clearance opening H60, the end effector of the multi-axis transfer robot 50 can smoothly pass through the clearance opening H60 to complete the placement and holding of the L-shaped part. During the welding process, the stop 602 and the multi-axis transfer robot 50 remain stationary, ensuring that the L-shaped part always remains vertical.

[0115] This embodiment, by employing a three-axis motion module 601 and a stopper 602 with an clearance opening H60, not only achieves the precise positioning and blocking function of the stopper mechanism 60, but also solves the interference problem between the stopper 602 and the multi-axis transfer robot 50. This design ensures the stability of the L-shaped part during the welding process and improves the continuity and efficiency of the entire welding process. Simultaneously, the three-axis motion module 601 enables the stopper mechanism 60 to cooperate with other mechanisms, ensuring reliable coordinated movement within a limited space and guaranteeing 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 part welding machine further includes a feeding mechanism 70, which includes a material box 701, a transfer seat 702, a first Y-axis motion module 703, a gripper mechanism 704, and a second Y-axis motion module 705.

[0117] The hopper 701 is used to load the tray 707, in which L-shaped parts to be welded are arranged in a predetermined pattern. One side of the hopper 701 is open to form an outlet, which allows the tray 707 to slide out. A gripping structure is provided on one end of the tray 707 near the outlet, for use with a gripper mechanism 704 to grip and hold the tray 707.

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

[0119] The first Y-axis motion module 703 is connected to the transfer seat 702 to drive the transfer seat 702 to move along the Y-axis direction, moving closer to or away from the hopper 701. When the transfer seat 702 approaches the hopper 701, it can grasp the gripping structure on the tray 707 through the gripping mechanism 502, thereby holding the tray 707. When the transfer seat 702 moves away from the hopper 701, it can slide the tray 707 into the transfer seat 702 through the gripping mechanism 502.

[0120] The gripper mechanism 704 is used to grip the gripping structure when the transfer seat 702 approaches the hopper 701. Exemplarily, the gripping structure is a T-slot 707a. The gripper mechanism 704 may employ a clamping cylinder 7041 and a pair of gripper members 7042. The pair of gripper members 7042 are adapted to the shape and size of the T-slot 707a. The clamping cylinder 7041 drives the pair of gripper members 7042 to open or close.

[0121] The second Y-axis motion module 705 is disposed on the first Y-axis motion module 703 and connected to the gripper mechanism 704, for driving the gripper 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 gripper mechanism 704.

[0122] When it is necessary to pick up the tray 707, the first Y-axis motion module 703 first drives the transfer seat 702 and the gripper mechanism 704 to move to a predetermined position on one side of the hopper 701. Then, the clamping cylinder 7041 drives a pair of gripper pieces 7042 to close, and the second Y-axis motion module 705 drives the gripper mechanism 704 to move closer to the hopper 701, so that the gripper pieces 7042 are inserted into the T-slot 707a. Further, the driving cylinder drives the pair of gripper pieces 7042 to open, so that they cooperate with the T-slot 707a. Finally, the second Y-axis motion module 705 drives the gripper mechanism 704 to move away from the hopper 701. In this way, the tray 707 can be pulled out from the hopper 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 achieved by employing a coordinated motion method of dual Y-axis motion modules, combined with the gripper mechanism 704 and the transfer seat 702. This design not only improves the automation level of the L-shaped part welding machine, but also ensures the stability and safety of the material tray 707 transfer process through precise mechanical motion control and the reliable gripper mechanism 704. The entire feeding mechanism 70 adopts a modular design, which is convenient for maintenance and provides a reliable material guarantee for the automated welding of L-shaped parts.

[0124] Reference Figure 3As shown, in one embodiment of the present invention, the material bin 701 has a cavity for stacking multiple material trays 707. The feeding mechanism 70 also includes a lifting platform 706, on which the material bin 701 is disposed, so that the lifting platform 706 drives the material bin 701 to rise and fall, so that one of the multiple material trays 707 is horizontally aligned with the gripper mechanism 704.

[0125] In other words, the material bin 701 can hold multiple material trays 707 stacked on top of each other. During use, when one of the bottom material trays 707 is removed, the height of the material bin 701 can be lowered by the lifting platform 706, so that the height of the material trays 707 on the upper layer is lowered to be aligned with the gripper mechanism 704. This allows the gripper mechanism 704 to grab the material tray 707 during the next loading, and thus, multiple stacked material trays 707 in the material bin 701 can be removed sequentially.

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

[0127] Preferably, the lifting platform 706 is provided with a drawer 708 that can slide along the Y-axis, and the material box 701 is detachably mounted on the drawer 708. In this way, by pushing in or pulling out the drawer 708, the operator can easily replace the material tray 707 in the material box 701, achieving fast and safe material feeding.

[0128] Reference Figure 9 As shown, in one embodiment of the present invention, the feeding mechanism 30 includes a feeding robot and a picking camera 304. 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 is capable of moving along the X-axis and Z-axis. The rotary cylinder 302 is located at the execution end of the dual-axis motion module 301 and can move horizontally along the X-axis and vertically along the Z-axis under the drive of the dual-axis motion module 301.

[0129] The suction head 303 is mounted on the rotary cylinder 302 and, driven by the dual-axis motion module 301, can remove a single L-shaped piece from the transfer seat 702. It also rotates 90° under the drive of the rotary cylinder 302 to switch the L-shaped piece from a horizontal to a vertical position. Exemplarily, the suction head 303 employs a vacuum adsorption structure, with its adsorption surface adapted to the piece. After the adsorption surface of the suction head 303 contacts the piece, the horizontal L-shaped piece can be gripped through vacuum adsorption.

[0130] The pick-up camera 304 is mounted on the dual-axis motion module 301 and can move to a photographic positioning position above the transfer seat 702 under the drive of the dual-axis motion module 301. The pick-up camera 304 can be a high-resolution industrial camera, mounted on the dual-axis motion module 301, and maintains a fixed relative position 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 pick-up camera 304 moves to a preset image position above the transfer seat 702. The pick-up camera 304 captures an image of the L-shaped part in the material tray 707, and calculates the precise position and angle of the L-shaped part using a machine vision algorithm. Based on the visual positioning results, the system calculates the required motion trajectory of the suction head 303.

[0133] The dual-axis motion module 301 moves the suction head 303 to a designated position to pick up the L-shaped part. After the suction head 303 contacts the L-shaped part, it adsorbs the L-shaped part through vacuum suction. 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 to a vertical position. Finally, the L-shaped part is transferred to the secondary positioning mechanism 20 to complete the loading process.

[0134] In this embodiment, the feeding mechanism 30, 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 gripping and posture adjustment of the L-shaped part, ensuring stable and reliable feeding, and providing a stable and accurate workpiece input for subsequent welding processes.

[0135] Reference Figure 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 the first positioning side surface S201. Preferably, the first positioning side surface S201 and the second positioning side surface S202 form mutually perpendicular reference planes.

[0136] The actuator of the first positioning cylinder 202 is connected to a first positioning block 2021. The first positioning block 2021 is located outside the first positioning side S201 and defines a gap suitable for the insertion of the sheet body to position the sheet body. The first positioning block 2021 can move under the drive of the first positioning cylinder 202 to clamp or release the sheet body, ensuring that the L-shaped part maintains a stable vertical state.

[0137] The actuator of the second positioning cylinder 203 is connected to a second positioning block 2031. The second positioning block 2031 is located outside the second positioning side S202 and is used to push the end of the piece to be flush with the second positioning side S202. Under the drive of the second positioning cylinder 203, the second positioning block 2031 can push the end of the piece to be flush with the second positioning side S202, thereby achieving precise positioning of the L-shaped part in the horizontal direction.

[0138] In actual operation, when the L-shaped part is delivered by the feeding mechanism 30, its sheet is first inserted into the pre-reserved gap between the first positioning block 2021 and the first positioning side S201 to achieve initial positioning. Then, the second positioning cylinder 203 is activated, driving the second positioning block 2031 to push the end of the L-shaped part until it is perfectly 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 part. The entire positioning process is then completed.

[0139] In this embodiment, the secondary positioning mechanism 20 employs a dual-cylinder driven positioning system, working in conjunction with the first positioning side S201 and the second positioning side S202 of the positioning table 201 to achieve high-precision bidirectional positioning of the L-shaped part. This not only ensures the accuracy and reliability of the positioning but also features a simple structure that effectively meets the stringent requirements for workpiece position accuracy in subsequent welding processes.

[0140] For example, the secondary positioning platform also includes an X-axis motion module 204, and the positioning stage 201 is mounted on the X-axis motion module 204. The X-axis motion module 204 can drive the positioning stage 201 to move along the X-axis direction, so as to better cooperate with the feeding mechanism 30 to complete the feeding 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. The multi-axis motion module 401 is capable of moving in at least two axes: the X-axis, the Y-axis, and the Z-axis.

[0142] A visual positioning camera 403 is installed at the execution end of the multi-axis motion module 401 to perform visual positioning of 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 image processing algorithms, and feeds back the coordinate information to the system, thereby achieving precise positioning of the welding position.

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

[0144] During the welding process, the pre-set welding position on the fixture platform 10 is first scanned and positioned by the vision positioning camera 403. The image processing system analyzes the acquired image information in real time and accurately calculates the spatial coordinates of the welding point. The control system then drives the multi-axis motion module 401 to move the welding module 402 to the designated position based on this coordinate information. Once the welding module 402 reaches the designated position, the system starts the welding module 402 to perform welding according to the preset welding process parameters.

[0145] The welding mechanism 40, through the combination of a multi-axis motion module 401, a vision positioning camera 403, and a welding module 402, achieves a high degree of automation and precise control of the welding process, ensuring the accuracy of the welding position and significantly improving 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. The fixture seat is disposed 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 clamping mechanism is located around the fixture base and is used to clamp and fix the main workpiece on the fixture base. When the main workpiece is placed in the loading space on the fixture base, it is clamped from the outside by the clamping mechanism to fix the main workpiece. It is understood that the clamping mechanism can adopt a clamping structure implemented by a cylinder-driven clamping block, etc., as long as it can achieve the clamping and fixing of the workpiece.

[0148] In this embodiment, the fixture seat is driven to move along the Y-axis by the third Y-axis motion module, and the multi-axis motion of the welding machine mechanism is combined to ensure the positional accuracy during the processing.

[0149] Reference Figures 6 to 7 As shown, in one embodiment of the present invention, the multi-axis transfer robot 50 includes a multi-joint robot 501 and a gripping mechanism 502. The gripping mechanism 502 includes a base 5021, a fixed gripper 5022, a movable gripper 5023, and a push rod cylinder 5024. One end of the base 5021 is fixed to the actuator end of the multi-joint robot 501. The gripping mechanism 502 can be driven by the multi-joint robot 501 to move precisely in three-dimensional space.

[0150] A fixed gripper 5022 is mounted on the other end of the base 5021, and a movable gripper 5023 is pivotally connected to the fixed gripper 5022 and located outside the fixed gripper 5022. That is, the fixed gripper 5022 and the movable gripper 5023 can clamp an L-shaped piece in a vertical position. A push-rod cylinder 5024 is provided on the base 5021 and is used to push the movable gripper 5023 to rotate, thereby closing or opening it with the fixed gripper 5022. Figure 7 In the example, the movable gripper 5023 has an L-shaped structure and is pivotally connected to the base 5021. The push rod cylinder 5024 moves in the vertical direction, which can push the horizontal part of the L-shaped structure, thereby causing the vertical part of the L-shaped structure to move relative to the fixed gripper 5022, thus 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 L-shaped workpieces. The coordinated work of the fixed gripper 5022 and the movable gripper 5023, along with the precise control of the push rod cylinder 5024, ensures the reliability and stability of the L-shaped workpiece clamping, guaranteeing the stability and reliability of the entire welding process.

[0152] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0153] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An L-shaped part welding machine, wherein the L-shaped part comprises a sheet body, and one side of the sheet body has a folded edge, characterized in that, The L-shaped component welding machine includes: The fixture platform is suitable for loading the main workpiece; A secondary positioning mechanism is used to perform secondary positioning on the L-shaped part and keep it in a vertical state. In this vertical state, the sheet body remains vertical and the folded edge remains horizontal. The secondary positioning mechanism includes a positioning platform, a first positioning cylinder, and a second positioning cylinder. The positioning platform has a first positioning side and a second positioning side intersecting the first positioning side. The actuating end of the first positioning cylinder is connected to a first positioning block, which is located outside the first positioning side and defines a gap suitable for inserting the sheet body to position the sheet body. The actuating end of the second positioning cylinder is connected to a second positioning block, which is located outside the second positioning side and is used to push the end of the sheet body to be flush with the second positioning side. The feeding mechanism includes a material bin, a transfer seat, and a gripper mechanism. The material bin is used to load material trays, and one side of the material bin is open to form an outlet. A gripping structure is provided on one end of the material tray near the outlet. The transfer seat is arranged side by side with the material bin in the Y-axis direction, and the transfer seat has a loading groove suitable for loading material trays. The gripper mechanism is used to grip the gripping structure when the transfer seat is close to the material bin, and move the material tray in the material bin into the loading groove of the transfer seat. A feeding mechanism is provided adjacent to the secondary positioning mechanism and is used to transfer a single L-shaped part to the secondary positioning mechanism for secondary positioning of the L-shaped part. The feeding mechanism includes a feeding robot, which includes a dual-axis motion module, a rotary cylinder, and a suction head. The rotary cylinder is located at the execution end of the dual-axis motion module. The suction head is mounted on the rotary cylinder and can remove a single L-shaped part from the transfer seat under the drive of the dual-axis motion module, and rotate 90° under the drive of the rotary cylinder to switch the L-shaped part from a horizontal state to a vertical state. A multi-axis transfer robot is disposed adjacent to the secondary positioning mechanism and the fixture platform, and is used to transfer the L-shaped part, which has been positioned in the secondary positioning mechanism, to the fixture platform and hold it in a predetermined position on the main workpiece; the multi-axis transfer robot includes a multi-joint robot and a gripping mechanism; A material blocking mechanism is disposed adjacent to the fixture platform and is used to block the outer side of the sheet body during the welding process so that the L-shaped part remains in a stable vertical state. The material blocking mechanism includes a three-axis motion module and a stop member. The stop member has fingers adapted to block the outer side of the sheet body, and the fingers are provided with clearance openings for avoiding the multi-axis transfer robot. A welding mechanism, located above the fixture platform, is used to weld the folded edge of the L-shaped part to a predetermined area on the main workpiece, so that the L-shaped part is welded to the main workpiece.

2. The L-shaped welding machine according to claim 1, characterized in that, The three-axis motion module is capable of moving in the X, Y, and Z axes. The stop is provided on the three-axis motion module and moves under the drive of the three-axis motion module.

3. The L-shaped welding machine according to claim 1, characterized in that, The feeding mechanism also includes: A first Y-axis motion module is connected to the transfer seat to drive the transfer seat to move along the Y-axis direction to move closer to or further away from the hopper. The second Y-axis motion module is mounted on the first Y-axis motion module and connected to the gripper mechanism. It drives the gripper 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 seat through the gripper mechanism.

4. The L-shaped welding machine according to claim 3, characterized in that, The material box has a cavity for stacking multiple material trays; The feeding mechanism also includes a lifting platform, on which the material box is mounted, so that the lifting platform drives the material box to rise and fall, so that one of the multiple material trays is horizontally aligned with the gripper mechanism.

5. The L-shaped welding machine according to claim 1, characterized in that, The dual-axis motion module is capable of movement along the X and Z axes; the loading mechanism further includes: The material handling camera is mounted on the dual-axis motion module and can move to a photographic positioning position above the transfer seat under the drive of the dual-axis motion module.

6. The L-shaped welding machine according to claim 1, characterized in that, The welding mechanism includes: A multi-axis motion module, wherein the multi-axis motion module is capable of moving in at least two axes: the X-axis, the Y-axis, and the Z-axis; A visual positioning camera is installed at the execution end of the multi-axis motion module to perform visual positioning of the welding position on the fixture platform. A welding module is located at the execution end of the multi-axis motion module and is used to weld the L-shaped part and the main workpiece.

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

8. The L-shaped welding machine according to claim 1, characterized in that, The gripping mechanism includes a base, a fixed gripper, a movable gripper, and a pusher cylinder. One end of the base is fixed to the actuator of the multi-joint manipulator. The fixed gripper is installed at the other end of the base. The movable gripper is pivotally connected to the fixed gripper and located outside the fixed gripper. The pusher cylinder is located on the base and is used to push the movable gripper to rotate, thereby closing or opening with the fixed gripper.

9. The L-shaped welding machine according to claim 4, characterized in that, The lifting platform is equipped with a drawer that can slide along the Y-axis, and the material box is detachably mounted on the drawer.

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