Robot working system capable of adjusting posture of weldment

Abstract

The utility model relates to the field of welding equipment, in particular to a welding piece posture-adjustable robot working system which comprises a welding mechanical arm, a posture adjusting mechanism and a workpiece clamping mechanism, the workpiece clamping mechanism is arranged on the posture adjusting mechanism and moves along with the posture adjusting mechanism, the welding mechanical arm is arranged on one side of the posture adjusting mechanism, and the welding mechanical arm is arranged on the other side of the posture adjusting mechanism. The welding mechanical arm comprises a base and a rotating seat, the rotating seat is rotatably arranged on the base in the horizontal direction, a first rotating arm, a second rotating arm and a welding gun seat are sequentially hinged to the upper portion of the rotating seat, the welding gun seat is arranged towards the workpiece clamping mechanism, and a welding gun is arranged on the welding gun seat; the pose adjusting mechanism comprises a fixed platform, a hydraulic cylinder and a movable platform which are sequentially arranged from bottom to top. The three-degree-of-freedom parallel robot is used as a pose adjusting mechanism for bearing a workpiece, and is matched with the multi-degree-of-freedom welding mechanical arm, the angles of the workpiece and the welding gun are cooperatively adjusted through the mechanical arm and the pose adjusting mechanism, and the welding position requirements of different shapes and different angles are met.

Description

Technical Field

[0001] The utility model relates to the field of welding equipment, in particular to a robot working system with adjustable posture of welded parts. Background Art

[0002] Welding robots are currently widely used in various welding production processes to improve welding operation efficiency and the reliability of welding results. The weldments and tooling of traditional robot welding workstations are fixed. For weldments with more complex shapes, the robot arm cannot reach some welding points, which increases the limitations of the workstation and causes some welding points to have to be manually repaired, affecting welding efficiency. Utility Model Content

[0003] The utility model aims to solve the above problems and provides a robot working system with adjustable posture for welded parts. The technical solution adopted is as follows:

[0004] A robot working system with adjustable weldment posture, comprising a welding robot arm, a posture adjustment mechanism and a workpiece clamping mechanism, wherein the workpiece clamping mechanism is arranged on the posture adjustment mechanism and moves therewith, and the welding robot arm is arranged on one side of the posture adjustment mechanism, the welding robot arm comprises a base and a rotating seat arranged in sequence from bottom to top, the rotating seat is rotatably arranged on the base in the horizontal direction, a first rotating arm, a second rotating arm and a welding gun seat are hinged in sequence above the rotating seat, the welding gun seat is arranged toward the workpiece clamping mechanism, and a welding gun is arranged on the welding gun seat; the posture adjustment mechanism comprises a fixed platform, a hydraulic cylinder and a moving platform arranged in sequence from bottom to top, the cylinder barrel and the piston rod end of the hydraulic cylinder are respectively hinged to the fixed platform and the moving platform, the number of the hydraulic cylinders is 3, and they are evenly distributed in a circle along the central axis of the moving platform.

[0005] On the basis of the above scheme, the workpiece clamping mechanism includes a rotating chuck, movable fingers and a clamping block which are arranged in pairs and opposite to each other on the same axis. The rotating chuck can rotate around the horizontal axis in a vertical plane. The movable fingers are arranged in pairs on the rotating chuck on each side and move relatively. Each movable finger is fixedly connected to a clamping block, and the workpiece is clamped between the clamping blocks.

[0006] On the basis of the above solution, the lower side of the clamping block is fixedly connected to the bearing plate.

[0007] Preferably, the workpiece clamping mechanism further comprises a slide rail and a sliding seat, the slide rail is fixedly mounted on the moving platform, the sliding seat is slidably disposed on the slide rail, and the rotating chuck is rotatably mounted on the sliding seat.

[0008] Preferably, a second motor is installed on the rotating seat, the bottom end of the first rotating arm is connected to the second motor, the first rotating arm rotates around a horizontal axis in a vertical plane, the connecting seat at the end of the second rotating arm is hinged to the first rotating arm, and drives the second rotating arm to rotate around the horizontal axis of the hinge between the connecting seat and the first rotating arm, and a fourth motor is arranged on the connecting seat, and the fourth motor drives the second rotating arm to rotate around its axis.

[0009] Based on the above solution, a third motor is installed at the bottom end of the first rotating arm, the output shaft of the third motor is connected to one end of the rocker, the other end of the rocker is hinged to the bottom end of the auxiliary rod, and the top end of the auxiliary rod is hinged to the connecting seat.

[0010] The beneficial effects of the utility model are as follows: a three-degree-of-freedom parallel robot is used as a posture adjustment mechanism to carry the workpiece, and a multi-degree-of-freedom welding robot arm is used to coordinately adjust the angles of the workpiece and the welding gun through the robot arm and the posture adjustment mechanism to meet the welding position requirements of different shapes and angles; a workpiece clamping mechanism with variable clamping distance and clamping position is used to fix the workpiece, which can effectively clamp workpieces of various shapes and expand the scope of use of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 : Schematic diagram of the structure of the utility model;

[0012] Figure 2 : Schematic diagram of the structure of the welding robot arm of the utility model;

[0013] Figure 3 : Schematic diagram of the structure of the workpiece clamping mechanism of the utility model. DETAILED DESCRIPTION

[0014] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0015] 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 directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0016] In the description of the present utility model, it should be understood that the terms "center", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. 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 utility model, unless otherwise specified, "multiple" means two or more.

[0017] In the present utility model, 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.

[0018] like Figures 1 to 3 As shown, a robot working system with adjustable weldment posture includes a welding robot arm, a posture adjustment mechanism and a workpiece clamping mechanism. The workpiece clamping mechanism is arranged on the posture adjustment mechanism and moves therewith. The posture adjustment mechanism includes a fixed platform 41, a hydraulic cylinder 42 and a moving platform 43 arranged in sequence from bottom to top. The cylinder barrel and the piston rod end of the hydraulic cylinder 42 are respectively hinged to the fixed platform 41 and the moving platform 43. The number of hydraulic cylinders 42 is 3 and they are evenly distributed along the central axis of the moving platform 43 to form a parallel robot. The telescopic length of the piston rod is adjusted by each hydraulic cylinder 42, and the steering and deflection angle of the moving platform 43 are adjusted, thereby adjusting the angle of the workpiece 6.

[0019] The workpiece clamping mechanism includes a pair of rotating chucks 53, movable fingers 54 and clamping blocks 55 which are arranged opposite to each other in sequence on the same axis. The rotating chuck 43 can rotate around the horizontal axis in the vertical plane. The movable fingers 54 are arranged in pairs on the rotating chuck 53 on each side and move relatively. Each movable finger 54 is fixedly connected to a clamping block 55, and the clamping blocks 55 clamp the workpiece 6. The clamping blocks 55 are driven relatively close or away by the movable fingers 54 to complete the clamping action of the workpiece 6; the above structures are arranged oppositely, which is convenient for clamping two workpieces to be welded at the same time; the rotating chuck 43 is used to adjust the angle of the workpiece 6. Preferably, the lower side of the clamping block 55 is fixedly connected to a carrier plate 56 to assist in supporting the workpiece 6 and prevent it from falling off. The workpiece clamping mechanism also includes a slide rail 51 and a sliding seat 52. The slide rail 51 is fixedly mounted on the moving platform 43. The sliding seat 52 can be slidably arranged on the slide rail 51. The rotating chuck 53 can be rotatably mounted on the sliding seat 52. The sliding seat 52 can be driven and moved by a motor or other power device. Through the movement of the sliding seat 52, the clamping position of the workpiece 6 and the distance between the relative clamping blocks 55 are adjusted to adapt to workpieces 6 of different size structures.

[0020] The welding robot arm is arranged on one side of the posture adjustment mechanism, and the welding robot arm includes a base 11 and a rotating base 13 arranged in sequence from bottom to top. The rotating base 13 is rotatably arranged on the base 11 in the horizontal direction. The first motor 12 is installed on the base 11, and the first motor 12 drives the rotating base 13 to rotate through a worm gear structure or other existing structures. The first rotating arm 22, the second rotating arm 31 and the welding gun seat 33 are hinged on the top of the rotating base 13 in sequence. The welding gun seat 33 is arranged toward the workpiece clamping mechanism, and a welding gun is arranged on the welding gun seat 33. Specifically, the second motor 21 is installed on the rotating base 13, the bottom end of the first rotating arm 22 is connected to the second motor 21, and the second motor 21 drives the first rotating arm 22 to rotate around the horizontal axis in the vertical plane. The connecting base at the end of the second rotating arm 31 is hinged to the first rotating arm 22, and drives the second rotating arm 31 to rotate around the horizontal axis of the hinge between the connecting base and the first rotating arm 22. The fourth motor 32 is arranged on the connecting base, and the fourth motor 32 drives the second rotating arm 31 to rotate around its axis. The welding gun seat 33 rotates around the horizontal axis at the end of the second rotating arm 31. Preferably, the third motor 23 is installed at the bottom end of the first rotating arm 22, and the output shaft of the third motor 23 is connected to one end of the rocker 24, and the other end of the rocker 24 is hinged to the bottom end of the auxiliary rod 25, and the top end of the auxiliary rod 25 is hinged to the connecting seat. The auxiliary rod 25 is driven to rotate by the third motor 23, thereby providing auxiliary support and stabilization for the connecting seat.

[0021] The present invention is described above by way of examples, but the present invention is not limited to the above specific embodiments, and any changes or modifications based on the present invention belong to the scope of protection required by the present invention.

Claims

1. A robot working system with adjustable posture for welded parts, characterized in that: The invention comprises a welding mechanical arm, a posture adjustment mechanism and a workpiece clamping mechanism. The workpiece clamping mechanism is arranged on the posture adjustment mechanism and moves therewith. The welding mechanical arm is arranged on one side of the posture adjustment mechanism. The welding mechanical arm comprises a base (11) and a rotating base (13) which are arranged in sequence from bottom to top. The rotating base (13) is rotatably arranged on the base (11) in a horizontal direction. A first rotating arm (22), a second rotating arm (31) and a welding gun seat (33) are hinged in sequence above the rotating base (13). The welding gun seat (33) is arranged toward the workpiece clamping mechanism, and a welding gun is arranged on the welding gun seat (33). The posture adjustment mechanism comprises a fixed platform (41), a hydraulic cylinder (42) and a moving platform (43) which are arranged in sequence from bottom to top. The cylinder barrel and the piston rod end of the hydraulic cylinder (42) are respectively hinged to the fixed platform (41) and the moving platform (43). There are three hydraulic cylinders (42) which are evenly distributed along the central axis of the moving platform (43).

2. A robot working system with adjustable weldment posture according to claim 1, characterized in that: The workpiece clamping mechanism comprises a rotating chuck (53), a movable finger (54) and a clamping block (55) which are arranged in pairs and are arranged opposite to each other in sequence on the same axis. The rotating chuck (53) can rotate around a horizontal axis in a vertical plane. The movable fingers (54) are arranged in pairs on the rotating chuck (53) on each side and can move relatively. Each movable finger (54) is fixedly connected to a clamping block (55), and the clamping blocks (55) clamp the workpiece (6) between them.

3. A robot working system with adjustable weldment posture according to claim 2, characterized in that: The lower side of the clamping block (55) is fixedly connected to the bearing plate (56).

4. A robot working system with adjustable weldment posture according to claim 2, characterized in that: The workpiece clamping mechanism further comprises a slide rail (51) and a sliding seat (52), wherein the slide rail (51) is fixedly mounted on the moving platform (43), the sliding seat (52) is slidably arranged on the slide rail (51), and the rotating chuck (53) is rotatably mounted on the sliding seat (52).

5. The robot working system with adjustable weldment posture according to claim 1, characterized in that: A second motor (21) is installed on the rotating seat (13), the bottom end of the first rotating arm (22) is connected to the second motor (21), the first rotating arm (22) rotates around a horizontal axis in a vertical plane, the connecting seat at the end of the second rotating arm (31) is hinged to the first rotating arm (22), and drives the second rotating arm (31) to rotate around the horizontal axis of the hinge between the connecting seat and the first rotating arm (22), and a fourth motor (32) is arranged on the connecting seat, and the fourth motor (32) drives the second rotating arm (31) to rotate around its axis.

6. A robot working system with adjustable weldment posture according to claim 5, characterized in that: A third motor (23) is installed at the bottom end of the first rotating arm (22), the output shaft of the third motor (23) is connected to one end of a rocker (24), the other end of the rocker (24) is hinged to the bottom end of an auxiliary rod (25), and the top end of the auxiliary rod (25) is hinged to a connecting seat.

Images