Carrying and welding equipment for bucket machining

Abstract

The utility model belongs to the technical field of automatic welding equipment, and discloses carrying and welding equipment for bucket machining, which comprises a bucket temporary storage device, a carrying device and an arc welding device, the bucket temporary storage device comprises an upper piece temporary storage table and a lower piece temporary storage table, the upper piece temporary storage table and the lower piece temporary storage table are both fixed on the ground through locking pieces, and the arc welding device is arranged on the carrying device. The carrying device comprises a carrying robot arranged on one side of the bucket temporary storage device, a bucket gripper used for gripping a bucket is installed on the carrying robot through a connecting piece, the arc welding device comprises an arc welding robot, and an arc welding gun used for welding the bucket is installed on the arc welding robot through a reversing disc; the carrying robot and the arc welding robot are coordinated and matched, automatic carrying, posture adjustment and welding of the bucket are achieved, manual intervention is greatly reduced, the bucket welding efficiency is high, and safety and consistency in the welding process are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of automated welding equipment, in particular to a transport and welding device for bucket processing. Background Art

[0002] Bucket welding is a crucial process in heavy machinery manufacturing, impacting the lifespan, efficiency, safety, and quality of the equipment. Bucket welding is currently performed manually, requiring a KBK handling unit to move the finished bucket to a welding platform, followed by a manual welding torch.

[0003] The traditional manual welding method has the following main problems: First, the bucket is relatively heavy, and the load is too heavy to lift manually, and the efficiency of lifting the bucket with a sling is low. When the welder holds the welding gun to perform welding work, the welder is very close to the welding position, which poses a major safety hazard and is prone to accidental injury to the welder; second, the bucket has many welding positions, and the welding posture of the bucket needs to be frequently adjusted during the welding process, resulting in low manual welding efficiency and unstable welding quality. Utility Model Content

[0004] The main technical problem to be solved by the utility model is to provide a handling and welding equipment for bucket processing, which adopts the coordinated cooperation of the handling robot and the arc welding robot to realize the automated handling, posture adjustment and welding of the bucket, greatly reduces manual intervention, has high bucket welding efficiency, and ensures the safety and consistency of the welding process.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A handling and welding device for bucket processing, comprising a bucket temporary storage device, a handling device and an arc welding device;

[0007] The bucket temporary storage device includes an upper cache platform and a lower cache platform, both of which are fixed to the ground by locking members;

[0008] The transport device includes a transport robot arranged on one side of the bucket temporary storage device, and a bucket gripper for grabbing the bucket is installed on the transport robot through a connecting piece;

[0009] The arc welding device comprises an arc welding robot, on which an arc welding gun for welding the bucket is mounted via a reversing disk.

[0010] The following is a further optimization of the above technical solution by the present invention:

[0011] The bucket grabber includes a main frame, on which two sliding supports are slidably mounted. The sliding directions of the two sliding supports are opposite to each other. The two sliding supports are commonly connected to a grabbing and releasing driving mechanism. A grab plate is fixed on each sliding support, and the two grab plates are arranged opposite to each other. A pair of positioning pins is provided on the outer wall of each grab plate.

[0012] Further optimization: the pick-and-place drive mechanism includes a bidirectional sliding screw rotatably mounted in the main frame, and a screw nut is slidably mounted on both ends of the bidirectional sliding screw, and the two screw nuts are fixedly connected to the two sliding supports respectively;

[0013] It also includes a servo motor and a reducer. The housings of the servo motor and the reducer are fixed on the main frame. The motor shaft of the servo motor is connected to the input shaft of the reducer. The output shaft of the reducer is connected to the bidirectional sliding screw through a coupling.

[0014] Further optimization: a slide rail is fixedly installed on the main frame, the slide rail is arranged along the axial extension of the bidirectional sliding screw, two sliders are slidably installed on the slide rail, and each slider is fixedly connected to the corresponding sliding support.

[0015] Further optimization: A first detection element for detecting whether the bucket grip is fully opened is installed on one of the sliding supports.

[0016] Further optimization: A second detection element for detecting whether the bucket grabber is clamped in place is fixedly installed on the main frame.

[0017] Further optimization: the outer sides of the servo motor and the reducer are surrounded by a motor cover, and the outer sides of the bidirectional sliding screw, the screw nut, the slide rail and the slider are collectively surrounded by a protective cover.

[0018] Further optimization: An insulating gasket is installed in the middle position of the bottom of the main frame to prevent welding current from passing through the handling robot.

[0019] The utility model adopts the above technical solution, which has the following beneficial effects:

[0020] 1. The technical solution of the present invention is ingeniously conceived and rationally structured. The handling robot, arc welding robot and bucket temporary storage device are all fixed on the bucket automatic welding station of the production line. The handling robot uses the bucket gripper to grab the bucket from the upper cache table, and then moves it to the welding position and changes its posture at any time. It also coordinates with the arc welding robot to realize the automated welding of the bucket in various welding postures. The bucket that has completed welding is then placed on the lower cache table by the handling robot and transferred to the next station. Therefore, the present invention has a high degree of automation, thereby improving the welding efficiency of the bucket.

[0021] 2. The utility model greatly reduces manual intervention in the welding process, avoids the situation where welders are accidentally injured due to being too close to the welding position or the lifting equipment, and thus ensures the safety of the welding process.

[0022] 3. The utility model does not require manual handling and lifting operations, thus avoiding the poor stability of the bucket caused by manual operation, thereby improving the stability of the bucket and maintaining consistency in the welding operations at various welding positions of the bucket, thereby ensuring the welding quality of the bucket.

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present utility model;

[0026] Figure 2 This is a schematic structural diagram of an arc welding device in an embodiment of the present utility model;

[0027] Figure 3 This is a schematic structural diagram of a transport device in an embodiment of the present utility model;

[0028] Figure 4 This is a front view of the bucket gripper in an embodiment of the present utility model;

[0029] Figure 5 This is a bottom view of the bucket grip in an embodiment of the present utility model.

[0030] In the figure: 1-bucket temporary storage device; 11-upper piece cache table; 12-lower piece cache table; 13-locking part; 2-handling device; 21-handling robot; 22-connecting part; 23-bucket gripper; 231-main frame; 232-sliding support; 233-grab plate; 234-locating pin; 235-insulating gasket; 24-grab and release drive mechanism; 241-bidirectional sliding screw; 242-screw nut; 243-servo motor; 244-reducer; 245-coupling; 246-slide rail; 247-slider; 248-motor cover; 249-protective cover; 25-first detection element; 26-second detection element; 3-arc welding device; 31-arc welding robot; 32-reversing disc; 33-arc welding gun; 4-bucket; 41-mounting plate. DETAILED DESCRIPTION

[0031] 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.

[0032] like Figure 1-Figure 5 As shown together, a handling and welding device for bucket processing includes a bucket temporary storage device 1, a handling device 2 and an arc welding device 3.

[0033] In this embodiment, the bucket temporary storage device 1 , the transport device 2 and the arc welding device 3 are all located on the automated welding station of the bucket 4 .

[0034] like Figure 1 As shown, the bucket temporary storage device 1 includes an upper cache platform 11 and a lower cache platform 12 , and both the upper cache platform 11 and the lower cache platform 12 are fixed to the ground through a locking member 13 .

[0035] In this embodiment, the locking members 13 are a plurality of anchor bolts.

[0036] In this embodiment, the loading and unloading buffering platform 11 and the unloading buffering platform 12 are fixed on the ground within the working range of the transport robot 21, so as to facilitate the transport robot 21 to carry the bucket 4 to load and unload parts.

[0037] like Figure 1 and Figure 3 As shown together, the transport device 2 includes a transport robot 21 disposed on one side of the bucket temporary storage device 1 , and a bucket gripper 23 for grabbing the bucket 4 is mounted on the transport robot 21 via a connecting piece 22 .

[0038] In this embodiment, the handling robot 21 is fixedly mounted on a base by a plurality of bolts and internally threaded cylindrical pins, and the base is fixed on the ground.

[0039] In this embodiment, the connecting member 22 is a connecting flange.

[0040] like Figure 1 and Figure 2 As shown together, the arc welding device 3 includes an arc welding robot 31 , on which an arc welding gun 33 for welding the bucket 4 is mounted via a reversing disk 32 .

[0041] In this embodiment, the arc welding robot 31 is fixedly mounted on a base by bolts and internal threaded cylindrical pins, and the base is fixed on the ground.

[0042] In this embodiment, the structure, installation relationship and principle of the reversing disc 32 constitute the existing technology and are well known to ordinary technicians in this field, so they will not be described in detail here.

[0043] In this embodiment, the structures, installation relationships, working principles, etc. of the handling robot 21 and the arc welding robot 31 constitute the prior art and are well known to ordinary technicians in this field, and will not be repeated here.

[0044] In this embodiment, the handling robot 21 uses the bucket gripper 23 to grab the bucket 4 from the upper piece buffer table 11. The bucket 4 is moved and changes its posture through the handling robot 21, and coordinates with the arc welding robot 31 to achieve automatic welding of the bucket 4 at various angles and postures.

[0045] The utility model has a high degree of automation, which not only greatly improves the welding efficiency of the bucket 4 but also greatly reduces manual intervention in the welding process, ensures the consistency of welding at various locations of the bucket 4, and improves the welding quality of the bucket 4.

[0046] In this embodiment, there is no need for manual handling, repair welding, and lifting with a lifting device, which solves the problem of accidental injury or health impact caused by welders being too close, thereby improving the safety of the bucket 4 welding process.

[0047] like Figure 1 、 Figure 3 、 Figure 4 and Figure 5 As shown in common, the bucket grip 23 includes a main frame 231, on which two sliding supports 232 are slidably mounted. The sliding directions of the two sliding supports 232 are oppositely arranged. The two sliding supports 232 are commonly connected to a grabbing and releasing driving mechanism 24. A grab plate 233 is fixed on each sliding support 232, and the two grab plates 233 are arranged opposite to each other. A pair of positioning pins 234 are fixed on the outer wall of each grab plate 233.

[0048] In this embodiment, the main frame 231 is connected to the transport robot 21 through a connecting member 22 (connecting flange) using bolts and internal threaded cylindrical pins.

[0049] In this embodiment, the fixed position of the positioning pin 234 corresponds to the position of the pin shaft hole on the bucket 4.

[0050] like Figure 3-Figure 5 As shown together, the grab and release drive mechanism 24 includes a bidirectional sliding screw 241 rotatably installed in the main frame 231, and a screw nut 242 is slidably installed at both ends of the bidirectional sliding screw 241. The two screw nuts 242 are fixedly connected to the two sliding supports 232 respectively.

[0051] In this embodiment, the bidirectional sliding screw 241 and the screw nut 242 are connected by their own trapezoidal threads to form a screw nut mechanism.

[0052] Among them, the grab and release drive mechanism 24 also includes a servo motor 243 and a reducer 244. The housings of the servo motor 243 and the reducer 244 are fixed on the main frame 231. The motor shaft of the servo motor 243 is connected to the input shaft of the reducer 244. The output shaft of the reducer 244 is connected to the bidirectional sliding screw 241 through a coupling 245.

[0053] like Figure 5 As shown, a slide rail 246 is fixedly installed on the main frame 231, and the slide rail 246 is arranged along the axial extension of the bidirectional sliding screw 241. Two sliders 247 are slidably installed on the slide rail 246, and each slider 247 is fixedly connected to the corresponding sliding support 232.

[0054] like Figure 4 As shown, a first detection element 25 for detecting whether the bucket grip 23 is fully opened is installed on one of the sliding supports 232 .

[0055] In this embodiment, the first detecting element 25 is disposed at one end of the sliding support 232 close to the other sliding support 232 .

[0056] In this embodiment, if the first detection element 25 detects the gripping plate 233 on the other sliding support 232 , it means that the two gripping plates 233 have completely released the bucket 4 .

[0057] Furthermore, a second detection element 26 for detecting whether the bucket grip 23 is clamped in place is fixedly mounted on the main frame 231 .

[0058] In this embodiment, the second detection element 26 is disposed at one end of the main frame 231 .

[0059] In this embodiment, if the second detection element 26 detects the grab plate 233 , it means that the positioning pin 234 is completely inserted into the pin shaft hole on the bucket 4 , and the grabbing operation of the bucket is completed.

[0060] In this embodiment, the first detection element 25 and the second detection element 26 are both proximity switches.

[0061] like Figure 3-Figure 5 As shown together, the servo motor 243 and the reducer 244 are surrounded by a motor cover 248 on the outside, and the bidirectional sliding screw 241, the screw nut 242, the slide rail 246 and the slider 247 are surrounded by a protective cover 249 on the outside.

[0062] In this embodiment, the motor cover 248 provides a certain degree of protection for the servo motor 243 and the reducer 244 .

[0063] In this embodiment, the provision of the protective cover 249 provides a certain degree of protection for the internal bidirectional sliding screw 241 , screw nut 242 , slide rail 246 and slider 247 .

[0064] like Figure 5 As shown, an insulating gasket 235 is installed at the middle position of the bottom of the main frame 231 to prevent welding current from passing through the transport robot 21.

[0065] The process of automatically transporting and welding the bucket 4 using the present invention is as follows:

[0066] In the first step, the servo motor 243 drives the two gripping plates 233 to move inward simultaneously. When the first detection element 25 detects the position of the gripping plates 233, the servo motor 243 is controlled to stop to move the two gripping plates 233 on the bucket gripper 23 closer to each other so that the two gripping plates 233 can be inserted between the two mounting plates 41 on the back of the bucket 4.

[0067] In the second step, the joints of the transport robot 21 move the bucket gripper 23 so that the bucket gripper 23 is aligned with the grabbing position of the bucket 4 on the upper component buffer 11 and the two grippers 233 are inserted between the two mounting plates 41 .

[0068] In the third step, the servo motor 243 drives the two grab plates 233 to move outward at the same time. When the second detection element 26 detects the position of the grab plates 233, the servo motor 243 is controlled to stop, and each positioning pin 234 is fully inserted into the corresponding pin shaft hole, thereby realizing the grabbing operation of the bucket 4.

[0069] In the fourth step, the joints of the transport robot 21 move the bucket gripper 23 to move the bucket 4 grasped by the bucket gripper 23 to a suitable welding height.

[0070] In the fifth step, the joints of the arc welding robot 31 move to drive the arc welding gun 33 to move so that the welding end of the arc welding gun 33 is aligned with the welding position on the bucket 4 to perform automatic welding.

[0071] In the sixth step, after completing the welding work at one position, the joints of the arc welding robot 31 move to adjust the position and welding angle of the arc welding gun 33 and automatically perform welding work on the next welding position of the bucket 4.

[0072] In the seventh step, the joints of the handling robot 21 drive the bucket 4 to move, automatically adjust the welding posture of the bucket 4, and use the arc welding gun 33 to continue automatic welding work on the remaining welding positions until the automatic welding work of all welding positions of the bucket 4 is completed.

[0073] In the eighth step, the various joint movements of the arc welding robot 31 drive the arc welding gun 33 away from the bucket 4. At the same time, the various joint movements of the transport robot 21 drive the bucket 4 to move, drive the bucket 4 to the lower piece buffer table 12, and place it on the lower piece buffer table 12.

[0074] In the ninth step, the servo motor 243 drives the two gripping plates 233 to move inward simultaneously. When the first detection element 25 detects the position of the gripping plates 233 , the servo motor 243 is controlled to stop, thereby unlocking the bucket 4 by the bucket gripper 23 .

[0075] In the tenth step, the bucket 4 on the lower piece buffer table 12 will continue to flow to the next workstation for subsequent processing.

[0076] The above steps are continuously repeated to automatically grab, transport, weld and place the buckets 4 placed on the upper piece buffer platform 11 one by one.

[0077] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bucket processing handling and welding device, characterized in that: It includes a bucket temporary storage device (1), a transport device (2) and an arc welding device (3); The bucket temporary storage device (1) comprises an upper cache platform (11) and a lower cache platform (12), and both the upper cache platform (11) and the lower cache platform (12) are fixed on the ground via a locking member (13); The transport device (2) includes a transport robot (21) disposed on one side of the bucket temporary storage device (1), and a bucket gripper (23) for grabbing the bucket (4) is installed on the transport robot (21) via a connecting piece (22); The arc welding device (3) comprises an arc welding robot (31), on which an arc welding gun (33) for welding the bucket (4) is mounted via a reversing disc (32).

2. The bucket processing transport and welding equipment according to claim 1, characterized in that: The bucket gripper (23) includes a main frame (231), two sliding supports (232) are slidably mounted on the main frame (231), the sliding directions of the two sliding supports (232) are opposite, the two sliding supports (232) are commonly connected to a grabbing and releasing driving mechanism (24), a grab plate (233) is fixed on each sliding support (232), the two grab plates (233) are arranged opposite to each other, and a pair of positioning pins (234) are provided on the outer wall of each grab plate (233).

3. The bucket processing transport and welding equipment according to claim 2, characterized in that: The grab-and-release drive mechanism (24) includes a bidirectional sliding screw (241) rotatably mounted in the main frame (231), a screw nut (242) being slidably mounted on each end of the bidirectional sliding screw (241), and the two screw nuts (242) are fixedly connected to the two sliding supports (232) respectively; The main frame (231) further comprises a servo motor (243) and a reducer (244), wherein the housings of the servo motor (243) and the reducer (244) are fixed to the main frame (231), the motor shaft of the servo motor (243) is connected to the input shaft of the reducer (244), and the output shaft of the reducer (244) is connected to the bidirectional sliding screw (241) through a coupling (245).

4. The bucket processing transport and welding equipment according to claim 3, characterized in that: A slide rail (246) is fixedly mounted on the main frame (231), and the slide rail (246) is arranged along the axial direction of the bidirectional sliding screw (241). Two sliders (247) are slidably mounted on the slide rail (246), and each slider (247) is fixedly connected to a corresponding sliding support (232).

5. The bucket processing transport and welding equipment according to claim 2, characterized in that: A first detection element (25) for detecting whether the bucket gripper (23) is fully opened is mounted on one of the sliding supports (232).

6. The bucket processing transport and welding equipment according to claim 5, characterized in that: A second detection element (26) for detecting whether the bucket gripper (23) is clamped in place is fixedly mounted on the main frame (231).

7. The bucket processing transport and welding equipment according to claim 4, characterized in that: The servo motor (243) and the reducer (244) are surrounded by a motor cover (248) on their outer sides, and the bidirectional sliding screw (241), the screw nut (242), the slide rail (246) and the slider (247) are surrounded by a protective cover (249) on their outer sides.

8. The bucket processing transport and welding equipment according to claim 7, characterized in that: An insulating gasket (235) is installed at the middle position of the bottom of the main frame (231) to prevent welding current from passing through the transport robot (21).

Images