Material taking and welding integrated robot

Abstract

The utility model discloses a material taking and welding integrated robot, which relates to the technical field of welding, and comprises a manipulator structure, a mounting structure and an operation structure, the mounting structure is arranged at the output end of the manipulator structure, and the mounting structure is provided with a first mounting end and a second mounting end; the operation structure comprises a welding device and a material taking structure, and the welding device and the material taking structure are installed at the first installation end and the second installation end correspondingly. According to the technical scheme, the welding device and the material taking structure are both integrally installed at the output end of the mechanical arm, after the mechanical arm structure can drive production materials to be fixed, the output end of the mechanical arm structure directly moves, and therefore the materials can be directly welded through the welding device; the situation that when welding operation is independently set, a corresponding adjusting structure needs to be arranged to adjust the welding position is avoided, the production takt can be guaranteed, and the production cost can be effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of welding, and particularly relates to a material taking and welding integrated robot. Background Art

[0002] During the welding process, the workpiece and the solder melt to form a molten area, and after the molten pool cools and solidifies, a connection between the materials is formed. During this process, pressure is usually applied. There are many energy sources for welding, including gas flame, electric arc, laser, electron beam, friction, and ultrasonic wave, etc. The traditional welding operation structure generally includes a material taking and placing structure and a welding structure. The material taking and placing structure is used to form a preliminary fixation between two workpieces to be welded, and the welding structure is used to weld and fix the two workpieces to be welded. Generally, the welding structure also includes an installation structure capable of adjusting the welding position. Most of the traditional welding device's material taking structure and welding structure are separately arranged, and the correlation between the two is not strong, which is not conducive to improving production efficiency and saving production materials to a certain extent. Content of the Utility Model

[0003] The main purpose of the utility model is to propose a material taking and welding integrated robot, aiming to solve the problem that most of the traditional welding device's material taking structure and welding structure are separately arranged, and the correlation between the two is not strong, which is not conducive to improving production efficiency and saving production materials.

[0004] To achieve the above purpose, the material taking and welding integrated robot proposed by the utility model includes:

[0005] A manipulator structure;

[0006] An installation structure, which is arranged at the output end of the manipulator structure, and the installation structure has a first installation end and a second installation end; and,

[0007] An operation structure, including a welding device and a material taking structure, and the welding device and the material taking structure are respectively installed on the first installation end and the second installation end.

[0008] In an embodiment, the installation structure includes an installation base, the first installation end and the second installation end are both two adjacent ends on the installation base, the installation base further includes a connection end, the connection end is oppositely arranged with the first installation end, and the connection end is flange-connected to the output end of the manipulator structure.

[0009] In an embodiment, the first installation end is an inclined end, and its inclined direction is from the second installation end to its opposite end direction, and is inclined from the first installation end to the connection end direction, so as to form an included angle part between the first installation end and the second installation end; and / or,

[0010] The mounting base is also provided with a through hole.

[0011] In one embodiment, the mounting structure further includes a mounting plate structure. One end of the mounting plate structure is mounted on the first mounting end, and the welding device is mounted on the mounting plate structure.

[0012] In one embodiment, a plurality of first mounting holes are provided on the first mounting end;

[0013] The mounting plate structure includes:

[0014] A first mounting plate, on which a plurality of second mounting holes corresponding to the plurality of first mounting holes are provided; and,

[0015] A second mounting plate, mounted on one end of the first mounting plate away from the first mounting end, and the first mounting plate and the second mounting plate are connected by a fixing structure;

[0016] The welding device is mounted on one end face of the second mounting plate away from the first mounting plate.

[0017] In one embodiment, the fixing structure includes:

[0018] A guiding structure, including a groove portion and a protruding portion. The groove portion is provided on the side of the second mounting plate away from the welding device, and the protruding portion is provided at one end of the first mounting plate corresponding to the groove portion; and,

[0019] A fixing hole structure, including a first fixing hole and a second fixing hole. The first fixing hole is provided on the first mounting plate corresponding to the protruding portion, and the second fixing hole is provided on the second mounting plate corresponding to the first fixing hole.

[0020] In one embodiment, at least two first fixing holes and at least two second fixing holes are respectively provided.

[0021] In one embodiment, the material taking structure includes a pneumatic chuck, which is fixedly mounted on the second mounting end, and clamping jaws are provided on a plurality of clamping ends of the pneumatic chuck.

[0022] In one embodiment, the operating structure further includes a vision positioning device, which is mounted on the second mounting plate for positioning the material and the welding position.

[0023] In one embodiment, a mounting bracket is further provided on the second mounting plate, and a display device is provided on the mounting bracket.

[0024] In the technical solution of the present utility model, the welding device and the material taking structure are both integrally installed on the output end of the manipulator. The manipulator structure can drive the material taking to grab the production material and place it on the welding station for fixation. After the production material is fixed, the output end of the manipulator structure directly moves to drive the installation structure to rotate a certain angle, so that the material can be directly welded by the welding device, and the adjustment of the welding position during the welding process can be directly adjusted by the manipulator structure. With such a setting, when the welding operation is independently set, it is avoided that a corresponding adjustment structure needs to be equipped to adjust its welding position. Not only can the production rhythm be guaranteed, but also the production cost can be effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0026] Figure 1 FIG. 9 is a schematic diagram of the overall structure of an embodiment of the material taking and welding integrated robot provided by the present utility model;

[0027] Figure 2 FIG. Figure 1 FIG. 15 is an enlarged schematic diagram of the installation structure and the operation structure at the end of the manipulator structure in the material taking and welding integrated robot provided in FIG.

[0028] Figure 3 FIG. Figure 1 FIG. 21 is a schematic side view structure of the material taking and welding integrated robot in FIG.

[0029] Figure 4 FIG. Figure 1 FIG. 27 is a schematic diagram of the structure of the first mounting plate in FIG.

[0030] Figure 5 FIG. Figure 1 FIG. 33 is a schematic diagram of the structure of the mounting seat in FIG.

[0031] Figure 6 FIG. Figure 1 FIG. 39 is a schematic diagram of the structure of the second mounting plate in FIG.

[0032] Explanation of the reference numerals in the drawings:

[0033] 100. One-piece robot for material picking and welding; 1. Manipulator structure; 2. Welding device; 3. Material picking structure; 31. Pneumatic chuck; 32. Jaw part; 4. Mounting structure; 41. Mounting base; 411. First mounting end; 412. Second mounting end; 413. Connection end; 414. Angle part; 415. Through hole; 416. First mounting hole; 42. Mounting plate structure; 421. First mounting plate; 4211. Second mounting hole; 4212. Outer protrusion; 4213. First fixing hole; 422. Second mounting plate; 4221. Groove part; 4222. Second fixing hole; 5. Vision positioning device; 6. Mounting frame; 7. Display device.

[0034] The realization of the purpose, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0036] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0038] During the welding process, the workpiece and the solder melt to form a molten area. After the molten pool cools and solidifies, a connection between the materials is formed. Usually, pressure also needs to be applied during this process. There are many energy sources for welding, including gas flames, electric arcs, lasers, electron beams, friction, and ultrasonic waves, etc. The traditional welding operation structure generally includes a loading and unloading structure and a welding structure. The loading and unloading structure is used to form a preliminary fixation between two workpieces to be welded, and the welding structure is used to weld and fix the two workpieces to be welded. The general welding structure also includes a mounting structure 4 that can adjust the welding position. In the traditional welding device, the material taking structure 3 and the welding structure are mostly separated from each other, and the correlation between the two is not strong, which is not conducive to improving production efficiency and saving production materials to a certain extent.

[0039] The present utility model proposes a material taking and welding integrated robot 100 to solve the above problems.

[0040] Please refer to Figures 1 to 6, in an embodiment of the present utility model, the main motion structure of the material taking and welding integrated robot 100 is set as a manipulator structure 1. The manipulator structure 1 includes six-axis degrees of freedom. One end thereof is an installation and fixation end, and during actual use, it can be installed and fixed according to the layout of the production line. The other end is the installation end of the operation structure. In some traditional production stations, taking the welding station as an example in this embodiment, generally during welding, a manipulator handling structure is required to take materials, place two materials together, and then the manipulator handling structure gives way. Then, the materials are welded by corresponding welding equipment. During the welding process, the welding equipment generally also needs to be installed on an adjustment structure capable of adjusting the welding position. The traditional structure generally has the manipulator handling structure and the welding equipment separated from each other. However, the manipulator handling structure also has the ability to adjust the position and can also meet the adjustment requirements of the actual welding position of the welding equipment. In this embodiment, considering the above problems, the welding device 2 and the material taking structure 3 in the operation structure are simultaneously installed on an installation structure 4, and then the installation structure 4 is installed on the output end of the manipulator structure 1, thereby forming an integrated robot integrating material taking operation and welding operation. Specifically, the installation structure 4 has a first installation end 411 and a second installation end 412, and the welding device 2 and the material taking structure 3 are respectively installed on the first installation end 411 and the second installation end 412. During actual use, the manipulator structure 1 can drive the material taking to grab the production materials and place them on the welding station for fixation. After the production materials are fixed, the output end of the manipulator structure 1 directly moves, driving the installation structure 4 to rotate a certain angle, so that the materials can be directly welded by the welding device 2. Moreover, the adjustment of the welding position during the welding process can be directly adjusted by the manipulator structure 1, and the adjustment accuracy can also be effectively guaranteed. And with such a setting, it avoids the situation that when the welding operation is independently set, a corresponding adjustment structure needs to be equipped to adjust its welding position, and the production cost can also be effectively reduced.

[0041] The specific installation structure 4 includes a mounting base 41. The first installation end 411 and the second installation end 412 are two adjacent ends on the mounting base 41. And a connection end 413 is also provided on the mounting base 41. During installation, the connection end 413 is fixedly connected to the output flange of the manipulator structure 1. When the output end of the manipulator structure 1 moves, it will drive the welding device 2 and the material taking structure 3 to move synchronously through the mounting base 41. After the material taking structure 3 completes the material taking operation, the output end of the manipulator structure 1 can immediately switch the operating equipment, that is, immediately drive the mounting base 41 to rotate a certain angle to switch the welding device 2 to correspond to the relevant material. At this time, the material can be directly welded by the welding device 2, which can effectively reduce the production cycle time.

[0042] Among them, one of the installation ends is an inclined end. Specifically, its inclined direction is inclined from the second installation end 412 to its opposite end and from the first installation end 411 to the connection end 413, and an included angle part 414 is formed between the first installation end 411 and the second installation end 412. The formed included angle part 414 is an acute angle, and the angle size of the included angle part 414 is between 50 degrees and 70 degrees. After the welding device 2 and the material taking structure 3 are installed, the included angle formed between the output end of the welding device 2 and the material taking end of the material taking structure 3 is also less than 90 degrees. It can be imagined that after such a setting, after the material taking structure 3 discharges the material, the mounting base 41 only needs to rotate a small angle to directly switch the welding device 2 for welding operation, and there will be no interference between the material taking structure 3 and the output end of the manipulator structure 1 during the rotation of the mounting base 41, achieving the technical effects of fully simplifying the installation structure 4 and completing the switching of relevant structures with small movements.

[0043] In addition, a through hole 415 is also provided on the mounting base 41. The through hole 415 can further reduce the overall weight of the mounting base 41, which helps to lighten the weight of the installation structure 4 on the output end of the manipulator structure 1.

[0044] The installation structure 4 further includes a mounting plate structure 42. One end of the mounting plate structure 42 is installed on the first installation end 411 for fixing the corresponding welding device 2. The installation structure 4 also has a certain adjustment ability to adjust the relative position between the end of the welding device 2 and the end of the material taking structure 3 during actual installation.

[0045] Specifically, the mounting plate structure 42 includes a first mounting plate 421 and a second mounting plate 422. A plurality of first mounting holes 416 are provided on the mounting seat 41 corresponding to the first mounting end 411. A plurality of second mounting holes 4211 are provided on the first plate corresponding to the plurality of first mounting holes 416. During installation, the plurality of first mounting holes 416 are aligned with the plurality of second mounting holes 4211, and then they are fixedly installed by bolts. The number of the first mounting holes 416 and the second mounting holes 4211 is at least three respectively. During the actual installation process, at least two bolts are used to fixedly install the corresponding two sets of mounting hole structures respectively. The distance between two adjacent mounting holes is fixed. Therefore, two sets of corresponding mounting holes can be selected for installation according to the actual situation, so that the first mounting plate 421 has multiple mounting position options on the first mounting end 411, thereby adjusting the relative position between the end of the welding device 2 and the end of the material taking structure 3. And the first mounting plate 421 and the second mounting plate 422 are connected by a fixing structure, and the fixing structure also has a certain adjustment ability, and can also adjust the relative position relationship between the welding device 2 and the material taking structure 3.

[0046] Among them, the fixing structure includes a guiding structure and a fixing hole structure. The guiding structure includes a groove portion 4221 provided on the side of the second mounting plate 422 away from the welding device 2, and a protrusion 4212 provided on the first mounting plate 421. The protrusion 4212 is guidingly installed inside the groove portion 4221. A first fixing hole 4213 is provided on the first mounting plate 421 corresponding to the protrusion 4212. A second fixing hole 4222 is provided on the second mounting plate 422 corresponding to the first fixing hole 4213, and the number of the first fixing hole 4213 and the second fixing hole 4222 is at least two respectively. Since the first mounting plate 421 and the second mounting plate 422 are guidingly installed through the protrusion 4212 and the groove portion 4221, only one set of holes among the first mounting holes 416 and the second mounting holes 4211 needs to be correspondingly installed to realize the fixed installation of the second mounting plate 422 on the first mounting plate 421. Since there are multiple sets of corresponding mounting hole structures, there are multiple selection situations during the actual installation process. Different selection situations correspond to an installation method of the relative position between the welding device 2 and the material taking structure 3.

[0047] The material taking structure 3 is set as a pneumatic chuck 31. The pneumatic chuck 31 is a common clamping structure and will not be elaborated here. A jaw part 32 corresponding to the shape of the material is provided on the output end of the pneumatic chuck 31. The jaw part 32 can be set according to the actual production situation. When taking the material, the welded material is grabbed by the pneumatic chuck 31. It can be imagined that in addition to the above structure, the material taking structure 3 can also be set as other structures, such as a suction structure or a conventional jaw part, which can also achieve relevant technical effects. In the actual application process, it can be determined according to the actual production materials.

[0048] In order to ensure the accuracy of material taking and placing and the accuracy of the welding position, a visual positioning device 5 is further provided on the second mounting plate 422. The visual positioning device 5 can obtain the position of the processed material driven by the manipulator structure 1 before the material is grabbed, so as to improve the accuracy of material taking. And before the welding device 2 performs welding, the visual positioning device 5 can obtain the position of the welding point to avoid welding deviation during the welding process.

[0049] Among them, a mounting frame 6 is provided on the second mounting plate 422, and a display device 7 is further provided on the mounting frame 6. The display device 7 is connected to the visual positioning device 5 and can reflect the actual image information.

[0050] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A material-taking and welding integrated robot, characterized in that: include: Manipulator structure; A mounting structure, disposed on the output end of the manipulator structure, and having a first mounting end and a second mounting end; as well as, The operating structure comprises a welding device and a material taking structure, wherein the welding device and the material taking structure are respectively installed on the first installation end and the second installation end.

2. The integrated material-taking and welding robot according to claim 1, characterized in that: The mounting structure includes a mounting seat, the first mounting end and the second mounting end are two adjacent ends on the mounting seat, and the mounting seat also includes a connecting end, which is arranged opposite to the first mounting end and connected to the output end flange of the manipulator structure.

3. The integrated material-taking and welding robot according to claim 2, characterized in that: The first mounting end is an inclined end, and its inclination direction is from the second mounting end to its opposite end direction, and from the first mounting end to the connecting end direction, so as to form an angle portion between the first mounting end and the second mounting end; and / or, The mounting seat is also provided with a through hole.

4. The integrated material-taking and welding robot according to claim 3, characterized in that: The mounting structure further comprises a mounting plate structure, one end of which is mounted on the first mounting end, and the welding device is mounted on the mounting plate structure.

5. The integrated material-taking and welding robot according to claim 4, characterized in that: The first mounting end is provided with a plurality of first mounting holes; The mounting plate structure comprises: A first mounting plate, wherein a plurality of second mounting holes corresponding to the plurality of first mounting holes are provided on the first mounting plate; and A second mounting plate is mounted on an end of the first mounting plate away from the first mounting end, and the first mounting plate and the second mounting plate are connected via a fixing structure; The welding device is mounted on an end surface of the second mounting plate away from the first mounting plate.

6. The integrated material-taking and welding robot according to claim 5, characterized in that: The fixed structure comprises: a guide structure, comprising a groove portion and an outer protrusion portion, wherein the groove portion is arranged on a side of the second mounting plate away from the welding device, and the outer protrusion portion is arranged on an end of the first mounting plate corresponding to the groove portion; and The fixing hole structure comprises a first fixing hole and a second fixing hole, wherein the first fixing hole is arranged on the first mounting plate corresponding to the outer protrusion, and the second fixing hole is arranged on the second mounting plate corresponding to the first fixing hole.

7. The integrated material-taking and welding robot according to claim 6, characterized in that: At least two of the first fixing holes and the second fixing holes are provided respectively.

8. The integrated material-taking and welding robot according to claim 1, characterized in that: The material taking structure comprises a pneumatic chuck, which is fixedly mounted on the second mounting end, and a plurality of clamping ends of the pneumatic chuck are each provided with a clamping claw.

9. The integrated material-taking and welding robot according to claim 5, characterized in that: The working structure also includes a visual positioning device, which is installed on the second mounting plate to be used for positioning materials and welding positions.

10. The integrated material-taking and welding robot according to claim 5, characterized in that: The second mounting plate is also provided with a mounting frame, and the mounting frame is provided with a display device.

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