Three-dimensional displacement robot workstation

Abstract

The three-dimensional displacement robot workstation comprises a robot module and a rack, the rack is provided with an upper platform working area and a lower platform working area, and the upper platform working area and the lower platform working area are each provided with a clamp; the robot module is installed on the robot displacement system, and switching of the robot module between an upper working state and a lower working state is achieved through the robot displacement system. In the upper working state, the robot module faces upwards and is used for welding a workpiece at the clamp in the working area of the upper platform; in the lower working state, the robot module faces downwards and is used for welding a workpiece at the clamp in the working area of the lower platform; and a balanced automatic conveying mechanism is arranged between the upper platform working area and the lower platform working area. The robot displacement system is adopted to switch a robot operation space from a plane to a three-dimensional space, meanwhile, workpieces are conveyed to upper and lower stations through the balance type automatic conveying mechanism, the logistics transportation cost and site are reduced, and the utilization rate of the robot is greatly increased.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile manufacturing, and particularly to a three-dimensional displacement robot workstation. Background Art

[0002] In the production of automobile frames, arc welding is widely used for welding components such as cross beams, longitudinal beams, and front suspension brackets. Due to the limited space in our company, if a conventional robot workstation layout is adopted for production, it will occupy a relatively large amount of space, and logistics will also require a large amount of space and labor. At the same time, some components are relatively complex and require multiple processes to be completed. The operation time for manual installation and handling of components is relatively long, resulting in a low utilization rate of the robot workstation, and there is a problem of insufficient operation fullness in the robot workstation. Summary of the Invention

[0003] The purpose of the present invention is to provide a three-dimensional displacement robot workstation. By adopting the robot three-dimensional displacement method, the factory space is switched from a plane to a three-dimensional space, which can effectively improve the space utilization rate. At the same time, through the balanced automatic conveying mechanism, the components are conveyed to the upper and lower workstations, reducing the logistics transportation cost and space, and greatly improving the utilization rate of the robot.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A three-dimensional displacement robot workstation includes a robot block and a frame. The frame has an upper platform working area and a lower platform working area. Fixtures are respectively provided at the upper platform working area and the lower platform working area, and the fixtures are used to place the components to be welded. The robot block is installed on a robot displacement system, and the switching between the upper working state and the lower working state of the robot block is realized through the robot displacement system. In the upper working state, the robot block faces upward and is used for welding the components at the fixture in the upper platform working area. In the lower working state, the robot block faces downward and is used for welding the components at the fixture in the lower platform working area. A balanced automatic conveying mechanism is provided between the upper platform working area and the lower platform working area, and the balanced automatic conveying mechanism realizes the conveying of components between the upper platform working area and the lower platform working area.

[0005] Further, the robot displacement system includes a horizontally arranged rotating shaft. A robot base is fixedly provided at the middle position of the rotating shaft, and the robot block is installed on the robot base. Both ends of the rotating shaft are rotatably installed on a support frame, and the support frame is fixed on the frame. It further includes a rotation driving device and a locking device. The rotation driving device is used to drive the rotating shaft to rotate, and the locking device is used to lock and unlock the rotating shaft.

[0006] Further, the robot block is installed on the upper side surface of the robot base, and a counterweight block is installed on the lower side surface of the robot base.

[0007] Furthermore, the rotation drive device includes a gear fixed to one end of the rotating shaft and a drive gear in transmission connection with the gear. The drive gear is driven to rotate by a rotating motor; The locking device includes a locking jaw provided at the other end of the rotating shaft. The locking jaw is driven to open and close by a locking cylinder, and the locking jaw is in a clamping fit with the rotating shaft in an openable and closable manner.

[0008] Furthermore, the balanced automatic conveying mechanism includes three support seats arranged side by side on the frame. A hoisting wheel is rotatably installed on the middle support seat, and the hoisting wheel is in transmission connection with a hoisting motor. Load-bearing wheels are respectively rotatably installed on the two side support seats; A sling is wound around the hoisting wheel. One end of the sling bypasses a load-bearing wheel on one side and is connected to a load-bearing platform, and the other end of the sling bypasses a load-bearing wheel on the other side and is connected to a load-bearing platform; In the initial state, the position of one load-bearing platform corresponds to the upper platform working area, and the position of the other load-bearing platform corresponds to the lower platform working area; the hoisting motor can drive the hoisting wheel to rotate forward or backward, and thus can drive the two load-bearing platforms to switch between the upper platform working area and the lower platform working area; when the load-bearing platform moves to the upper platform working area, it is called the upper load-bearing platform; when the load-bearing platform moves to the lower platform working area, it is called the lower load-bearing platform.

[0009] Furthermore, guide rods extending in the up and down directions are respectively provided at the positions of the two load-bearing platforms, and the guide rods are fixed to the frame; guide sleeves are installed on the load-bearing platforms, and the guide sleeves are in sliding fit with the corresponding guide rods in the up and down directions.

[0010] Furthermore, a sliding bottom plate is also provided at the position of the upper platform working area. The sliding bottom plate is connected to a bottom plate moving mechanism, and the bottom plate moving mechanism can drive the sliding floor to reciprocate in the horizontal direction, so that the sliding bottom plate moves under the upper load-bearing platform or away from under the load-bearing platform.

[0011] Furthermore, safety lock mechanisms are respectively provided at the positions corresponding to the two load-bearing platforms in the lower platform working area; The safety lock mechanism includes a safety lock catch installed in the lower platform working area, and a limiting portion is provided at the position corresponding to the safety lock catch on the load-bearing platform; when the safety lock catch extends out and cooperates with the limiting portion, the lower load-bearing platform can be locked.

[0012] Furthermore, a contact switch is installed on the safety lock catch, and when the lower load-bearing platform moves up, it will act on the contact switch.

[0013] Furthermore, a PLC control system is also included.

[0014] The beneficial effects of the present invention: The present invention can control a robot to perform variable-position welding by controlling a robot variable-position system, and at the same time use a balanced automatic conveying mechanism to convey workpieces up and down; this not only improves the matching of robot operations, but also switches the robot layout production from a plane to a three-dimensional space, increasing the utilization rate of space and reducing the operations of material flow transfer.

[0015] The present invention uses a balanced automatic conveying mechanism, reducing the power of the hoisting motor, greatly saving the energy consumption and operation cost during use, and reducing the investment.

[0016] The present invention can achieve alternate production between upper and lower workstations, greatly improving the utilization rate of robots, enhancing the fullness of robot operations, and significantly reducing project investment.

[0017] The present invention effectively solves the current problems such as insufficient production space, low utilization rate of robots, and excessive investment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the overall schematic diagram of the present invention; Figure 2 is the front view of the robot variable-position system in the present invention; Figure 3 is the top view of the robot variable-position system in the present invention; Figure 4 is the front view of the balanced automatic conveying mechanism in the present invention; Figure 5 is the top view of the balanced automatic conveying mechanism in the present invention; Figure 6 is the front view of the load-bearing platform in the present invention; Figure 7 is the top view of the load-bearing platform in the present invention.

[0019] The drawings are only for illustrative purposes and should not be construed as limitations on this patent; for better illustration of this embodiment, some components in the drawings are omitted, enlarged or reduced, and do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0021] As Figures 1 to 7 shown, this embodiment provides a three-dimensional variable-position robot workstation, including a frame 4 and a robot module 1. The frame 4 has an upper platform work area and a lower platform work area, and clamps 2 are respectively arranged on the upper platform work area and the lower platform work area. The clamps 2 are used to place workpieces to be welded.

[0022] In this embodiment, the robot module 1 is an arc welding robot module, including a welding torch, a welding machine, a controller, etc.

[0023] The robot module 1 is installed on the robot position-changing system, and the switching between the upper working state and the lower working state of the robot module is realized through the robot position-changing system; in the upper working state, the robot module 1 faces upward and is used for welding the workpieces at the fixture in the upper platform working area; in the lower working state, the robot module 1 faces downward and is used for welding the workpieces at the fixture in the lower platform working area.

[0024] Specifically, the robot position-changing system includes a horizontally arranged rotating shaft 8. A robot base 9 is fixedly provided at the middle position of the rotating shaft 8. The robot module 1 is installed on the upper side surface of the robot base 9, and a counterweight 10 is installed on the lower side surface of the robot base.

[0025] Support frames 5 are provided at both ends of the rotating shaft 8, and the support frames 5 are fixed on the frame 1. A clamping block 6 is installed on the support frame 5 to form a circular cavity. A bearing 7 is installed inside the circular cavity, and the rotating shaft 8 is installed inside the bearing 7.

[0026] Both ends of the rotating shaft 8 respectively extend out of the support frame 5. One end is provided with a rotation driving device, and the other end is provided with a locking device. The rotation driving device is used to drive the rotation of the rotating shaft 5, and the locking device is used to lock and unlock the rotating shaft 5.

[0027] In this embodiment, the rotation driving device includes a large gear 11 fixed at one end of the rotating shaft, and a driving gear 13 (pinion gear) that is in transmission connection with the large gear. The driving gear 13 is driven to rotate by a rotation motor 12, and the rotation motor 12 is installed on the corresponding support frame.

[0028] In this embodiment, the locking device includes a locking claw 15 provided at the other end of the rotating shaft. The locking claw 15 is driven to open and close by a locking cylinder 14, and the locking cylinder 14 is installed on the corresponding support 5. In this way, the locking claw 15 and the rotating shaft 8 are clamped in an openable and closable manner.

[0029] A balanced automatic conveying mechanism is further provided between the upper platform working area and the lower platform working area. The balanced automatic conveying mechanism realizes the conveying of workpieces between the upper platform working area and the lower platform working area.

[0030] The balanced automatic conveying mechanism includes three support seats 16 arranged side by side on the frame. A hoisting wheel 26 is rotatably installed on the middle support seat. The hoisting wheel 26 is in transmission connection with a hoisting motor 27. Load-bearing wheels 28 are respectively rotatably installed on the two side support seats; A sling 28 is wound around the lifting wheel 26, one end of the sling is passed around the load-bearing wheel on one side and connected to a load-bearing platform, and the other end of the sling 28 is passed around the load-bearing wheel on the other side and connected to another load-bearing platform.

[0031] In the initial state, the position of one load-bearing platform corresponds to the upper platform working area, and the position of the other load-bearing platform corresponds to the lower platform working area; the lifting motor 27 can drive the lifting wheel 26 to rotate forward or reverse, and then drive the two load-bearing platforms to switch between the upper platform working area and the lower platform working area. When the load-bearing platform moves to the upper platform working area, it is called the upper load-bearing platform; when the load-bearing platform moves to the lower platform working area, it is called the lower load-bearing platform.

[0032] A sliding floor 24 is also provided at the working area of the upper platform. The sliding floor 24 is connected to a floor moving mechanism 25 (the floor moving mechanism 25 can be an electric cylinder). The floor moving mechanism 25 can drive the sliding floor 24 to reciprocate in the horizontal direction, so that the sliding floor 24 moves to the bottom of the upper load-bearing platform or leaves the bottom of the upper load-bearing platform. When the sliding floor 24 moves to the bottom of the upper load-bearing platform, it plays a role of safety protection and support.

[0033] In this embodiment, guide rods 20 extending in the up-and-down directions are respectively provided at the positions of the two load-bearing platforms 19 , and the guide rods 20 are fixed on the frame 4 ; guide sleeves 21 are installed on the load-bearing platforms 19 , and the guide sleeves 21 slide with the corresponding guide rods 20 in the up-and-down directions.

[0034] And safety lock mechanisms are respectively provided at positions corresponding to the lower platform working area and the two load-bearing platforms 19. Specifically, the safety lock mechanism includes a safety lock buckle 22 installed in the lower platform working area, and a limit portion is provided on the load-bearing platform 19 at a position corresponding to the safety lock buckle 22. The safety lock buckle 22 extends out and cooperates with the limit portion to lock the lower load-bearing platform.

[0035] In this embodiment, a contact switch 23 is also installed on the safety lock buckle 22, and the contact switch 23 can be extended and retracted with the safety lock buckle 22. If the load-bearing platform moves up abnormally, the contact switch 23 will react with each other, thereby generating an alarm.

[0036] In the embodiment thereof, other sensors may also be used to detect abnormal upward movement of the lower bearing platform, such as a photoelectric switch, etc. This is a conventional technology in the art, and those skilled in the art may make corresponding arrangements as needed.

[0037] It also includes a PLC control system 3, which senses the states of different workpiece fixtures through sensors, controls the robot displacement system to control the robot to perform displacement welding, and senses the positions of the two load-bearing platforms at the same time, and uses a balanced automatic conveying mechanism to transport the workpiece up and down. The arrangement of the PLC control system and sensors is a conventional technology of those skilled in the art, and will not be described in detail in this embodiment.

[0038] The working principle of this embodiment is as follows: During use, when the workpiece at the fixture in the lower platform working area is installed in place, the robot starts welding. After welding is completed, under the action of the PLC control system, the rotation motor 12 operates to drive the drive gear 13 thereon to rotate, and the large gear 11 engaged therewith moves, driving the robot base 9 to rotate. The robot block 1 turns up to the upper platform working area. At this time, the locking cylinder 14 acts to drive the locking claw 15 thereon to cooperate with the rotating shaft 8 for locking, ensuring the stable position of the robot. Then, welding operations are carried out in the upper platform working area. At this time, the lower operator takes out the welded workpiece and places the next workpiece. After the operations in the upper platform working area are completed, at this time, the locking cylinder 14 resets to drive the locking claw 15 to separate from the rotating shaft 8. The rotation motor 12 operates in the reverse direction to drive the drive gear 13 thereon to rotate, and the large gear 11 engaged therewith moves, driving the robot base 9 to rotate. The robot block 1 turns down to the lower platform working area. At this time, the locking cylinder 14 acts to drive the locking claw 15 thereon to cooperate with the rotating shaft 8 for locking, ensuring the stable position of the robot. Then, welding operations are carried out in this area. At this time, the upper operator takes out the welded workpiece and places the next workpiece, waiting for the robot to turn up again for operations.

[0039] After the operations in the upper and lower platform working areas are completed, the lower operator sends the workpiece to be welded in the upper platform working area to the load-bearing table at the lower platform working area through the rack and fixes it. At this time, the upper operator sends the welded workpiece to the lower load-bearing table through the rack and fixes it. At this time, the sliding floor 24 at the upper platform working area moves under the upper load-bearing table to play a role in safety protection and support. When transportation is required, the sliding floor 24 slides out from under the upper load-bearing table. Since the upper and lower load-bearing tables place workpieces of basically the same weight, and counterweight blocks can be placed according to different weight differences to make the load-bearing of the upper and lower load-bearing tables basically equivalent. Then, the safety lock 22 retracts and resets. Then, the hoisting motor 27 operates to take in or release the sling 18 through the hoisting wheel 26, and the upper and lower load-bearing tables move to transport the workpiece to the corresponding position. At the same time, the sliding floor 24 in the platform working area moves into place to support the upper load-bearing table. After the lower load-bearing table descends in place, the safety lock 22 at the corresponding position on the bottom surface extends to lock the lower load-bearing table, and the lower operator takes out the rack. After the welding in the upper and lower platform working areas is completed again, the lower operator sends the workpiece to be welded into the lower load-bearing table, and at the same time, the upper operator sends the welded workpiece into the upper load-bearing table. The hoisting motor 27 operates in the reverse direction to release or take in the sling 18 through the hoisting wheel 26, and the upper and lower load-bearing tables reset. Then, the sliding floor 24 moves back to under the upper load-bearing table to play a role in safety protection and support. During production, the above operations are repeated.

[0040] If the workpiece on the upper load-bearing platform is placed first, the lower load-bearing platform will move up under the action of gravity, interacting with the contact switch on the safety lock to generate an alarm. At the same time, the safety lock limits the upward position of the lower load-bearing platform to ensure the safety of the balanced conveying mechanism and the safety of personnel.

[0041] The present invention can use the robot displacement system to switch the robot's working space from a plane to a three-dimensional space, which can effectively improve the space utilization rate. At the same time, the workpiece is transported to the upper workstation through a balanced automatic conveying mechanism, reducing logistics transportation costs and venues. At the same time, since the upper and lower workstations can produce alternately, the robot utilization rate is greatly improved, the fullness of the robot operation is improved, and the project investment can be greatly reduced.

[0042] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

[0043] If the words "first", "second", etc. are used in this document to limit components, those skilled in the art should know that the use of "first" and "second" is only to facilitate the description of the present invention and simplify the description. Unless otherwise stated, the above words have no special meaning.

[0044] 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”, “radial”, “circumferential”, 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 referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected 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.

Claims

1. A three-dimensional displacement robot workstation, comprising a robot module and a frame, characterized in that: The frame has an upper platform working area and a lower platform working area, and fixtures are respectively provided at the upper platform working area and the lower platform working area. The fixtures are used to place the workpieces to be welded. The robot block is installed on the robot position-changing system, and the switching between the upper working state and the lower working state of the robot block is realized through the robot position-changing system. In the upper working state, the robot block faces upward and is used to weld the workpiece at the fixture in the upper platform working area. In the lower working state, the robot block faces downward and is used to weld the workpiece at the fixture in the lower platform working area. A balanced automatic conveying mechanism is provided between the upper platform working area and the lower platform working area, and the balanced automatic conveying mechanism realizes the conveying of workpieces between the upper platform working area and the lower platform working area.

2. The three-dimensional displacement robot workstation according to claim 1, wherein: The robot position-changing system includes a horizontally arranged rotating shaft. A robot base is fixedly provided at the middle position of the rotating shaft, and the robot block is installed on the robot base. The two ends of the rotating shaft are rotatably installed on the support frame, and the support frame is fixed on the frame. It also includes a rotation driving device and a locking device. The rotation driving device is used to drive the rotating shaft to rotate, and the locking device is used to lock and unlock the rotating shaft.

3. The three-dimensional displacement robot workstation according to claim 2, characterized in that: The robot block is installed on the upper side of the robot base, and a counterweight block is installed on the lower side of the robot base.

4. The three-dimensional displacement robot workstation according to claim 2, wherein: The rotation driving device includes a gear fixed at one end of the rotating shaft, and a driving gear in transmission connection with the gear. The driving gear is driven to rotate by a rotating motor. The locking device includes a locking claw provided at the other end position of the rotating shaft. The locking claw is driven to open and close by a locking cylinder, and the locking claw is in an opening and closing clamping fit with the rotating shaft.

5. The three-dimensional variable-position robot workstation according to claim 1, characterized in that: The balanced automatic conveying mechanism includes three support seats arranged side by side on the frame. A hoisting wheel is rotatably installed on the middle support seat, and the hoisting wheel is in transmission connection with a hoisting motor. Load-bearing wheels are respectively rotatably installed on the two side support seats. A sling is wound around the hoisting wheel. One end of the sling bypasses a load-bearing wheel on one side and is connected to a load-bearing platform, and the other end of the sling bypasses a load-bearing wheel on the other side and is connected to a load-bearing platform. In the initial state, the position of one load-bearing platform corresponds to the upper platform working area, and the position of the other load-bearing platform corresponds to the lower platform working area. The hoisting motor can drive the hoisting wheel to rotate forward or backward, and thus can drive the two load-bearing platforms to switch between the upper platform working area and the lower platform working area. When the load-bearing platform moves to the upper platform working area, it is called the upper load-bearing platform. When the load-bearing platform moves to the lower platform working area, it is called the lower load-bearing platform.

6. The three-dimensional displacement robot workstation according to claim 5, characterized in that: Guide rods extending in the up and down direction are respectively provided at the positions of the two load-bearing platforms, and the guide rods are fixed on the frame. Guide sleeves are installed on the load-bearing platforms, and the guide sleeves are in sliding fit with the corresponding guide rods in the up and down direction.

7. The three-dimensional variable-position robot workstation according to claim 5, characterized in that: A sliding bottom plate is also provided at the position of the upper platform working area. The sliding bottom plate is connected with a bottom plate moving mechanism, and the bottom plate moving mechanism can drive the sliding floor to reciprocate horizontally, so that the sliding bottom plate moves under the upper load-bearing platform or leaves under the load-bearing platform.

8. The three-dimensional variable-position robot workstation according to claim 5, characterized in that: Safety lock mechanisms are respectively provided at the positions of the lower platform working area corresponding to the two load-bearing platforms. The safety lock mechanism includes a safety lock catch installed in the lower platform working area, and a limiting part is provided at the position corresponding to the safety lock catch on the load-bearing platform. When the safety lock catch extends out and cooperates with the limiting part, the lower load-bearing platform can be locked.

9. The three-dimensional variable-position robot workstation according to claim 8, characterized in that: A contact switch is installed on the safety latch, and when the lower load-bearing platform moves upward, it will act on the contact switch.

10. The three-dimensional displacement robot workstation according to any one of claims 1-9, characterized in that: It also includes a PLC control system.

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