Robot welding workstation with chuck type automatic clamping and rotating positioner

Abstract

The utility model relates to the technical field of welding work stations, in particular to a robot welding work station with a chuck type automatic clamping and rotating positioner, which comprises a material storage unit station, a feeding and discharging unit station and a welding unit station, and the material storage unit station comprises a plurality of workpieces placed on a material storage frame body; the feeding and discharging unit station comprises a positioner mounting base, a first positioner, a second positioner and a feeding and discharging robot, wherein the first positioner and the second positioner are located above the positioner mounting base and symmetrically arranged, and the feeding and discharging robot is arranged on the front side of the first positioner and the front side of the second positioner. The welding unit station comprises a welding robot mounting base and a welding power source mounting cabinet located on one side of the welding robot mounting base, a welding wire barrel is arranged on the other side of the welding robot mounting base, and a welding robot and a gun cleaning station are arranged above the welding robot mounting base. A welding robot control cabinet and a positioner control cabinet are arranged above the welding power supply mounting cabinet; and a welding power supply and a cooler are arranged in the welding power supply mounting cabinet.

Description

Technical Field

[0001] The utility model relates to the technical field of welding workstations, in particular to a robot welding workstation with a chuck-type automatic clamping and a rotary positioner. Background Art

[0002] Existing robotic welding workstations primarily consist of a manipulator, welding power supply, welding gun, and workpiece clamping devices. While these workstations can achieve a certain degree of automated welding, they still present numerous challenges in aspects such as workpiece loading, unloading, positioning, and clamping. These challenges are particularly evident in the following areas: Workpiece loading and unloading are not automated. Traditional welding workstations typically rely on manual labor, which is labor-intensive and prone to workpiece misplacement, impacting production efficiency and welding quality; Workpiece positioning and clamping are inconvenient: During the welding process, workpieces must be accurately positioned and clamped to ensure weld accuracy. However, traditional clamping devices are often simplistic in design and ineffective in effectively positioning and firmly clamping the workpiece, resulting in workpiece shifting during welding and thus compromising weld quality; Low production efficiency: Because workpiece loading, unloading, positioning, and clamping require manual intervention, the entire welding process is not highly automated, resulting in low production efficiency and inability to meet the demands of mass production.

[0003] In response to the shortcomings of the above-mentioned prior art, the present invention proposes a robotic welding workstation with a chuck-type automatic clamping and a rotary positioner. This utility model enables automated welding of columnar parts, significantly improving production efficiency, reducing labor intensity, and ensuring welding quality. Its main technical features are as follows: Automatic loading and unloading system: This utility model incorporates an automatic loading and unloading system that enables automated conveying, loading, and unloading of workpieces. Through the coordination of sensors and a control system, workpieces are accurately transported to the welding workstation for welding operations. The chuck-type automatic clamping device quickly and accurately positions and clamps the workpiece, and the chuck automatically adjusts the clamping force based on the workpiece's shape and size, ensuring stability and positioning accuracy during welding. The rotary positioner rotates the workpiece, enabling the welding gun to weld from different angles, improving welding coverage and quality. This solves the problems of existing welding workstations, such as low automation in workpiece loading and unloading, inconvenient workpiece positioning and clamping, and low production efficiency.

[0004] The purpose of the utility model is to solve the problems existing in the prior art and to propose a robot welding workstation with a chuck-type automatic clamping and a rotary positioner. Utility Model Content

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A robot welding workstation with a chuck-type automatic clamping and a rotary positioner comprises a material storage unit station, a loading and unloading unit station, and a welding unit station, wherein the material storage unit station comprises a plurality of workpieces placed on a material storage rack; the loading and unloading unit station comprises a positioner mounting seat, a first positioner and a second positioner symmetrically arranged above the positioner mounting seat, and a loading and unloading robot arranged in front of the first positioner and the second positioner; the welding unit station comprises a welding robot mounting seat, a welding power supply mounting cabinet located on one side of the welding robot mounting seat, a welding wire barrel is arranged on the other side of the welding robot mounting seat, a welding robot and a gun cleaning station are arranged above the welding robot mounting seat, a welding robot control cabinet and a positioner control cabinet are arranged above the welding power supply mounting cabinet; a welding power supply and a cooler are arranged in the welding power supply mounting cabinet;

[0007] The welding robot control cabinet is provided with a human-machine interface, a servo control drive unit module, an input / output (I / O) module, a communication interface terminal, a welding sensor interface terminal, a welding parameter control unit module, a diagnosis and fault detection unit module, and a welding data recording and analysis unit module.

[0008] Furthermore, the servo control drive unit module controls each welding action of the welding robot through the communication interface end; the welding sensor interface end establishes an information interaction connection with the welding sensor of the welding robot through the communication interface end; the welding parameter control unit module establishes an information interaction connection with the welding power supply through the input / output (I / O) module, which is used to control the current, voltage and other parameters during the welding process; the diagnosis and fault detection unit module and the welding data recording and analysis unit module establish an information connection with the welding robot through the communication interface end, and then feed back the data to the human-machine interface through the input / output (I / O) module.

[0009] Furthermore, the positioner 1 and the positioner 2 are of the same size and structure, and include a positioner base. A rotating drive motor, a chuck clamping drive motor, a cylindrical inner cover, and a conductive insulating sleeve are arranged inside the positioner base. A plurality of small gears are arranged outside the positioner base, and a small gear protection cover is arranged on the periphery of the small gears. The small gears include small gear-1, small gear-2, and small gear-3 respectively.

[0010] Furthermore, the pinion-1 is connected to the positioner base through the motor shaft and is used to drive the rotary support to rotate.

[0011] Furthermore, the chuck clamping drive motor is connected to the pinion-3 outside the positioner base through the motor shaft, which is used to drive the chuck to clamp and release. The chuck is provided with a plurality of claws with equal distances between each other.

[0012] Furthermore, a chuck is provided at the front end of the slewing support, and the chuck is coaxial with the slewing support and is used to clamp the workpiece.

[0013] Furthermore, a splash-proof cover driving cylinder-1 and a splash-proof cover driving cylinder-2 are arranged above the positioner base, and a splash-proof cover body is arranged at the end of the splash-proof cover driving cylinder-2, and the splash-proof cover body and the splash-proof cover driving cylinder-2 are connected through a connecting seat.

[0014] Furthermore, cooling fans are respectively provided on the front and rear sides of the positioner base for dissipating heat from the motor and other components inside the positioner base; and a slewing support protective cover is provided on the periphery of the slewing support.

[0015] A welding process for a robot with a chuck-type automatic clamping and a rotary positioner, including use in any of the above-mentioned robot welding workstations with a chuck-type automatic clamping and a rotary positioner, comprises the following steps:

[0016] S1. The loading and unloading robot takes the workpiece from the storage rack and moves it to the position of the positioner;

[0017] S2, move the workpiece to the center of the chuck, and the chuck clamping drive motor drives the chuck to clamp the workpiece. After clamping, the chuck clamping drive motor stops;

[0018] S3, turning on the rotary drive motor to drive the slewing support to rotate, thereby driving the workpiece to rotate;

[0019] S4. Turn on the welding robot and weld the parts of the workpiece that need to be welded;

[0020] S5. After welding is completed, the rotary drive motor stops and the workpiece stops rotating;

[0021] S6, the loading and unloading robot moves to the workpiece and grabs the workpiece;

[0022] S7, the chuck clamping drive motor drives the chuck to release the workpiece and remove the workpiece;

[0023] S8. Repeat the above steps S1-S7.

[0024] Furthermore, the S1 includes S11, setting the path planning of the robot in the control system of the loading and unloading robot, setting the starting point of the robot to its own position point A (Ax, Ay, Az), the position point A1 (A1x, A1y, A1z) of the workpiece, and the position point B1 (B1x, B1y, B1z) of the first positioner or the second positioner; S12, the control system of the loading and unloading robot controls the position movement of the robot arm and calculates the displacement vector, and calculates the displacement vector from the starting point A to the target point A1 or B1, respectively, using D → A1 and D → B1 indicates that

[0025] ,

[0026] ;

[0027] S13. Calculate the straight-line distance from the starting point A (Ax, Ay, Az) to the target point B1 (B1x, B1y, B1z) of the loading and unloading robot:

[0028] ,

[0029] ;

[0030] S14. Input the calculated path and speed parameters into the control system of the loading and unloading robot to perform the loading and unloading task.

[0031] Furthermore, the S3 includes that when the workpiece rotates, the relationship between the rotation drive motor and the workpiece rotation is expressed as: , where N is the number of steps the motor needs to rotate.

[0032] Furthermore, the S4 includes, during the welding process, S41, servo control drive unit module control;

[0033] S42, welding sensor information interaction;

[0034] S43, welding parameter control:

[0035] S44, diagnosis and fault detection;

[0036] S45, welding data recording and analysis;

[0037] S46, data is fed back to the human-machine interface;

[0038] S47, Human-Computer Interaction;

[0039] S48, the welding process is executed.

[0040] Furthermore, the S43 includes a welding parameter control unit module that establishes an information interaction connection with the welding power source (13) through an input / output (I / O) module to control key parameters in the welding process, wherein the key parameters include welding speed, rotation speed, and weld length.

[0041] Furthermore, the welding speed is represented by V, the rotation speed is represented by R, and the weld length is represented by L. The calculation formula of the welding rotation speed is expressed as: .

[0042] Compared with the existing technology, the advantages of this utility model are:

[0043] This utility model proposes a robot welding workstation with a chuck-type automatic clamping and a rotary positioner, which solves the problem of automated conveying, loading and unloading of workpieces. Through the cooperation of sensors and control systems, it ensures that the workpiece can be accurately conveyed to the welding workstation and welded; the chuck-type automatic clamping device can quickly and accurately position and clamp the workpiece, and the chuck can automatically adjust the clamping force according to the shape and size of the workpiece, ensuring the stability and positioning accuracy of the workpiece during the welding process; the rotary positioner drives the workpiece to rotate, allowing the welding gun to perform welding operations from different angles, improving the welding coverage and welding quality, and solving the problems of low automation level in loading and unloading of workpieces in existing welding workstations, inconvenient workpiece positioning and clamping, and low production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a three-dimensional diagram of the welding stand in the present utility model;

[0045] Figure 2 This is a top view of the welding station in the present invention;

[0046] Figure 3 The utility model is a three-dimensional positioner Figure 1 ;

[0047] Figure 4 The utility model is a three-dimensional positioner Figure 2 ;

[0048] Figure 5 This is the side view of the positioner in the utility model Figure 1 ;

[0049] Figure 6 This is the side view of the positioner in the utility model Figure 2 ;

[0050] Figure 7 This is the side view of the positioner in the utility model Figure 3 ;

[0051] Figure 8This is the side view of the positioner in the utility model Figure 4 ;

[0052] In the figure, 1-loading and unloading robot; 2-stocking rack; 3-first positioner; 4-second positioner; 5-positioner mounting base; 7-welding robot mounting base; 8-welding robot; 9-welding robot control cabinet; 10-positioner control cabinet; 11-welding power supply mounting cabinet; 12-gun cleaning station; 13-welding power supply; 14-cooler; 15-workpiece; 301-rotation drive motor; 302-chuck clamping drive motor; 3 03-cylinder inner cover; 304-conductive insulating sleeve; 305-driving chuck; 306-anti-splash cover; 307-anti-splash cover driving cylinder-1; 308-anti-splash cover driving cylinder-2; 310-cooling fan; 311-positioner base; 312-slewing support; 313-pinion-1; 314-pinion-2; 315-pinion-3; 316-slewing support protective cover; 317-pinion protective cover. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0054] Example 1, please refer to the accompanying drawings in the specification Figures 1-8As shown in the figure, a robot welding workstation with a chuck-type automatic clamping and rotary positioner includes a material storage unit station, a loading and unloading unit station, and a welding unit station. The material storage unit station includes a plurality of workpieces 15 placed on a material storage rack 2; the loading and unloading unit station includes a positioner mounting seat 5, a first positioner 3 and a second positioner 4 symmetrically arranged above the positioner mounting seat 5, and a loading and unloading robot 1 arranged in front of the first positioner 3 and the second positioner 4; The welding unit workstation includes a welding robot mounting seat 7, a welding power supply mounting cabinet 11 located on one side of the welding robot mounting seat 7, a welding wire bucket 6 is provided on the other side of the welding robot mounting seat 7, a welding robot 8 and a gun cleaning station 12 are provided above the welding robot mounting seat 7, and a welding robot control cabinet 9 and a positioner control cabinet 10 are provided above the welding power supply mounting cabinet 11; a welding power supply 13 and a cooler 14 are provided in the welding power supply mounting cabinet 11; a human-machine interface, a servo control drive unit module, an input / output (I / O) module, a communication interface terminal, a welding sensor interface terminal, a welding parameter control unit module, a diagnosis and fault detection unit module, and a welding data recording and analysis unit module are provided in the welding robot control cabinet 9.

[0055] Example 2. Based on the above example, the servo control drive unit module controls the various welding actions of the welding robot 8 through the communication interface end; the welding sensor interface end establishes an information interaction connection with the welding sensor of the welding robot through the communication interface end; the welding parameter control unit module establishes an information interaction connection with the welding power supply 13 through the input / output (I / O) module, which is used to control the current, voltage and other parameters during the welding process; the diagnosis and fault detection unit module and the welding data recording and analysis unit module establish an information connection with the welding robot 8 through the communication interface end, and then feed back the data to the human-machine interface through the input / output (I / O) module.

[0056] In embodiment 3, the positioner 1 and the positioner 2 are of the same size and structure, and include a positioner base 311. A rotation drive motor 301, a chuck clamping drive motor 302, a cylindrical inner cover 303, and a conductive insulating sleeve 304 are arranged inside the positioner base 311. A plurality of small gears are arranged outside the positioner base 311, and a small gear protection cover 317 is arranged on the periphery of the small gears. The small gears include small gear-1 313, small gear-2 314, and small gear-3 315. In this embodiment, small gear-1 313 is connected to the positioner base 311 through the motor shaft and is used to drive the rotary support 312 to rotate. A chuck 305 is provided at the front end of the rotary support 312. The chuck 305 is coaxial with the rotary support 312 and is used to clamp the workpiece.

[0057] In Example 4, the chuck clamping drive motor 302 is connected to the pinion 3 315 outside the positioner base 311 through the motor shaft to drive the chuck 305 to clamp and release. The chuck 305 is provided with a plurality of claws with equal distances between each other.

[0058] In Example 5, a splash shield driving cylinder-1 307 and a splash shield driving cylinder-2 308 are provided above the positioner base 311, and a splash shield body 306 is provided at the end of the splash shield driving cylinder-2 308. The splash shield body 306 and the splash shield driving cylinder-2 308 are connected via a connecting seat.

[0059] In Example 6, cooling fans 310 are respectively provided on the front and rear sides of the positioner base 311 for dissipating heat from the motor and other components inside the positioner base 311 ; and a slewing support protective cover 316 is provided on the periphery of the slewing support 312 .

[0060] A welding process for a robot with a chuck-type automatic clamping and a rotary positioner, including use in any of the above-mentioned robot welding workstations with a chuck-type automatic clamping and a rotary positioner, comprises the following steps:

[0061] S1. The loading and unloading robot takes the workpiece from the storage rack and moves it to the position of the positioner;

[0062] S2, move the workpiece 15 to the center of the chuck 305, and the chuck clamping drive motor 302 drives the chuck 305 to clamp the workpiece 15. After clamping, the chuck clamping drive motor 302 stops;

[0063] S3, turning on the rotary drive motor 301 to drive the rotary support to rotate, thereby driving the workpiece to rotate;

[0064] S4. Turn on the welding robot and weld the parts of the workpiece that need to be welded;

[0065] S5. After welding is completed, the rotary drive motor 301 stops and the workpiece stops rotating;

[0066] S6, the loading and unloading robot moves to the workpiece and grabs the workpiece;

[0067] S7, the chuck clamping drive motor drives the chuck to release the workpiece and remove the workpiece;

[0068] S8. Repeat the above steps S1-S7.

[0069] In the sixth embodiment, the S1 includes S11, setting the path planning of the robot in the control system of the loading and unloading robot, setting the starting point of the robot to the position point A (Ax, Ay, Az) of the robot itself, the position point A1 (A1x, A1y, A1z) of the workpiece, and the position point B1 (B1x, B1y, B1z) of the first positioner 3 or the second positioner 4; S12, the control system of the loading and unloading robot controls the position movement of the robot arm and calculates the displacement vector, and calculates the displacement vector from the starting point A to the target point A1 or B1, respectively, using D → A1 and D → B1 indicates that

[0070] ,

[0071] ;

[0072] S13. Calculate the straight-line distance from the starting point A (Ax, Ay, Az) to the target point B1 (B1x, B1y, B1z) of the loading and unloading robot:

[0073] ,

[0074] ,

[0075] The specific embodiment is as follows: Assume that the robot is currently at point A (0, 0, 0), the workpiece position is A1 (3, 4, 0), the position of the positioner is B1 (6, 8, 0), and the displacement vector D to the workpiece A1 is → A1 is (3, 4, 0); the displacement vector D to the positioner B1 → B1 is (6, 8, 0), the displacement change to workpiece A1 ; Displacement vector to positioner B1 .

[0076] S14. Input the calculated path and speed parameters into the control system of the loading and unloading robot to perform the loading and unloading task.

[0077] In Example 7, the S3 includes that when the workpiece rotates, the relationship between the rotation drive motor and the workpiece rotation is expressed as: , where N is the number of steps the motor needs to rotate. In this embodiment, the step angle is set to 1.8 degrees to control the workpiece to rotate 90 degrees. The steps are: calculate how many steps the rotation drive motor needs to reach 90 degrees, using the formula: , the control system needs to send 50 step pulses to the rotary drive motor. When the rotary drive motor receives 50 pulses, the workpiece will rotate accurately 90 degrees according to the step angle.

[0078] Example 8, in the above step S4, during the welding process, includes S41, servo control drive unit module control: mainly includes the servo control drive unit module issuing instructions through the communication interface end to control the welding robot (8) to perform a predetermined welding action;

[0079] S42, welding sensor information interaction: mainly includes establishing a connection between the welding sensor interface end and the welding sensor of the welding robot through the communication interface end to realize information interaction to monitor real-time data during the welding process;

[0080] S43, welding parameter control: including a welding parameter control unit module establishing an information exchange connection with the welding power source 13 through an input / output (I / O) module to control key parameters of the welding process, including welding speed, rotation speed, and weld length;

[0081] S44, diagnosis and fault detection: including the diagnosis and fault detection unit module to establish an information connection with the welding robot 8 through the communication interface end, and perform real-time monitoring and fault detection

[0082] S45, welding data recording and analysis: including the welding data recording and analysis unit module establishing an information connection with the welding robot 8 through the communication interface terminal, collecting data during the welding process, and analyzing it;

[0083] S46, data feedback to the human-machine interface: including the diagnosis and fault detection unit module, the welding data recording and analysis unit module, which feeds back the collected and analyzed data to the human-machine interface through the input / output (I / O) module for operator monitoring and operation;

[0084] S47, Human-machine interaction: This includes the operator monitoring the welding process through the human-machine interface and making necessary adjustments or interventions based on feedback data;

[0085] S48, welding process execution: the welding robot 8 performs the actual welding task according to the instruction of the servo control drive unit module and the parameter setting of the welding parameter control unit module.

[0086] In Example 9, the welding speed is represented by V, the rotation speed is represented by R, and the weld length is represented by L. The calculation formula of the welding rotation speed can be expressed as:

[0087] In this embodiment, the welding speed v is set to 5mm / s, the weld length L is set to 100mm, and the rotation speed is calculated by substituting the formula , so the welding speed is 3r / min.

[0088] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robotic welding workstation with a chuck-type automatic clamping and rotary positioner, comprising a material storage unit station, a loading and unloading unit station, and a welding unit station, characterized in that: The material storage unit station includes a plurality of workpieces (15) placed on the material storage rack (2); the loading and unloading unit station includes a positioner mounting seat (5), a first positioner (3) and a second positioner (4) symmetrically arranged above the positioner mounting seat (5), and a loading and unloading robot (1) arranged in front of the first positioner (3) and the second positioner (4); the welding unit station includes a welding robot mounting seat (7), a welding power supply mounting cabinet (11) located on one side of the welding robot mounting seat (7), a welding wire barrel (6) is arranged on the other side of the welding robot mounting seat (7), a welding robot (8) and a gun cleaning station (12) are arranged above the welding robot mounting seat (7), and a welding robot control cabinet (9) and a positioner control cabinet (10) are arranged above the welding power supply mounting cabinet (11); a welding power supply (13) and a cooler (14) are arranged in the welding power supply mounting cabinet (11); The welding robot control cabinet (9) is provided with a human-machine interface, a servo control drive unit module, an input / output (I / O) module, a communication interface terminal, a welding sensor interface terminal, a welding parameter control unit module, a diagnosis and fault detection unit module, and a welding data recording and analysis unit module.

2. A robot welding workstation with chuck-type automatic clamping and rotary positioner according to claim 1, characterized in that: The servo control drive unit module controls each welding action of the welding robot (8) through the communication interface end; the welding sensor interface end establishes an information interaction connection with the welding sensor of the welding robot through the communication interface end; the welding parameter control unit module establishes an information interaction connection with the welding power source (13) through the input / output (I / O) module, and is used to control the current and voltage parameters during the welding process; the diagnosis and fault detection unit module and the welding data recording and analysis unit module establish an information connection with the welding robot (8) through the communication interface end, and then feed back the data to the human-machine interface through the input / output (I / O) module.

3. The robot welding workstation with chuck-type automatic clamping and rotary positioner according to claim 1, characterized in that: The positioner 1 and the positioner 2 have the same size and structure, and include a positioner base (311). A rotation drive motor (301), a chuck clamping drive motor (302), a cylindrical inner cover (303), and a conductive insulating sleeve (304) are arranged inside the positioner base (311). A plurality of small gears are arranged outside the positioner base (311), and a small gear protection cover (317) is arranged around the periphery of the plurality of small gears.

4. A robot welding workstation with chuck-type automatic clamping and rotary positioner according to claim 3, characterized in that: The plurality of pinions respectively include a pinion-1 (313), a pinion-2 (314), and a pinion-3 (315). The pinion-1 (313) is connected to the positioner base (311) via a motor shaft and is used to drive the rotary support (312) to rotate.

5. The robot welding workstation with chuck-type automatic clamping and rotary positioner according to claim 4, characterized in that: A chuck (305) is provided at the front end of the rotary support (312), and the chuck clamping drive motor (302) is connected to the small gear-3 (315) outside the positioner base (311) through the motor shaft, and is used to drive the chuck (305) to clamp and release. The chuck (305) is coaxial with the rotary support (312) and is used to clamp the workpiece.

6. The robot welding workstation with chuck-type automatic clamping and rotary positioner according to claim 5, characterized in that: A plurality of claws spaced equidistantly from each other are provided on the chuck (305); a splash shield driving oil cylinder-1 (307) and a splash shield driving oil cylinder-2 (308) are provided above the positioner base (311); a splash shield body (306) is provided at the end of the splash shield driving oil cylinder-2 (308); the splash shield body (306) and the splash shield driving oil cylinder-2 (308) are connected via a connecting seat.

7. The robot welding workstation with chuck-type automatic clamping and rotary positioner according to claim 6, characterized in that: Cooling fans (310) are respectively provided on the front and rear sides of the positioner base (311) for dissipating heat from the motor and components inside the positioner base (311).

8. The robot welding workstation with chuck-type automatic clamping and rotary positioner according to claim 4, characterized in that: A slewing support protective cover (316) is provided on the periphery of the slewing support (312).

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