Workbench with movable lifting mechanism and intelligent chamfering equipment

Abstract

The utility model provides a workbench with a movable lifting mechanism and intelligent chamfering equipment, and relates to the technical field of automatic welding production lines. The working table comprises a base, the plurality of moving parts are horizontally arranged on the base, and lifting mechanisms are arranged at the moving parts; the electromagnets are arranged on the moving parts in a one-to-one correspondence mode, and the lifting mechanism is used for enabling the electromagnets to ascend and descend; the plurality of transmission mechanisms are arranged at the base, each transmission mechanism is in transmission connection with the plurality of moving parts in the corresponding horizontal row, and the transmission mechanisms are used for driving the moving parts; by means of the transmission mechanism, the multiple moving pieces in each transverse row move to the corresponding positions according to the shape of the steel plate with the special shape and then are attracted and fixed through the electromagnets on the moving pieces, so that interference and collision between the mechanical arm and the base in the chamfering process are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic welding production lines, in particular to a movable workbench with a lifting mechanism and intelligent chamfering equipment. Background Art

[0002] In automated welding production lines, robotic arms are commonly used to carry out various welding processes to improve welding efficiency. For example, for welding of plate-like parts, it is often necessary to first chamfer the steel plate on the production line. As the level of intelligence of welding robots increases, intelligent welding production lines have emerged. As a result, the chamfering process has also been fully automated and intelligent.

[0003] The current intelligent chamfering equipment can realize fully automatic and autonomous chamfering, using multiple evenly distributed electromagnets on its workbench to effectively adsorb and fix the steel plate, and then the robotic arms around the workbench autonomously chamfer the fixed steel plate.

[0004] However, for steel plates with special shapes, such as thin and long steel plates, the electromagnets on the workbench are evenly distributed, which cannot effectively adsorb these steel plates with special shapes, causing the steel plates to deviate during the chamfering process of the robot arm; or because of insufficient support force, stress deformation occurs during the removal of these steel plates. As a result, these steel plates with special shapes cannot meet the chamfering processing requirements on the intelligent chamfering equipment. Utility Model Content

[0005] The technical problem to be solved by the utility model is how to make the steel plate with special shape meet the chamfering processing requirements after being chamfered on the intelligent chamfering equipment.

[0006] In order to solve the above problems, the utility model provides a movable workbench with a lifting mechanism, comprising:

[0007] Base;

[0008] A plurality of moving parts are arranged in a plurality of horizontal rows on the base, and a lifting mechanism is provided at the moving parts;

[0009] A plurality of electromagnets are arranged one by one on each of the moving parts, and the lifting mechanism is used to lift and lower the electromagnets; and

[0010] A plurality of transmission mechanisms are arranged at the base, each of the transmission mechanisms is connected to a corresponding horizontal row of multiple moving members, the transmission mechanisms are used to drive the moving members to reciprocate in the horizontal direction, and the plurality of transmission mechanisms are arranged side by side at intervals along the longitudinal direction of the base.

[0011] Optionally, the base includes a base body and a plurality of cross beams.

[0012] A groove is provided on the top surface of the base body, and the groove extends along the longitudinal direction of the base.

[0013] The plurality of cross beams are arranged at intervals on the groove, and both ends of each cross beam are connected to both side walls of the groove.

[0014] At least one row of a plurality of the moving members is provided at each cross beam, and at least one of the transmission mechanisms is provided at each cross beam.

[0015] Optionally, one row of a plurality of the moving members is respectively provided on both longitudinal sides of each cross beam, and one of the transmission mechanisms is respectively provided on both longitudinal sides of each cross beam.

[0016] Optionally, the base further includes a plurality of transmission rollers, the plurality of transmission rollers are provided on the groove, and the plurality of transmission rollers and the plurality of cross beams are alternately arranged in sequence.

[0017] Optionally, the transmission mechanism includes:

[0018] A rack, which is arranged along the transverse direction of the base;

[0019] A plurality of gears, which are respectively arranged in a plurality of the moving members in one-to-one correspondence, and the gears are engaged with the rack; and

[0020] A plurality of first drive motors, which are respectively arranged at a plurality of the moving members in one-to-one correspondence, and each first drive motor is used to drive the gear to rotate.

[0021] Optionally, the transmission mechanism further includes: an encoder connected to the first drive motor, and the first drive motor is a servo motor;

[0022] Alternatively, a displacement sensor is provided at each moving member, and the displacement sensor is used to detect the position of the corresponding moving member on the base.

[0023] Optionally, the transmission mechanism includes:

[0024] A lead screw, which is arranged along the transverse direction of the base;

[0025] A plurality of nuts, which are respectively arranged in a plurality of the moving members in one-to-one correspondence, and the nuts are in threaded cooperation with the lead screw; and

[0026] A plurality of second drive motors, which are respectively arranged at a plurality of the moving members in one-to-one correspondence, and each second drive motor is used to drive the nut to rotate.

[0027] Optionally, the workbench further includes a plurality of guide rails, which are arranged in one-to-one correspondence with the transmission mechanism. The two ends of the guide rails are connected to the base, and a plurality of the moving members in each row are strung on one of the guide rails.

[0028] Optionally, the lifting mechanism is a piston cylinder and piston rod cooperation mechanism. A fixing plate is arranged on the top of the moving member. The telescopic end of the lifting mechanism is connected to the fixing plate, and the electromagnet is arranged on and connected to the fixing plate.

[0029] In addition, the present invention also provides an intelligent chamfering device, including the workbench described above.

[0030] The technical effects of the present invention at least include: when chamfering a steel plate with a special shape, the steel plate is conveyed to the base of the workbench by the conveying mechanism, and then the fixing position is determined. Through the transmission mechanism, a plurality of moving members in each row move to the corresponding positions according to the shape of the steel plate with a special shape. Then, the steel plate is adsorbed and fixed by the electromagnet on the moving member. After the adsorption fixing points are inspected and qualified, the steel plate with a special shape is lifted relative to the base by a set height through the lifting mechanism to avoid interference and collision between the robotic arm and the base during the chamfering process. Then, the chamfering device at the end of the robotic arm of the intelligent chamfering device is used to chamfer it, and the problem that the steel plate with a special shape cannot meet the chamfering processing requirements due to the ineffective support of the support points for the steel plate can be solved. Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of the workbench and the intelligent chamfering device according to the specific embodiment of the present invention;

[0032] Figure 2 is Figure 1 a schematic partial enlarged view of the P position in

[0033] Figure 3 is Figure 1 a schematic partial enlarged view of the Q position in Specific Embodiments

[0034] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following describes the specific embodiments of the present invention in detail with reference to the drawings. Many specific details are set forth in the following description in order to fully understand the embodiments of the present invention. It should be understood that the specific embodiments described herein are merely used to explain the present invention and are not used to limit the present invention. The embodiments of the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0035] It is understood that the terms "first", "second", etc. used in the present utility model may be used herein to describe various technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. However, unless otherwise specified, these technical terms are not restricted by these terms. These terms are only used to distinguish one technical term from another. For example, without departing from the scope of the present utility model, the first receiving device and the second receiving device are different receiving devices, the first surface and the second surface are different surfaces, and the first plane, the second plane, the third plane, and the fourth plane are different planes. In the description of the embodiments of the present utility model, the meanings of "a plurality" and "several" are at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In the description of the embodiments of the present utility model, unless otherwise clearly specified and defined, the terms "mounted", "connected", "arranged", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0037] In the description of the embodiments of the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than the horizontal height of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than the horizontal height of the second feature.

[0038] It should be noted that when a component is referred to as being "fixed to" or "arranged on" another component, or similar expressions such as "fixed on" or "arranged in", it can be directly on another component or there may also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be an intermediate component at the same time.

[0039] Unless otherwise defined, all technical and scientific terms used in this utility model have the same meaning as commonly understood by those skilled in the technical field to which this utility model belongs. The terms used in the description of this utility model in this specification are only for the purpose of describing specific embodiments and are not intended to limit this utility model.

[0040] Moreover, in the drawings, the Z-axis represents the vertical direction, that is, the up-and-down direction, and the positive direction of the Z-axis (that is, the direction of the arrow of the Z-axis) represents up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the Y-axis represents the longitudinal direction, that is, the front-and-back direction; in the drawings, the X-axis represents the transverse direction, that is, the left-and-right direction. At the same time, it should be noted that the above-described meanings represented by the Z-axis, Y-axis, and X-axis are only for the convenience of describing this 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 construed as a limitation to this utility model.

[0041] See Figures 1 to 3 , this embodiment provides a workbench with a movable lifting mechanism, including:

[0042] A base;

[0043] A plurality of moving members 2, arranged in a plurality of horizontal rows on the base, and a lifting mechanism 21 is provided at the moving member 2;

[0044] A plurality of electromagnets 22, respectively arranged on each of the moving members 2, and the lifting mechanism 21 is used to lift the electromagnets 22; and

[0045] A plurality of transmission mechanisms are provided at the base, each transmission mechanism is in transmission connection with a plurality of the moving members 2 in a corresponding horizontal row, the transmission mechanism is used to drive the moving members 2 to reciprocate horizontally, and the plurality of transmission mechanisms are arranged side by side at intervals along the longitudinal direction of the base.

[0046] In addition, the transmission mechanism can be a gear 32 - rack 31 transmission mechanism, or a screw transmission mechanism, such as an electric push rod, as long as each moving member 2 can move within a certain range.

[0047] When chamfering a steel plate with a special shape, first cut off the power supply of the electromagnet 22 to eliminate its adsorption on the special-shaped steel plate. Then, use a conveying and transporting mechanism, such as a robotic arm, conveyor belt, crane, etc., to transfer the steel plate to the base of the workbench. Then, determine the fixed position, and through the transmission mechanism, make multiple moving parts 2 in each horizontal row move to the corresponding positions according to the shape of the special-shaped steel plate. After checking that the adsorption fixing points are qualified, raise the special-shaped steel plate relative to the base by a set height through the lifting mechanism 21. Finally, all the electromagnets 22 are energized to make the electromagnets 22 adsorb and fix the special-shaped steel plate. Then, use the chamfering device at the end of the robotic arm of the intelligent chamfering equipment to chamfer it, and the problem that the special-shaped steel plate cannot meet the chamfering processing requirements due to the ineffective support of the support points for the steel plate can be solved.

[0048] See Figures 1 to 3 Furthermore, the base includes a base body 11 and a plurality of cross beams 12.

[0049] A groove 14 is provided on the top surface of the base body 11, and the groove 14 extends along the longitudinal direction of the base.

[0050] A plurality of the cross beams 12 are arranged at intervals on the groove 14, and both ends of the cross beam 12 are respectively connected to the two side walls of the groove 14.

[0051] At least one horizontal row of a plurality of the moving parts 2 is provided at each cross beam 12, and at least one of the transmission mechanisms is provided at each cross beam 12.

[0052] The space below the groove 14 is used to collect the waste generated during the chamfering process of the workpiece, so as to ensure the cleanliness of the workbench surface. At the same time, the plurality of cross beams 12 also effectively support the moving parts 2.

[0053] See Figures 1 to 3 Furthermore, one horizontal row of a plurality of the moving parts 2 is respectively provided on both longitudinal sides of each cross beam 12, and one of the transmission mechanisms is respectively provided on both longitudinal sides of each cross beam 12.

[0054] Two horizontal rows of moving parts 2 are provided at each cross beam 12, and each horizontal row of moving parts 2 can move according to needs, increasing the number of moving parts 2 arranged at the same cross beam 12, thereby increasing the effective support and fixation of the steel plate.

[0055] See Figures 1 to 3 Furthermore, the base further includes a plurality of transmission rollers 13, and the plurality of transmission rollers 13 are provided on the groove 14, and the plurality of transmission rollers 13 and the plurality of cross beams 12 are arranged alternately in sequence.

[0056] Preferably, at least one of the drive rollers 13 is a driving roller to convey the steel plate onto the base by means of a plurality of drive rollers 13.

[0057] After the lifting mechanism 21 descends, the height of the lifting mechanism 21 is made lower than the height of each drive roller 13, and a plurality of drive rollers 13 are used to effectively support the steel plate, reducing the support pressure on the moving member 2.

[0058] See Figures 1 to 3 , further, the transmission mechanism includes:

[0059] A rack 31 disposed along the transverse direction of the base;

[0060] A plurality of gears 32 respectively disposed in a plurality of the moving members 2, the gears 32 meshing with the rack 31; and

[0061] A plurality of first drive motors 33 respectively disposed at a plurality of the moving members 2, each first drive motor 33 being used to drive the gear 32 to rotate.

[0062] By means of the cooperation of the gear 32 and the rack 31 and being driven by the first drive motor 33, precise control of the moving position of the moving member 2 is achieved.

[0063] Preferably, each rack 31 is disposed on a cross beam 12 and extends along the cross beam 12.

[0064] See Figures 1 to 3 , further, the transmission mechanism further includes: an encoder connected to the first drive motor 33, the first drive motor 33 being a servo motor.

[0065] By controlling the input quantity of the encoder, control of the number of rotation turns and the angle of the servo motor is achieved, so as to convert and obtain the moving position of each moving member 2, and precise control of the moving position of each moving member 2 is performed.

[0066] Alternatively, a displacement sensor is disposed at each moving member 2, and the displacement sensor is used to detect the position of the corresponding moving member 2 on the base.

[0067] The position of the corresponding moving member 2 on the base is detected by means of the displacement sensor, thereby forming a closed-loop precise detection of each moving member 2.

[0068] See Figures 1 to 3 , further, the transmission mechanism includes:

[0069] A lead screw disposed along the transverse direction of the base;

[0070] A plurality of nuts are respectively arranged in the plurality of said moving members 2, and the nuts are in threaded engagement with the lead screws; and

[0071] A plurality of second drive motors are respectively arranged at the plurality of said moving members 2, and each of the second drive motors is used to drive the nut to rotate.

[0072] It should be noted that the nut is in transmission connection with the output shaft of the second drive motor through a gear 32.

[0073] By using the cooperation of the nut and the lead screw, while realizing transmission, it also has a self-locking function to prevent the moving member 2 from having its own micro-movement when the transmission mechanism stops transmitting due to its large own weight.

[0074] Preferably, each lead screw is arranged on a cross beam 12 and extends along the cross beam 12.

[0075] See Figures 1 to 3 , further, the workbench further includes a plurality of guide rails 4, the guide rails 4 are arranged corresponding to the transmission mechanism one by one, both ends of the guide rails 4 are connected to the base, and the plurality of moving members 2 in each row are strung on one of the guide rails 4.

[0076] The guide rail 4 is used for guiding and plays an auxiliary supporting role for the moving member 2.

[0077] Preferably, the guide rail 4 is arranged parallel to the cross beam 12, and both ends of the guide rail 4 are connected to the two side walls of the groove 14, and the plurality of moving members 2 in each row are strung on a corresponding one of the guide rails 4. In this way, the guide rail 4 effectively supports the moving members 2 in each row.

[0078] See Figures 1 to 3 , further, the lifting mechanism 21 is a piston cylinder and piston rod cooperation mechanism, a fixing plate 23 is arranged at the top of the moving member 2, the telescopic end of the lifting mechanism 21 is connected to the fixing plate 23, and the electromagnet 22 is arranged on the fixing plate 23 and is connected to the fixing plate 23.

[0079] It should be noted that the piston cylinder and piston rod cooperation mechanism can be a hydraulic cylinder and the corresponding piston rod cooperation mechanism, or a pneumatic cylinder and the corresponding piston rod cooperation mechanism.

[0080] Preferably, the lifting mechanism 21 is a pneumatic cylinder piston mechanism to improve the response speed of the lifting mechanism.

[0081] In addition, the present embodiment further provides an intelligent chamfering device, including the said workbench. Since the technical effects obtained by the intelligent chamfering device are the same as those of the said workbench, the intelligent chamfering device will not be further explained.

[0082] The intelligent chamfering device further includes a plurality of robotic arms and vision sensors. The plurality of robotic arms are respectively arranged near the base of the workbench, and a chamfering head is installed at the end of each robotic arm.

[0083] The vision sensor is arranged above the workbench and faces the workbench.

[0084] After the workpiece is fixed by the lifting mechanism and the electromagnet, the vision sensor is used to identify the contour and size of the plate-shaped workpiece and transmit them to the control system. Then, according to the obtained workpiece contour shape and size, the control system uses the robotic arm to move the chamfering mechanism close to the edge of the plate-shaped workpiece and starts the chamfering operation on the workpiece, realizing the autonomous recognition and autonomous chamfering operation of the workpiece by the whole set of equipment, making the chamfering operation automated and intelligent. Such as the chamfering device described in the published invention "A Steel Plate Intelligent Cutting System and Method (202211253994.9)".

[0085] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present utility model.

Claims

1. A movable workbench with a lifting mechanism, characterized in that: include: Base; A plurality of moving parts are arranged in a plurality of horizontal rows on the base, and a lifting mechanism is provided at the moving parts; A plurality of electromagnets are arranged one by one on each of the moving parts, and the lifting mechanism is used to lift the electromagnets; as well as A plurality of transmission mechanisms are arranged at the base, each of the transmission mechanisms is connected to a corresponding horizontal row of multiple moving members, the transmission mechanisms are used to drive the moving members to reciprocate in the horizontal direction, and the plurality of transmission mechanisms are arranged side by side at intervals along the longitudinal direction of the base.

2. The workbench according to claim 1, characterized in that: The base comprises a base body and a plurality of cross beams, The top surface of the base body is provided with a groove, and the groove extends along the longitudinal direction of the base. A plurality of the cross beams are arranged on the groove at intervals, and two ends of the cross beams are respectively connected to two side walls of the groove. At least one horizontal row of multiple moving parts is arranged at each crossbeam, and at least one transmission mechanism is arranged at each crossbeam.

3. The workbench according to claim 2, characterized in that: A plurality of the moving parts are arranged in a horizontal row on both longitudinal sides of each of the cross beams, and a transmission mechanism is arranged on both longitudinal sides of each of the cross beams.

4. The workbench according to claim 2, characterized in that: The base further comprises a plurality of transmission rollers, the plurality of transmission rollers are arranged on the groove, and the plurality of transmission rollers and the plurality of cross beams are arranged alternately in sequence.

5. The workbench according to claim 1, characterized in that: The transmission mechanism comprises: A rack, arranged along the lateral direction of the base; a plurality of gears, arranged in a one-to-one correspondence in the plurality of the moving members, the gears meshing with the racks; and A plurality of first driving motors are arranged at the plurality of moving parts in a one-to-one correspondence, and each of the first driving motors is used for driving the gear to rotate.

6. The workbench according to claim 5, characterized in that: The transmission mechanism further comprises: an encoder connected to the first drive motor, wherein the first drive motor is a servo motor; Alternatively, a displacement sensor is provided at each of the moving members, and the displacement sensor is used to detect the position of the corresponding moving member on the base.

7. The workbench according to claim 1, characterized in that: The transmission mechanism comprises: A lead screw is arranged laterally along the base; A plurality of screw nuts are arranged in the plurality of moving parts in a one-to-one correspondence, and the screw nuts are threadably matched with the lead screws; and A plurality of second driving motors are arranged one by one at the plurality of moving parts, and each of the second driving motors is used for driving the nut to rotate.

8. The workbench according to any one of claims 1 to 7, characterized in that: The workbench also includes a plurality of guide rails, which are arranged one by one with the transmission mechanisms, and both ends of the guide rails are connected to the base, and a plurality of the moving parts in each horizontal row are strung on one guide rail.

9. The workbench according to any one of claims 1 to 7, characterized in that: The lifting mechanism is a piston cylinder and piston rod matching mechanism, a fixed plate is arranged on the top of the moving part, the telescopic end of the lifting mechanism is connected to the fixed plate, and the electromagnet is arranged on the fixed plate and connected to the fixed plate.

10. An intelligent chamfering device, characterized in that: A workbench comprising any one of claims 1 to 9.

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