Projection welding workstation

Abstract

The utility model relates to the technical field of projection welding, and discloses a projection welding workstation which comprises a robot, a projection welding machine, a material conveying mechanism and a gripper mechanism, the material conveying mechanism comprises a feeding assembly used for feeding, and a visual detection module used for detecting the appearance of a workpiece is arranged above the feeding assembly; the gripper mechanism comprises a support, and a clamping jaw assembly and a distance detection assembly are installed on one side of the support. Firstly, whether the appearance of a workpiece is qualified or not is detected through the visual detection module, after the robot is in butt joint with the gripper mechanism, the workpiece is clamped by the clamping jaw assembly, then the distance detection assembly is used for detecting the specified point position of the workpiece to ensure that the workpiece is positive and negative or the placement position is accurate, and finally corresponding welding work is conducted through the projection welding machine. The work station can carry out corresponding welding work on long and thin workpieces, on the basis of the 2D visual inspection technology and corresponding point position detection, on the premise that it is guaranteed that the workpieces are qualified, the positive and negative or placement positions of the workpieces are accurate, and the work station has the corresponding fool-proof function.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of projection welding technology, specifically relates to a projection welding workstation. BACKGROUND

[0002] Projection welding is a kind of resistance welding method, it is pre-processed one or more projections on the surface of the welding piece, when welding, make these projections contact with the surface of another welding piece, through the electrode pressure and power supply, current will generate greater resistance heat at the projection, heat the projection to plastic or melting state, then under the action of pressure, the projection is collapsed, make the metal of two welding pieces tightly combined to form the welding point.

[0003] With the rapid development of science and technology, projection welding workstation can adopt robot to carry out automatic welding, but its feeding and detection work still need artificial to complete, greatly influence the welding efficiency of workstation, especially for the long strip-shaped workpiece, its front and back surface and left and right piece are difficult to identify by naked eye from appearance, therefore, when artificial placing, it is easy to cause the problem of placing the front and back surface or left and right piece wrongly, and then influence the efficiency and quality of workstation welding. UTILITY MODEL CONTENT

[0004] The utility model aims at overcoming the deficiency in the prior art, provides a kind of projection welding workstation, visual detection module is set in the upper of feeding assembly, the appearance of workpiece is detected based on its image recognition function, whether it is qualified is judged, then the jaw assembly of gripper mechanism is clamped from the feeding assembly Workpiece, and the projection height of specified point of workpiece is detected by distance detection assembly, ensure that the placing position of its front and back or left and right piece is correct.

[0005] To achieve the above object, the utility model adopts the technical scheme that a kind of projection welding workstation, including robot, the lateral side of the robot is provided with projection welding machine, material conveying mechanism and gripper mechanism, and the robot is handled workpiece between the projection welding machine and the material conveying mechanism by the gripper mechanism;The material conveying mechanism includes the feeding assembly for feeding, the upper of the feeding assembly is provided with visual detection module for detecting the appearance of workpiece;The gripper mechanism includes support, one side of the support is equipped with jaw assembly for clamping workpiece, and one side of the support close to the jaw assembly is equipped with distance detection assembly for detecting the front and back or placing position of workpiece.

[0006] Optionally, the jaw assembly includes the pad block and the clamping block that can open and close, the pad block is fixedly installed on the support by the fixed rod, the clamping block is connected with the support by the pressure rod that can overturn along the longitudinal direction, and the distance detection assembly is located on one side of the fixed rod.

[0007] Optionally, the clamping block is provided with an avoiding hole, the cushion block is fixedly provided with a positioning rod, and the positioning rod is embedded into the avoiding hole through a reserved hole on the workpiece when the clamping jaw assembly is closed.

[0008] Optionally, one side of the fixing rod is provided with a suction assembly for sucking the workpiece, and the suction assembly is fixedly connected with the fixing rod through a connecting rod.

[0009] Optionally, the gripper mechanism further comprises a support for supporting the support and the clamping jaw assembly, a port connected with the end of the robot is arranged on the top of the support, a cover capable of covering the port is arranged above the support, and a turnover assembly for driving the cover to turn over in the longitudinal direction is arranged on the rear side of the support.

[0010] Optionally, the feeding assembly is provided with a discharging assembly on one side, the feeding assembly is provided with a returning assembly below, and the conveying directions of the feeding assembly, the discharging assembly and the returning assembly are opposite.

[0011] Optionally, a portal frame is arranged on the outer side of the feeding assembly, and the visual detection module is arranged on the top of the portal frame.

[0012] Optionally, a lettering mechanism for lettering on the workpiece is further arranged on the portal frame.

[0013] Optionally, the projection welding machine comprises a rack, the rack is provided with a welding assembly on the front side, the welding assembly comprises a top rod for supporting the workpiece, a pressure head capable of ascending and descending and coaxial with the top rod, and a welding head for welding, and the top rod, the pressure head and the welding head are connected with the rack.

[0014] Optionally, the rack is provided with two welding assemblies on the front side, and each welding assembly is provided with two welding heads.

[0015] Compared with the prior art, the utility model has the advantages that:

[0016] (1) In the utility model, the plane image recognition function of the visual detection module can detect whether the appearance of the workpiece is qualified, the workpiece is clamped by the clamping jaw assembly after the robot is connected with the gripper mechanism, the specified point of the workpiece is detected by the distance detection assembly to ensure that the placement positions of the front and back pieces or the left and right pieces are accurate, and finally the corresponding welding work is carried out by the projection welding machine; the workstation can carry out corresponding welding work on long workpieces, based on the image recognition technology and the corresponding point detection, the placement positions of the front and back pieces or the left and right pieces are accurate under the premise that the workpiece is qualified, and the corresponding fool-proof function is possessed.

[0017] (2) The utility model discloses, first through adsorption subassembly draws workpiece, and then is fixed to it by clamping jaw subassembly, in this process, the positioning rod on the cushion block inserts into the position avoiding hole of the clamping block through the reserved hole on the workpiece, ensure the position accuracy when workpiece is clamped, improve the welding quality. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the overhead view schematic diagram of the projection welding station in the utility model embodiment;

[0019] Figure 2 It is the axonometric schematic diagram of the projection welding station in the utility model embodiment;

[0020] Figure 3 It is the structural schematic diagram of the material conveying mechanism in the utility model embodiment;

[0021] Figure 4 It is the structural schematic diagram of the grabbing mechanism in the utility model embodiment;

[0022] Figure 5 It is the overhead view schematic diagram of the grabbing mechanism in the utility model embodiment;

[0023] Figure 6 It is the structural schematic diagram of the projection welding machine in the utility model embodiment;

[0024] Wherein, 1, projection welding machine;101, rack;102, telescopic subassembly;103, supporting block;104, pressure head;105, top rod;106, welding head;2, robot;

[0025] 3, material conveying mechanism;301, feeding subassembly;302, returning material subassembly;303, discharging subassembly;304, receiving box;

[0026] 4, grabbing mechanism;401, support;402, turnover subassembly;403, cover plate;404, support frame;405, fixed rod;406, pressure rod;407, cushion block;408, clamping block;409, adsorption subassembly;410, distance detection subassembly;

[0027] 5, visual mechanism;501, portal frame;502, visual detection module;

[0028] 6, lettering mechanism. DETAILED DESCRIPTION

[0029] The utility model will be explained further in detail now in conjunction with the drawings and embodiment, these drawings are all simplified schematic diagram, just with the schematic way the basic structure of the utility model is shown, therefore it just shows the constitution related with the utility model.

[0030] Embodiment one: as Figure 1 , Figure 2As shown, a projection welding station comprises a projection welding machine 1, a robot 2, a material conveying mechanism 3, a grabbing mechanism 4 and a vision mechanism 5, the projection welding machine 1, the material conveying mechanism 3 and the grabbing mechanism 4 are distributed on the side of the robot 2, and the vision mechanism 5 is located above the material conveying mechanism 3; the robot 2 adopts an existing six-axis mechanical arm, the material conveying mechanism 3 is used for feeding, discharging and returning materials, the grabbing mechanism 4 is used for grabbing workpieces and detecting whether the front and back or placement position is accurate, and the vision mechanism 5 identifies whether the appearance size of the workpiece is qualified through the way of processing planar image information by 2D vision technology.

[0031] As shown above, the robot 2 is located in front of the projection welding machine 1, the material conveying mechanism 3 and the grabbing mechanism 4 are arranged on the two sides of the robot 2 adjacent to the projection welding machine 1, and the robot 2 can carry the workpiece between the projection welding machine 1 and the material conveying mechanism 3 through the grabbing mechanism 4.

[0032] Specifically, the workpiece is placed on the feeding station of the material conveying mechanism 3 by artificial, and after being detected by the vision detection technology of the vision mechanism 5, the workpiece is grabbed by the grabbing mechanism 4 driven by the robot 2 and sent to the welding station of the projection welding machine 1 for nut welding work, and then the workpiece is carried to the discharging station of the material conveying mechanism 3 by the robot 2 after the welding is completed.

[0033] As shown in Figure 3 The material conveying mechanism 3 comprises a feeding assembly 301, a returning assembly 302 and a discharging assembly 303, the working surfaces of the three are parallel to each other, the discharging assembly 303 is located on one side of the feeding assembly 301, the returning assembly 302 is located below the feeding assembly 301, and the conveying direction of the feeding assembly 301 is opposite to that of the discharging assembly 303 and the returning assembly 302.

[0034] The feeding assembly 301 is used to provide workpieces to be welded to the station, the returning assembly 302 is used to return the workpieces placed incorrectly to the artificial, and the discharging assembly 303 is used to convey the workpieces completed welding out; in order to facilitate the returning and collecting, the returning assembly 302 is located below the feeding assembly 301, and one end of the returning assembly 302 protrudes from the feeding assembly 301, and the other end is provided with a receiving box 304 for receiving the workpieces.

[0035] The feeding assembly 301, the returning assembly 302 and the discharging assembly 303 all adopt the existing belt conveying structure, after the workpiece is placed above the conveying belt, the workpiece can be conveyed to the specified position through the friction force generated by the rotation of the belt.

[0036] The visual mechanism 5 comprises a gantry 501 arranged outside the feeding assembly 301, and a visual detection module 502 for detecting the appearance of the workpiece is arranged on the top of the gantry 501; the visual detection module 502 comprises an existing camera for collecting the planar image information of the workpiece, and after the camera collects the image data, the image data is sent to a data processing center for comparison with the image information of a standard workpiece, including the appearance size, so as to determine whether the workpiece is qualified.

[0037] The visual detection module 502 herein adopts the existing 2D visual technology; although the 3D visual technology can reconstruct the three-dimensional shape, position and attitude of an object and obtain more appearance information of the object than the 2D visual technology, for a workpiece with a relatively long length and a relatively small thickness, a large deformation will occur in the process of 3D identification, which does not affect the normal use of the workpiece, but the workpiece after deformation will be considered as not consistent with the original workpiece by the 3D visual technology, and thus an incorrect judgment result is made, affecting the normal progress of the welding work.

[0038] Further, the gantry 501 is also provided with a lettering mechanism 6 for lettering on the workpiece, and the lettering mechanism 6 adopts the existing laser lettering technology; after the workpiece is completed, the workpiece is placed below the lettering mechanism 6 by the robot 2 driving the grabbing mechanism 4, so as to realize laser lettering on the workpiece.

[0039] As shown in Figure 4 , Figure 5 , the grabbing mechanism 4 comprises a support 404, an electrical port capable of being connected with the tail end of the robot 2 is arranged on the top of the support 404, a plurality of sets of clamping jaw assemblies for clamping the workpiece, a distance detection assembly 410 for detecting the front and back or placement position of the workpiece, and a suction assembly 409 for sucking the workpiece are arranged on the front side of the support 404, and the clamping jaw assemblies, the distance detection assembly 410 and the suction assembly 409 are arranged in a straight line and staggered.

[0040] The clamping jaw assembly comprises a pad 407 capable of being opened and closed and a clamping block 408, the pad 407 is fixedly arranged on the support 404 through a fixing rod 405, the clamping block 408 is connected with the support 404 through a pressure rod 406 capable of being flipped in the longitudinal direction, a rotary cylinder is arranged on the support 404, an output end of the rotary cylinder is connected with the pressure rod 406 to drive the pressure rod 406 to flip in the longitudinal direction, so as to realize the opening and closing of the clamping jaw assembly.

[0041] The distance detecting assembly 410 is located on one side of the fixed rod 405 and close to the clamping jaw assembly, which adopts an existing distance detecting sensor, and after the workpiece is clamped by the clamping jaw assembly, the distance detecting sensor detects the distance of several specified points of the workpiece, and since the heights of the corresponding points on the front and back surfaces of the workpiece are different, the front and back positions of the workpiece can be determined through distance detection, and when the workpiece is a multi-segment separated structure, whether the left and right pieces are placed reversely can be identified, which has the function of preventing mistakes; when the front and back or left and right positions of the workpiece are wrong, the robot 2 and the gripper mechanism 4 place the workpiece on the returning assembly 302, and the returning assembly 302 transports the workpiece to the receiving box 304 for repositioning by the staff.

[0042] The adsorbing assembly 409 is fixedly connected with the fixed rod 405 through a connecting rod and is located on one side of the fixed rod 405, and the adsorbing assembly 409 adopts an existing vacuum chuck, which first sucks the workpiece from the feeding assembly 301 when grabbing the workpiece, and then clamps and fixes the workpiece through the clamping jaw assembly, and then welding is performed; when discharging, the clamping jaw assembly is first opened, and the workpiece is sucked by the adsorbing assembly 409 until the workpiece is placed on the discharging assembly 303.

[0043] Further, the clamping block 408 is provided with an avoiding hole, the cushion block 407 is fixedly provided with a positioning rod, and the positioning rod is embedded into the avoiding hole through the reserved hole on the workpiece when the clamping jaw assembly is closed; the workpiece is usually provided with a reserved hole in order to facilitate assembly or play other roles, so that the workpiece can be positioned by using the reserved hole, and it is ensured that the nuts can be welded to the specified position.

[0044] In addition, the gripper mechanism 4 further comprises a support 401 for supporting the support frame 404 and the clamping jaw assembly, a cover plate 403 capable of covering the port is arranged above the support 401, and a turnover assembly 402 for driving the cover plate 403 to turn over in the longitudinal direction is arranged on the rear side of the support 401.

[0045] The turnover assembly 402 adopts a rotary cylinder, and the cover plate 403 is connected with the output end of the rotary cylinder; in order to facilitate the docking of the robot 2 and the gripper mechanism 4, the electrical port used for docking is arranged on the top of the support frame 404, and in order to prevent dust and other sundries from entering the port and affecting the connection of the electrical circuit, the port of the gripper mechanism 4 which is not in use is covered and protected by the cover plate 403, so as to avoid problems in the connection circuit.

[0046] Embodiment two: on the basis of embodiment one, the utility model further provides the structure of the projection welding machine 1, and the projection welding machine 1 is used for welding nuts on long strip-shaped workpieces.

[0047] As Figure 1 , Figure 2 , Figure 6As shown, the projection welding machine 1 comprises a rack 101, the front side of the rack 101 is provided with a welding assembly, the welding assembly comprises a top rod 105 for supporting a workpiece, a pressure head 104 capable of lifting and coaxial with the top rod 105, and a welding head 106 for welding, and the top rod 105, the pressure head 104 and the welding head 106 are connected with the rack 101.

[0048] Wherein, the top rod 105 is fixedly installed on the lower part of the rack 101 through a support block 103, the upper part of the rack 101 is provided with a telescopic assembly 102, the telescopic assembly 102 is parallel to the Z-axis direction and adopts a pneumatic cylinder, and the pressure head 104 is installed on the output end of the telescopic assembly 102; the nut is fed by the existing vibrating disc feeder and delivered into the pressure head 104, the pressure head 104 will place the nut at the designated position of the workpiece at the same time every time it is pressed down, and then the welding between the two is completed by the welding head 106.

[0049] Further, the front side of the rack 101 is provided with two welding assemblies, and each welding assembly is provided with two welding heads 106, so that the projection welding machine 1 can meet the welding of four different nuts; Similarly, the gripper assembly 4 is also provided with four sets for use with different specifications of workpieces.

[0050] Working principle:

[0051] Step one: according to the specifications of the workpiece, the robot 2 and the corresponding gripper assembly 4 complete the butt joint, and adjust the corresponding welding head 106 to the welding station of the projection welding machine 1;

[0052] Step two: manually place the workpiece to be welded to the feeding assembly 301, and then feed it to the work station;

[0053] Step three: the vision detection module 502 collects the planar image information of the workpiece below and performs automatic identification, if there is an unqualified workpiece, stop or move it to the waste place by the robot 2;

[0054] Step four: the robot 2 drives the gripper assembly 4 to the feeding position, first absorbs the workpiece through the suction assembly 409, at this time the positioning rod passes through the reserved hole of the workpiece; Then the distance detection assembly 410 detects the position of the front and back or left and right pieces; If the placement position or front and back is wrong, place it on the return assembly 302 to return, if the detection is correct, the clamping jaw assembly will fix and clamp it, at this time the positioning rod passes through the avoidance hole;

[0055] Step five: the robot 2 drives the gripper assembly 4 to move the workpiece to the welding station of the projection welding machine 1 for welding;

[0056] Step six: after welding, the robot 2 moves the workpiece to the lettering mechanism 6 below for lettering;

[0057] Step seven: after the inscription is completed, the clamping jaw assembly is loosened, the workpiece is adsorbed on the adsorption assembly 409, and then the robot 2 carries the workpiece to the unloading assembly 303, the adsorption assembly 409 is loosened, so that the workpiece after welding can be sent away from the work station by the unloading assembly 303.

[0058] In summary, since the long strip-shaped thin workpiece is prone to errors in recognition by using 3D vision technology, it is more suitable for recognition by using 2D vision technology, but if only 2D vision technology is used, the thickness of the workpiece cannot be detected, and thus the difference between the front and back and the left and right workpiece placement positions cannot be recognized, therefore, the visual detection module 502 and the distance detection assembly 410 are used in cooperation, so that the size detection is realized by using 2D vision technology, the robot 2 is guided to complete workpiece grabbing, and the distance detection assembly 410 is used to detect the distances of several points of the workpiece, so that the front and back or the placement position is judged; wherein the selected detection points should be positions that are different between the front and back or the left and right workpieces.

[0059] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0060] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] The above is based on the ideal embodiment of the present application, through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content of the specification, and the technical scope must be determined according to the scope of claims.

Claims

1. A projection welding station comprising a robot (2), characterized in that: The robot (2) is provided with a projection welding machine (1), a material conveying mechanism (3) and a gripping mechanism (4) on the side, and the robot (2) carries the workpiece between the projection welding machine (1) and the material conveying mechanism (3) through the gripping mechanism (4); the material conveying mechanism (3) comprises a feeding assembly (301) for feeding, and a visual detection module (502) for detecting the appearance of the workpiece is arranged above the feeding assembly (301). The gripping mechanism (4) comprises a support (404), one side of the support (404) is provided with a clamping jaw assembly for clamping the workpiece, and one side of the support (404) close to the clamping jaw assembly is provided with a distance detection assembly (410) for detecting the front and back or placement position of the workpiece.

2. The projection welding station according to claim 1, characterized in that: The clamping jaw assembly comprises a pad block (407) and a clamping block (408) capable of opening and closing, the pad block (407) is fixedly installed on the support (404) through a fixing rod (405), the clamping block (408) is connected with the support (404) through a pressure rod (406) capable of turning over in the longitudinal direction, and the distance detection assembly (410) is located on one side of the fixing rod (405).

3. The projection welding station according to claim 2, characterized in that: A position avoiding hole is formed in the clamping block (408), a positioning rod is fixedly installed on the pad block (407), and when the clamping jaw assembly is closed, the positioning rod is embedded into the position avoiding hole through the reserved hole on the workpiece.

4. The projection welding station according to claim 3, characterized in that: One side of the fixing rod (405) is provided with a suction assembly (409) for sucking the workpiece, and the suction assembly (409) is fixedly connected with the fixing rod (405) through a connecting rod.

5. The projection welding station of claim 1, wherein: The gripping mechanism (4) further comprises a support base (401) for supporting the support (404) and the clamping jaw assembly, and a port connected with the end of the robot (2) is installed on the top of the support (404), a cover plate (403) capable of covering the port is arranged above the support base (401), and a turnover assembly (402) for driving the cover plate (403) to turn over in the longitudinal direction is installed on the rear side of the support base (401).

6. The projection welding station of claim 1, wherein: One side of the feeding assembly (301) is provided with a discharging assembly (303), and the lower side of the feeding assembly (301) is provided with a returning assembly (302), and the conveying direction of the feeding assembly (301), the discharging assembly (303) and the returning assembly (302) is opposite.

7. The projection welding station of claim 1, wherein: The outer side of the feeding assembly (301) is provided with a portal frame (501), and the visual detection module (502) is installed on the top of the portal frame (501).

8. The projection welding station according to claim 7, characterized in that: The portal frame (501) is further provided with a lettering mechanism (6) for lettering on the workpiece.

9. The projection welding station of claim 1, wherein: The projection welding machine (1) comprises a rack (101), and a welding assembly is arranged on the front side of the rack (101), the welding assembly comprises a top rod (105) for supporting the workpiece, a pressure head (104) capable of ascending and descending and coaxial with the top rod (105), and a welding head (106) for welding, and the top rod (105), the pressure head (104) and the welding head (106) are connected with the rack (101).

10. The projection welding station according to claim 9, characterized in that: The front side of the rack (101) is provided with two welding assemblies, and each welding assembly is provided with two welding heads (106).

Images