Automatic projection welding workstation

Abstract

The utility model relates to an automatic projection welding workstation, and relates to the technical field of automatic projection welding, the automatic projection welding workstation comprises a workbench, and two groups of transfer tables, two groups of first manipulators and two groups of second manipulators which are arranged on the workbench, and the transfer tables are positioned between the first manipulators and the second manipulators; the two sets of transfer tables correspond to the two sets of second manipulators in a one-to-one mode, the two sets of transfer tables are located on the two sides of the first manipulator correspondingly, workpieces are movably placed on the transfer tables, and the workbench is provided with a feeding belt corresponding to the first manipulator and discharging tables corresponding to the second manipulators. A positioning assembly for positioning a workpiece and a welding assembly for welding the workpiece are arranged on the workbench. The welding device has the effects that the welding machining efficiency is improved, and meanwhile the welding quality is improved.

Description

Technical Field

[0001] This application relates to the technical field of automated projection welding, and in particular to an automated projection welding workstation. Background Technology

[0002] In automotive parts manufacturing, standard welding components are often attached to workpieces using welding methods, such as welding projection weld nuts and bolts. This effectively simplifies the assembly process and improves production efficiency. Currently, welding is used for... Figure 1 When welding projection weld nuts and bolts onto the workpiece shown, since the workpiece includes a first connecting plate, a second connecting plate, a third connecting plate, and a fourth connecting plate that are connected to each other in a stepped manner, the first connecting plate and the second connecting plate are connected end to end, and the third connecting plate and the fourth connecting plate are respectively connected to the sides of the first connecting plate and the second connecting plate, and the third connecting plate and the fourth connecting plate are respectively located on both sides of the first connecting plate, manual welding is usually used.

[0003] During welding, technicians need to align the first and third connecting plates with the projection welding machine in sequence, and weld the projection welding nut onto the first and third connecting plates. Then, the technicians align the second connecting plate with the projection welding machine and weld the projection welding bolt onto the second connecting plate to complete the welding of the workpiece.

[0004] Regarding the aforementioned technologies, manual welding is inefficient, difficult to achieve large-scale production, and is affected by factors such as the operator's skill level and fatigue. Furthermore, it is limited by the shape of the workpiece, making it difficult to guarantee the accuracy and consistency of the welding, thus affecting the welding quality of the workpiece. Utility Model Content

[0005] In order to improve welding efficiency and welding quality, this application provides an automated projection welding workstation.

[0006] The automated projection welding workstation provided in this application adopts the following technical solution:

[0007] An automated projection welding workstation includes a worktable and a transfer platform, a first robot arm, and a second robot arm disposed on the worktable. The transfer platform is located between the first robot arm and the second robot arm. There are two sets of both the transfer platform and the second robot arm, with each set corresponding to one set of the second robot arm. The two sets of transfer platforms are located on both sides of the first robot arm. Workpieces are movably placed on the transfer platform. The worktable is provided with a feeding belt corresponding to the first robot arm and a unloading platform corresponding to the second robot arm. The worktable is also provided with a positioning component for positioning the workpiece and a welding component for welding the workpiece.

[0008] The welding assembly is provided in two sets, and the two sets of welding assemblies correspond one-to-one with the two sets of transfer tables. The welding assembly includes a nut projection welding machine and a bolt projection welding machine set on the workbench. The workbench is also provided with a nut conveyor and a bolt conveyor, and the nut conveyor and the bolt conveyor correspond one-to-one with the nut projection welding machine and the bolt projection welding machine, respectively.

[0009] By adopting the above technical solution, during operation, the feeding belt transports the workpiece to the corresponding position of the first robot arm. Then, the first robot arm grabs the workpiece and moves it to the transfer platform. At the same time, through the set positioning components, the first robot arm places the workpiece at the designated position on the transfer platform, realizing the positioning of the workpiece. This is the starting position for welding the workpiece.

[0010] Then, the second robotic arm grabs the workpiece on the transfer table, moves it to the nut projection welding machine, and aligns the first connecting plate with the nut projection welding machine. The nut conveyor then transports the projection nut to the welding position on the first connecting plate, and the nut projection welding machine welds the projection nut to the first connecting plate. After the first projection nut is welded, the second robotic arm moves the third connecting plate to the position corresponding to the nut projection welding machine. The nut conveyor then transports the projection nut to the welding position on the third connecting plate, and the nut projection welding machine welds the projection nut to the third connecting plate, thus completing the welding of two projection nuts.

[0011] Then the second robot moves the workpiece to the bolt projection welding machine and aligns the second connecting plate with the bolt projection welding machine. The bolt conveyor then transports the projection welding bolt to the welding position on the second connecting plate, and the bolt projection welding machine welds the projection welding bolt to the second connecting plate to achieve the welding of the projection welding bolt. After the welding is completed, the second robot moves the welded workpiece to the unloading table to achieve the unloading of the workpiece.

[0012] During welding, the starting position of the workpiece remains consistent due to the positioning component. The second robot arm grasps the workpiece, and its movement path remains consistent, thereby improving the accuracy and consistency of welding and enhancing the welding quality of the workpiece. At the same time, the first robot arm moves the next workpiece to another transfer platform and positions it to facilitate welding processing on the other side, thus improving welding efficiency.

[0013] Optionally, the positioning component includes a 3D camera mounted on the first robotic arm, a PLC controller is provided on the worktable, the 3D camera detects the position of the workpiece, and the 3D camera, the first robotic arm, and the second robotic arm are all electrically connected to the PLC controller.

[0014] By adopting the above technical solution, the 3D camera detects the position of the workpiece on the feeding belt and transmits the position information to the PLC controller. The PLC controller outputs corresponding signals to the first robot arm, controlling the first robot arm to move to the corresponding position to grasp the workpiece and move the workpiece to the transfer platform. At the same time, the 3D camera detects the position of the workpiece in real time, and the PLC controller plans the movement path of the first robot arm, so that the first robot arm moves the workpiece to the welding start position, realizing the positioning of the workpiece, improving the accuracy of the first robot arm in grasping and placing the workpiece, and facilitating subsequent welding.

[0015] Then, the PLC controller drives the second robotic arm to work through a preset program, enabling the second robotic arm to precisely grasp and move the workpiece to achieve welding. Since multiple welding operations are required and the workpiece shape is irregular, if the workpiece position is detected in real time by a 3D camera and the first robotic arm is used to move the workpiece for welding, it would increase the complexity and cost of the algorithm. Under the control of the preset program, it is easy to achieve stable and reliable control of the second robotic arm. At the same time, since the second robotic arm always maintains the same welding starting position when grasping the workpiece, the reliability, stability and accuracy of the second robotic arm operation are improved, thereby improving the quality of workpiece welding and facilitating efficient automated welding.

[0016] Optionally, the positioning component further includes a base plate disposed on the transfer platform. The base plate is provided with positioning blocks, each positioning block including a first support block, a second support block, a third support block, and a fourth support block. The first support block, the second support block, the third support block, and the fourth support block are respectively movably fitted against the side walls of the first connecting plate, the second connecting plate, the third connecting plate, and the fourth connecting plate. When the workpiece is fitted with the positioning block, the first connecting plate, the second connecting plate, the third connecting plate, and the fourth connecting plate are all in a horizontal state. The first support block is slidably connected to the positioning block. The base plate is provided with an adjusting member for adjusting the height of the first support block.

[0017] By adopting the above technical solution, when the workpiece is moved to the transfer platform, the first robot arm moves the workpiece onto the positioning block, and makes the first support block, the second support block, the third support block and the fourth support block respectively fit against the side walls of the first connecting plate, the second connecting plate, the third connecting plate and the fourth connecting plate. At this time, the first connecting plate, the second connecting plate, the third connecting plate and the fourth connecting plate remain in a horizontal state, which helps to maintain the stability of the workpiece, improves the accuracy of the second robot arm when grasping the workpiece, and reduces the steps of the second robot arm to adjust the position of the workpiece during welding.

[0018] For different types of workpieces, when the horizontal height of the first connecting plate relative to the second and third connecting plates changes, the technician places the workpiece on the positioning block, and then drives the first support block to rise and fall through the adjusting component, so that the first, second, third and fourth connecting plates are all in a horizontal state, which facilitates the positioning of different types of workpieces.

[0019] Optionally, the adjusting component includes an adjusting worm gear and an adjusting worm rotatably disposed within the base plate. The adjusting worm gear meshes with the adjusting worm rotatable ...

[0020] By adopting the above technical solution, when welding different types of workpieces, the technician first stops the equipment, then places the workpiece on the positioning block, and places the level on the side wall of the second connecting plate away from the base plate. The driving component drives the adjusting worm gear to rotate, which in turn drives the adjusting worm wheel to rotate, thereby driving the threaded rod to rotate, which in turn drives the first support block to move. Since the cross-section of the first support block is polygonal and it abuts against the inner side wall of the insertion hole, the first support block slides in the insertion hole, thereby realizing the lifting and lowering of the first support block until the level on the second connecting plate is in a horizontal state. At this time, the workpiece is in a horizontal state. Then the technician removes the workpiece, exits the worktable, and starts the equipment to weld the workpiece. For different types of workpieces, there is no need to replace the appropriate first support block, and the quick switching of the positioning block state is also met, improving processing efficiency.

[0021] Optionally, the driving component includes a rotating rod that is slidably and rotatably disposed within the base plate. The rotating rod is coaxially arranged with the adjusting worm gear, and the adjusting worm gear has a sliding hole for the rotating rod to slide through. One end of the rotating rod is movably located within the sliding hole, and the other end of the rotating rod is rotatably provided with a driving handle. A receiving groove is provided on the side wall of the base plate, and the driving handle is movably located within the receiving groove. The end of the driving handle away from the rotation axis is always protruding from the side wall of the base plate. The rotating rod is provided with a limiting structure to restrict the relative rotation between the rotating rod and the adjusting worm gear. The base plate is also provided with a fixing component for fixing the driving handle and a locking component for locking the threaded rod.

[0022] By adopting the above technical solution, when the first support block needs to be adjusted, the technician rotates the drive handle to separate the drive handle from the receiving groove until the drive handle and the rotating rod are coaxial. Then, the technician pushes the protruding end of the drive handle to drive the rotating rod to slide along the axis of the adjusting worm gear, so that the rotating rod is inserted into the sliding hole. At this time, the protruding end of the drive rod is away from the side wall of the base plate, which makes it easier for the technician to operate the drive handle.

[0023] Then, the technicians rotate the drive handle around the axis of the rotating rod, causing the rotating rod to rotate. Due to the limiting structure, the rotating rod rotates synchronously with the adjusting worm gear, thereby driving the adjusting worm wheel to rotate, and thus realizing the adjustment of the height of the first support block.

[0024] After adjustment, the technician pulls the drive handle to separate the rotating rod from the sliding hole. Then, the technician rotates the drive handle into the receiving groove for easy storage. The drive handle is then fixed by the fasteners to reduce the risk of the first support block changing height due to accidental rotation of the drive handle, thereby improving the stability of the first support block and thus improving the welding quality.

[0025] Meanwhile, the threaded rod is locked by a locking device, making it less likely to rotate, reducing the risk of unexpected changes in the height of the first support block, and further improving the stability of the first support block.

[0026] Optionally, the locking element includes a locking gear coaxially mounted on the threaded rod, and a locking rack elastically slidably disposed within the base plate. The locking rack is movably engaged with the locking gear, and the side wall of the locking rack away from the locking gear is movably pressed against the outer peripheral wall of the drive handle.

[0027] By adopting the above technical solution, when the first support block needs to be adjusted, the technician rotates the drive handle to separate the drive handle from the receiving groove. At this time, the locking rack slides away from the locking gear under the elastic force, so that the locking rack separates from the locking gear, thereby making it less likely for the locking rack to obstruct the rotation of the locking gear.

[0028] After adjustment, the technician rotates the drive handle into the receiving groove. At this time, the outer peripheral wall of the drive handle abuts against the side wall of the locking rack away from the locking gear, and drives the locking rack to slide towards the locking gear, so that the locking gear and the locking rack mesh. At the same time, the fixing part fixes the drive handle, making it difficult for the locking rack to slide, thus making it difficult for the locking gear to rotate. This restricts the rotation of the threaded rod, making it difficult for the first support block to slide. This allows the drive handle to be stored and fixed at the same time, and the threaded rod to be locked, which is convenient for the technician to operate.

[0029] Optionally, the fixing member includes a fixing block that is elastically slidably disposed on the base plate. One end of the fixing block is movably protruding from the top wall of the base plate. The side wall of the fixing block away from the protruding end is inclined. The inclined side of the fixing block is movably abutted against the outer peripheral wall of the drive handle. When the drive handle is located in the receiving groove, the outer peripheral wall of the drive handle abuts against the side wall of the fixing block.

[0030] By adopting the above technical solution, when the first support block needs to be adjusted, the technician pinches the protruding end of the fixed block and slides the fixed block away from the turntable, so that the fixed block is separated from the drive handle. At this time, the fixed block does not easily obstruct the rotation of the drive handle. At the same time, the side wall of the locking rack away from the locking gear abuts against the outer peripheral wall of the drive handle and drives the drive handle to rotate away from the receiving groove. When the technician releases the fixed block, the fixed block does not easily obstruct the drive handle from continuing to rotate away from the receiving groove.

[0031] After adjustment, the technician rotates the drive handle so that the outer peripheral wall of the drive handle abuts against the inclined side of the fixed block, and drives the fixed block to slide away from the turntable. This makes it easier for the fixed block to obstruct the rotation of the drive handle until the drive handle rotates into the receiving groove. At this time, the fixed block slides towards the turntable under the elastic force, and the side wall of the fixed block abuts against the outer peripheral wall of the drive handle, making it difficult for the drive handle to rotate. This fixes the drive handle and makes it easier for the technician to operate.

[0032] Optionally, a placement groove is provided on the base plate, and the level is movably located in the placement groove. The side wall of the level is movably fitted with the inner side wall of the placement groove. A clamping block is slidably provided on the bottom wall of the placement groove. When the level is located in the placement groove, the clamping block and the side wall of the level that are close to each other are movably clamped together. A clamping spring is provided on the side wall of the clamping block away from the level.

[0033] By adopting the above technical solution, when the first support block needs to be adjusted, the technician moves the clamping block to slide it away from the level. Then the technician takes out the level and places it on the second connecting plate. Then the technician raises and lowers the first support block until the level is horizontal, thus achieving the adjustment of the first support block.

[0034] After adjustment, the technician presses one side of the spirit level against the side of the retaining block away from the retaining spring, causing the retaining block to slide. Then, the technician presses the spirit level into the placement slot and releases it. At this time, the retaining spring causes the retaining block to slide closer to the spirit level, pressing it against the spirit level. The side of the spirit level away from the retaining block then presses against the inner wall of the placement slot, thus storing the spirit level and preventing it from being lost. This also makes it easier for the technician to put the spirit level in and out.

[0035] In summary, this application includes at least one of the following beneficial technical effects:

[0036] 1. The system consists of a worktable, a transfer station, a first robotic arm, a second robotic arm, a 3D camera, a PLC controller, a feeding belt, a unloading platform, and welding components. During operation, the feeding belt transports the workpiece to the corresponding position of the first robotic arm. At this time, the 3D camera detects the position of the workpiece and transmits the position information to the PLC controller. Then, the PLC controller drives the first robotic arm to move to the corresponding position to grasp the workpiece and move it to the transfer station. Simultaneously, the 3D camera detects the position of the workpiece in real time, and the PLC controller plans the movement path of the first robotic arm so that the first robotic arm places the workpiece at the designated position on the transfer station, thereby achieving workpiece positioning and improving the accuracy of the first robotic arm in grasping and placing the workpiece.

[0037] Then, the PLC controller drives the second robotic arm to work through a preset program, enabling the second robotic arm to accurately grasp the workpiece and move it to the welding position. The welding assembly then welds the projection nut and projection bolt onto the workpiece. During welding, the movement path of the second robotic arm remains consistent, thereby improving the accuracy and consistency of the welding and enhancing the welding quality of the workpiece. At the same time, the first robotic arm moves the next workpiece to the transfer table to facilitate welding processing on the other side, improving welding efficiency. After welding is completed, the second robotic arm moves the welded workpiece to the unloading table to unload the workpiece, thus achieving automated welding and improving welding efficiency.

[0038] 2. When the workpiece is moved to the transfer table via the base plate, first support block, second support block, third support block, fourth support block, and adjusting components, the first robot arm moves the workpiece onto the positioning block, and makes the first support block, second support block, third support block, and fourth support block fit against the side walls of the first connecting plate, second connecting plate, third connecting plate, and fourth connecting plate respectively. At this time, the first connecting plate, second connecting plate, third connecting plate, and fourth connecting plate remain in a horizontal state, which helps to maintain the stability of the workpiece, improves the accuracy of the second robot arm when grasping the workpiece, and reduces the number of steps for the second robot arm to adjust the position of the workpiece during welding.

[0039] For different types of workpieces, when the horizontal height of the first connecting plate relative to the second connecting plate, the third connecting plate, and the fourth connecting plate changes, the technician places the workpiece on the positioning block, and then drives the first support block to rise and fall through the adjusting component, so that the first connecting plate, the second connecting plate, the third connecting plate, and the fourth connecting plate are all in a horizontal state, which facilitates the positioning of different types of workpieces.

[0040] 3. With the help of the threaded rod, adjusting worm gear, adjusting worm, rotating rod, drive handle, locking gear, locking rack, fixed block, and limiting structure, when the first support block needs to be adjusted, the technician pulls the fixed block to separate it from the drive handle. At this time, the fixed block does not easily obstruct the rotation of the drive handle. At the same time, the locking rack abuts against the drive handle and makes the drive handle rotate away from the receiving groove, which makes it easier for the technician to rotate the drive handle later. Then, the technician rotates the drive handle to be coaxial with the rotating rod and rotates the drive handle along the axis of the rotating rod. Due to the limiting structure, the drive handle drives the rotating rod to rotate, and the rotating rod rotates and drives the adjusting worm gear to rotate, which drives the adjusting worm gear and the threaded rod to rotate synchronously, thereby driving the first support block to rise and fall, which is convenient for the technician to operate.

[0041] After adjustment, the technician rotates the drive handle. At this time, the drive handle presses against the inclined side of the fixed block, causing the fixed block to slide away from the turntable until the drive handle is in the receiving groove. Then, under the elastic force, the fixed block slides towards the turntable, causing the side wall of the fixed block to press against the outer peripheral wall of the drive handle, thus fixing the drive handle. At the same time, the drive handle presses against the locking rack and drives the locking rack to slide towards the locking gear, so that the locking rack meshes with the locking gear. This makes it difficult for the locking gear and the threaded rod to rotate, thus locking the threaded rod, thereby improving the stability of the first support block and improving the welding quality. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the workpiece after welding;

[0043] Figure 2 This is a schematic diagram of the overall structure of an embodiment of this application;

[0044] Figure 3 This is a schematic diagram of the connection structure between the base plate and the positioning block;

[0045] Figure 4 It is along Figure 3 Schematic diagram of the cross-sectional structure along line AA;

[0046] Figure 5 This is a schematic diagram of the connection structure of the rotating rod, the drive handle, and the base plate.

[0047] Reference numerals: 1. Workbench; 11. Transfer station; 12. Feeding belt; 13. Unloading platform; 14. Guardrail; 2. First robotic arm; 3. Second robotic arm; 4. Welding assembly; 41. Nut projection welding machine; 42. Nut conveyor; 43. Bolt projection welding machine; 44. Bolt conveyor; 5. Positioning assembly; 51. 3D camera; 52. PLC controller; 53. Base plate; 531. Placement slot; 532. Clamping block; 533. Clamping spring; 54. Positioning block; 541. First support block; 542. Second support block; 543. Third support block; 544. Fourth support block; 55. Adjusting component; 551 552. Adjusting worm gear; 553. Threaded rod; 554. Threaded hole; 56. Driving component; 561. Rotating rod; 562. Sliding hole; 563. Driving handle; 564. Receiving groove; 565. Knob; 57. Limiting structure; 571. External spline; 572. Internal spline; 58. Locking component; 581. Locking gear; 582. Locking rack; 583. Push block; 59. Fixing component; 591. Fixing block; 592. Ear plate; 6. Level; 61. Magnetic block; 7. Workpiece; 71. First connecting plate; 72. Second connecting plate; 73. Third connecting plate; 74. Fourth connecting plate. Detailed Implementation

[0048] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0049] This application discloses an automated projection welding workstation. (Refer to...) Figure 1 and Figure 2 An automated projection welding workstation includes a workbench 1 placed horizontally on the ground and a transfer platform 11 fixed on the workbench 1. A first robotic arm 2 and a second robotic arm 3 are fixed on the workbench 1. The transfer platform 11 is located between the first robotic arm 2 and the second robotic arm 3. There are two sets of transfer platforms 11 and two sets of second robotic arms 3. The two sets of transfer platforms 11 are located on both sides of the first robotic arm 2. The workpiece 7 is movably placed on the transfer platform 11. A feeding belt 12 corresponding to the first robotic arm 2 and a unloading platform 13 corresponding to the second robotic arm 3 are fixed on the workbench 1. In order to protect the safety of technicians and equipment, guardrails 14 are fixed on the side of the workbench 1. The guardrails 14 have openings at the feeding belt 12 and the unloading platform 13 for technicians to operate.

[0050] To ensure that workpiece 7 is precisely positioned at the designated location on the transfer table 11, a positioning assembly 5 is provided on the worktable 1, as shown in the reference. Figure 2The positioning component 5 includes a 3D camera 51 fixed on the first robotic arm 2, and a PLC controller 52 fixed on the worktable 1. The 3D camera 51 detects the position of the workpiece 7. The 3D camera 51, the first robotic arm 2, and the second robotic arm 3 are all electrically connected to the PLC controller 52.

[0051] Reference Figure 2 The workbench 1 is also equipped with a welding assembly 4 for welding workpiece 7. There are two sets of welding assemblies 4, which correspond one-to-one with two sets of transfer tables 11. The welding assembly 4 includes a nut projection welding machine 41 and a bolt projection welding machine 43 fixed on the workbench 1. The nut projection welding machine 41 and the bolt projection welding machine 43 are both located on the side of the second robot arm 3 away from the transfer table 11. The workbench 1 is also equipped with a nut conveyor 42 and a bolt conveyor 44, which correspond one-to-one with the nut projection welding machine 41 and the bolt projection welding machine 43, respectively.

[0052] During operation, the feeder belt 12 transports the workpiece 7 to the corresponding position of the first robotic arm 2. At this time, the 3D camera 51 detects the position of the workpiece 7 and transmits the position information to the PLC controller 52. Then, the PLC controller 52 drives the first robotic arm 2 to move to the corresponding position to grasp the workpiece 7 and move the workpiece 7 to the transfer platform 11. At the same time, the 3D camera 51 detects the position of the workpiece 7 in real time, and the PLC controller 52 plans the movement path of the first robotic arm 2 so that the first robotic arm 2 places the workpiece 7 at the designated position on the transfer platform 11, thereby achieving the positioning of the workpiece 7 and improving the accuracy of the first robotic arm 2 in grasping and placing the workpiece 7.

[0053] Then, the PLC controller 52 drives the second robot arm 3 to work through a preset program, so that the second robot arm 3 can accurately grasp the workpiece 7 and move the workpiece 7 to the nut projection welding machine 41, and make the first connecting plate 71 correspond to the nut projection welding machine 41. Then, the nut conveyor 42 transports the projection welding nut to the welding position of the first connecting plate 71, and the nut projection welding machine 41 welds the projection welding nut to the first connecting plate 71. After the first projection welding nut is welded, the second robot arm 3 moves the third connecting plate 73 to the position corresponding to the nut projection welding machine 41. Then, the nut conveyor 42 transports the projection welding nut to the welding position of the third connecting plate 73, and the nut projection welding machine 41 welds the projection welding nut to the third connecting plate 73, thus realizing the welding of two projection welding nuts.

[0054] Then the second robotic arm 3 moves the workpiece 7 to the bolt projection welding machine 43 and aligns the second connecting plate 72 with the bolt projection welding machine 43. Then the bolt conveyor 44 transports the projection welding bolt to the welding position on the second connecting plate 72, and the bolt projection welding machine 43 welds the projection welding bolt to the second connecting plate 72, thus realizing the welding of the projection welding bolt.

[0055] During welding, the second robotic arm 3 maintains a consistent movement path, thereby improving the accuracy and consistency of welding and enhancing the welding quality of workpiece 7. At the same time, the first robotic arm 2 moves the next workpiece 7 to another transfer table 11, facilitating welding processing on the other side and improving welding efficiency.

[0056] After welding is completed, the second robotic arm 3 moves the welded workpiece 7 to the unloading table 13 to unload the workpiece 7, which facilitates further processing of the workpiece 7, realizes automated welding, and improves welding efficiency.

[0057] Furthermore, in order to ensure that workpiece 7 is stably positioned on the transfer table 11, refer to Figure 3 The positioning component 5 also includes a base plate 53 fixed to the transfer table 11. A positioning block 54 is detachably fixed to the top side of the base plate 53. The positioning block 54 includes a first support block 541, a second support block 542, a third support block 543, and a fourth support block 544. The first support block 541 is slidably connected to the positioning block 54. The sliding direction of the first support block 541 is parallel to the height direction of the worktable 1. An insertion hole is provided on the base plate 53. The bottom end of the first support block 541 is movably located in the insertion hole, and the first support block 541 is movably abutted against the inner wall of the insertion hole. The cross-section of the end of the first support block 541 that is movably located in the insertion hole is polygonal. In this application, the first support block 541... The cross-section of the movable part located at one end inside the insertion hole is a regular quadrilateral shape. In other embodiments, the cross-section of the first support block 541 can also be a polygon such as a triangle, pentagon, or hexagon, as long as the first support block 541 slides in the insertion hole without rotating. The first support block 541, the second support block 542, the third support block 543, and the fourth support block 544 are respectively in contact with the side walls of the first connecting plate 71, the second connecting plate 72, the third connecting plate 73, and the fourth connecting plate 74. When the workpiece 7 is in contact with the positioning block 54, the first connecting plate 71, the second connecting plate 72, the third connecting plate 73, and the fourth connecting plate 74 are all in a horizontal state.

[0058] To allow for height adjustment of the first support block 541, an adjustment component 55 is provided on the base plate 53. Figure 3 and Figure 4The adjusting component 55 includes an adjusting worm gear 551 and an adjusting worm 552 rotatably connected to the base plate 53. The rotation axis of the adjusting worm gear 551 is consistent with the sliding direction of the first support block 541. The rotation axis of the adjusting worm 552 is horizontally arranged. The adjusting worm gear 551 and the adjusting worm 552 mesh with each other. A threaded rod 553 is coaxially fixed on the adjusting worm gear 551. A threaded hole 554 is opened on the bottom wall of the first support block 541. The threaded rod 553 and the threaded hole 554 are threadedly matched. A level 6 is movably placed on the second connecting plate 72. A magnetic block 61 is embedded and fixed on the side wall of the level 6 near the second connecting plate 72. The level 6 is movably attached to the top wall of the second connecting plate 72.

[0059] To facilitate the placement and removal of the spirit level 6, refer to... Figure 3 and Figure 4 The top side of the base plate 53 is provided with a placement groove 531. The level 6 is movably located in the placement groove 531. The side wall of the level 6 is movably attached to the inner side wall of the placement groove 531. A pressing block 532 is slidably arranged on the bottom wall of the placement groove 531. The sliding direction of the pressing block 532 is parallel to the opposite direction of the length of the worktable 1. When the level 6 is located in the placement groove 531, the pressing block 532 is movably pressed against the side wall of the level 6 away from the magnetic block 61. A pressing spring 533 is fixed on the side wall of the pressing block 532 away from the level 6. The pressing spring 533 always makes the pressing block 532 slide towards the level 6.

[0060] When the workpiece 7 is moved to the transfer table 11, the first robot arm 2 moves the workpiece 7 onto the positioning block 54, and makes the first support block 541, the second support block 542, the third support block 543 and the fourth support block 544 respectively fit against the side walls of the first connecting plate 71, the second connecting plate 72, the third connecting plate 73 and the fourth connecting plate 74 that are close to each other. At this time, the first connecting plate 71, the second connecting plate 72, the third connecting plate 73 and the fourth connecting plate 74 remain in a horizontal state, which helps to maintain the stability of the workpiece 7, improves the accuracy of the second robot arm 3 when grasping the workpiece 7, and reduces the steps of the second robot arm 3 to adjust the position of the workpiece 7 during welding.

[0061] For different types of workpieces 7, when the horizontal height of the first connecting plate 71 relative to the second connecting plate 72, the third connecting plate 73, and the second connecting plate 72 changes, the technician first stops the equipment, then places the workpiece 7 on the positioning block 54, and then moves the clamping block 532 to slide it away from the level 6, making the placement groove 531 larger. Then the technician takes out the level 6 and places it on the top side of the second connecting plate 72, so that the side wall of the level 6 near the magnetic block 61 is in contact with the top wall of the second connecting plate 72. At the same time, the magnetic block is magnetically connected to the second connecting plate 72, making it difficult for the level 6 to slip and improving the accuracy of the level measurement.

[0062] Then, the technician drives the adjusting worm 552 to rotate, which in turn drives the adjusting worm wheel 551 to rotate, thereby driving the threaded rod 553 to rotate, which in turn drives the first support block 541 to move. Since the cross-section of the first support block 541 is polygonal and it abuts against the inner wall of the insertion hole, the first support block 541 slides in the insertion hole, thereby realizing the lifting and lowering of the first support block 541 until the level ruler 6 on the second connecting plate 72 is in a horizontal state. At this time, the workpiece 7 is in a horizontal state. Then, the technician removes the workpiece 7, exits the worktable 1, and starts the equipment to weld the workpiece 7. For different models of workpiece 7, there is no need to replace the matching first support block 541, while also satisfying the rapid switching of the state of the positioning block 54, thus improving processing efficiency.

[0063] After adjustment, the technician makes the side wall of the level ruler 6 away from the magnetic block press against the side wall of the clamping block 532 away from the clamping spring 533, and drives the clamping block 532 to slide. Then, the technician presses the level ruler 6 into the placement groove 531 and releases the level ruler 6. At this time, the clamping spring 533 causes the clamping block 532 to slide towards the level ruler 6, so that the clamping block 532 presses against the level ruler 6, and the side wall of the level ruler 6 away from the clamping block 532 presses against the inner side wall of the placement groove 531, thus realizing the storage of the level ruler 6, making the level ruler 6 less likely to be lost, and at the same time making it easy for the technician to put in and take out the level ruler 6.

[0064] To facilitate adjustment of the adjusting worm gear 552, a driving component 56 is provided on the base plate 53, as shown in the reference. Figure 4 and Figure 5 The driving component 56 includes a rotating rod 561 that is slidably and rotatably connected to the base plate 53. The rotating rod 561 is coaxially arranged with the adjusting worm gear 552, and the adjusting worm gear 552 has a sliding hole 562 for the rotating rod 561 to slide. The sliding direction of the rotating rod 561 is consistent with the rotation axis direction of the adjusting worm gear 552. One end of the rotating rod 561 is movably located in the sliding hole 562, and the other end of the rotating rod 561 is rotatably connected to a driving handle 563. The rotation axis of the driving handle 563 is perpendicular to the rotation axis of the rotating rod 561. A receiving groove 564 is provided on the side wall of the base plate 53, and the driving handle 563 is movably located in the receiving groove 564. The end of the driving handle 563 away from the rotating rod 561 always protrudes from the side wall of the base plate 53. To facilitate the operation of the driving handle 563 by technicians, a knob 565 is fixed to the protruding end of the driving handle 563.

[0065] In order to enable the rotating rod 561 to drive the adjusting worm gear 552 to rotate synchronously when it slides in the sliding hole 562, a limiting structure 57 is provided on the rotating rod 561 to limit the relative rotation between the rotating rod 561 and the adjusting worm gear 552. One end of the rotating rod 561 that is movably located in the sliding hole 562 is provided with an external spline 571, and an internal spline 572 is provided on the inner peripheral wall of the sliding hole 562. The external spline 571 and the internal spline 572 are adapted to each other.

[0066] To maintain a constant relative position between the first support block 541 and the base plate 53 and improve the stability of the first support block 541, the base plate 53 is further provided with a fixing member 59 for fixing the drive handle 563 and a locking member 58 for locking the threaded rod 553, as shown in the figure. Figure 5 The locking component 58 includes a locking gear 581 coaxially fixed on the threaded rod 553. A locking rack 582 is elastically slidably connected inside the base plate 53. The locking rack 582 is movably engaged with the locking gear 581. The sliding direction of the locking rack 582 is consistent with the sliding direction of the rotating rod 561 and faces the axis of the locking gear 581. A pushing block 583 is fixed on the side wall of the locking rack 582 away from the locking gear 581. The pushing block 583 is L-shaped. The side wall of the pushing block 583 away from the locking rack 582 is movably abutted against the outer peripheral wall of the drive handle 563.

[0067] Reference Figure 5 The fixing member 59 includes a fixing block 591 that is elastically slidably connected to the base plate 53. The top end of the fixing block 591 is movably protruding from the top wall of the base plate 53. The side wall of the fixing block 591 away from its protruding end is inclined. The inclined side of the fixing block 591 is movably pressed against the outer peripheral wall of the drive handle 563. When the drive handle 563 is located in the receiving groove 564, the outer peripheral wall of the drive handle 563 is pressed against the side of the fixing block 591 away from the side wall of the base plate 53. In order to facilitate the operation of the fixing block 591 by technicians, an ear plate 592 is fixed on the top of the fixing block 591.

[0068] When the first support block 541 needs adjustment, the technician pinches the ear plate 592 and slides the ear plate 592 and the fixed block 591 upwards until the fixed block 591 separates from the drive handle 563, so that the fixed block 591 can no longer obstruct the rotation of the drive handle 563. At this time, the push block 583 moves away from the side wall of the locking rack 582 and presses against the outer peripheral wall of the drive handle 563, and drives the drive handle 563 to rotate away from the receiving groove 564. Then the technician releases the ear plate 592. At this time, the fixed block 591 can no longer obstruct the drive handle 563 from continuing to rotate. Then the technician rotates the drive handle 563 to separate the drive handle 563 from the receiving groove 564 until the drive handle 563 and the rotating rod 561 are coaxial. Then the technician pushes the knob 565 to drive the rotating rod 561 to slide along the axis of the adjusting worm gear 552, so that the rotating rod 561 is inserted into the sliding hole 562. At this time, the knob 565 is away from the side wall of the base plate 53, making it easy for the technician to rotate the knob 565.

[0069] Then, the technician rotates the knob 565, causing the drive handle 563 and the rotating rod 561 to rotate synchronously. Since the rotating rod 561 is inserted into the sliding hole 562 at this time, the inner spline 572 and the outer spline 571 are matched, making it difficult for the rotating rod 561 and the adjusting worm 552 to rotate relative to each other. This allows the rotating rod 561 to drive the adjusting worm 552 to rotate, thereby realizing the lifting and lowering of the first support block 541, which makes it easier for the technician to adjust the first support block 541.

[0070] After adjustment, the technician pulls knob 565 to separate the rotating rod 561 from the sliding hole 562. Then, the technician rotates drive handle 563. At this time, the outer peripheral wall of drive handle 563 abuts against the side wall of locking rack 582 away from locking gear 581, and drives locking rack 582 to slide towards locking gear 581 until drive handle 563 rotates into receiving groove 564. At this time, locking gear 581 and locking rack 582 mesh, making it difficult for locking gear 581 and threaded rod 553 to rotate, thereby making it difficult for the first support block 541 to slide and improving the stability of the first support block 541.

[0071] Simultaneously, the outer peripheral wall of the drive handle 563 abuts against the inclined side of the fixed block 591, causing the fixed block 591 to slide away from the central turntable 11. This makes it easier for the fixed block 591 to obstruct the rotation of the drive handle 563 until the drive handle 563 rotates into the receiving groove 564. At this point, the fixed block 591 slides towards the central turntable 11 under the elastic force, and the side wall of the fixed block 591 abuts against the outer peripheral wall of the drive handle 563, making it difficult for the drive handle 563 to rotate. This achieves the fixation of the drive handle 563, reduces the risk of the first support block 541 changing height due to accidental rotation of the drive handle 563, further improves the stability of the first support block 541, and thus improves the positioning accuracy of the workpiece 7.

[0072] The implementation principle of an automated projection welding workstation according to an embodiment of this application is as follows: During operation, the feeding belt 12 transports the workpiece 7 to the corresponding position of the first robotic arm 2. At this time, the 3D camera 51 detects the position of the workpiece 7 and transmits the position information to the PLC controller 52. Then, the PLC controller 52 drives the first robotic arm 2 to move to the corresponding position to grasp the workpiece 7 and move the workpiece 7 onto the positioning block 54. At the same time, the 3D camera 51 detects the position of the workpiece 7 in real time, and the PLC controller 52 plans the movement path of the first robotic arm 2 so that the first support block 541, the second support block 542, the third support block 543, and the fourth support block 544 respectively fit against the side walls of the first connecting plate 71, the second connecting plate 72, the third connecting plate 73, and the fourth connecting plate 74, thereby achieving the positioning of the workpiece 7.

[0073] Then, the PLC controller 52 drives the second robot arm 3 to work through a preset program, so that the second robot arm 3 can accurately grasp the workpiece 7 and move the workpiece 7 to the nut projection welding machine 41, so that the first connecting plate 71 corresponds to the nut projection welding machine 41. Then, the nut conveyor 42 transports the projection welding nut to the welding position of the first connecting plate 71, and the nut projection welding machine 41 welds the projection welding nut to the first connecting plate 71. After the first projection welding nut is welded, the second robot arm 3 moves the third connecting plate 73 to the position corresponding to the nut projection welding machine 41. Then, the nut conveyor 42 transports the projection welding nut to the welding position of the third connecting plate 73, and the nut projection welding machine 41 welds the projection welding nut to the third connecting plate 73, thus realizing the welding of two projection welding nuts.

[0074] Then, the second robot arm 3 moves the workpiece 7 to the bolt projection welding machine 43 and aligns the second connecting plate 72 with the bolt projection welding machine 43. The bolt conveyor 44 then transports the projection welding bolt to the welding position on the second connecting plate 72, and the bolt projection welding machine 43 welds the projection welding bolt to the second connecting plate 72, thus achieving the welding of the projection welding bolt. At the same time, the first robot arm 2 moves the next workpiece 7 to the transfer table 11 to facilitate welding processing on the other side and improve welding efficiency. After welding is completed, the second robot arm 3 moves the welded workpiece 7 to the unloading table 13 to unload the workpiece 7, thereby achieving automated welding.

[0075] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automated projection welding station characterized by: The utility model provides a workbench (1) and be located in workbench (1) on the transfer station (11), first manipulator (2) with second manipulator (3), the transfer station (11) is located between first manipulator (2) with second manipulator (3), the transfer station (11) with second manipulator (3) are equipped with two groups, two groups the transfer station (11) with two groups second manipulator (3) one to one correspondence, two groups the transfer station (11) are located first manipulator (2) two sides respectively, workpiece (7) mobile place on the transfer station (11), workbench (1) on be equipped with with first manipulator (2) corresponding feeding belt (12) and with second manipulator (3) corresponding unloading table (13), workbench (1) on be provided with the positioning assembly (5) of workpiece (7) positioning workpiece (7) welding welding assembly (4); The welding assembly (4) is provided with two groups, and the welding assembly (4) is one-to-one correspondence with the two groups of transfer stations (11), and the welding assembly (4) includes a nut projection welding machine (41) and a bolt projection welding machine (43) arranged on the workbench (1), and the workbench (1) is further provided with a nut conveyor (42) and a bolt conveyor (44), and the nut conveyor (42) and the bolt conveyor (44) are one-to-one correspondence with the nut projection welding machine (41) and the bolt projection welding machine (43) respectively.

2. An automated projection welding station according to claim 1, characterized in that: The positioning assembly (5) includes a 3D camera (51) arranged on the first manipulator (2), and a PLC controller (52) is arranged on the workbench (1), the 3D camera (51) detects the position of the workpiece (7), and the 3D camera (51), the first manipulator (2) and the second manipulator (3) are electrically connected with the PLC controller (52).

3. An automated projection welding station according to claim 2, characterized in that: The positioning assembly (5) further includes a bottom plate (53) arranged on the transfer station (11), the bottom plate (53) is provided with a positioning block (54), the positioning block (54) includes a first supporting block (541), a second supporting block (542), a third supporting block (543) and a fourth supporting block (544), the first supporting block (541), the second supporting block (542), the third supporting block (543) and the fourth supporting block (544) are respectively movably attached to the side walls of the first connecting plate (71), the second connecting plate (72), the third connecting plate (73) and the fourth connecting plate (74) which are close to each other, when the workpiece (7) is attached to the positioning block (54), the first connecting plate (71), the second connecting plate (72), the third connecting plate (73) and the fourth connecting plate (74) are all in a horizontal state, the first supporting block (541) is slidably connected to the positioning block (54), and the bottom plate (53) is provided with an adjusting member (55) for adjusting the height of the first supporting block (541).

4. An automated projection welding station according to claim 3, characterized in that: The adjusting part (55) comprises an adjusting worm gear (551) and an adjusting worm (552) rotatably arranged in the bottom plate (53), the adjusting worm gear (551) is engaged with the adjusting worm (552), a threaded rod (553) is coaxially arranged on the adjusting worm gear (551), a threaded hole (554) is formed in the side wall of the first supporting block (541) close to the bottom plate (53), the threaded rod (553) is threadedly matched with the threaded hole (554), a plug-in hole is formed in the bottom plate (53), one end of the first supporting block (541) close to the bottom plate (53) is movably arranged in the plug-in hole, and the first supporting block (541) is movably abutted against the inner side wall of the plug-in hole, the cross section of the one end of the first supporting block (541) movably arranged in the plug-in hole is polygonal, a level (6) is movably arranged on the second connecting plate (72), the level (6) is movably attached to the side wall of the second connecting plate (72) away from the bottom plate (53), and the bottom plate (53) is further provided with a driving part (56) for driving the adjusting worm (552) to rotate.

5. An automated projection welding station according to claim 4, characterized in that: The driving part (56) comprises a rotating rod (561) slidably and rotatably arranged in the bottom plate (53), the rotating rod (561) is coaxially arranged with the adjusting worm (552), a sliding hole (562) is formed in the adjusting worm (552) for the sliding of the rotating rod (561), one end of the rotating rod (561) is movably arranged in the sliding hole (562), the other end of the rotating rod (561) is rotatably provided with a driving handle (563), a containing groove (564) is formed in the side wall of the bottom plate (53), the driving handle (563) is movably arranged in the containing groove (564), and the end of the driving handle (563) away from the rotating axis always protrudes from the side wall of the bottom plate (53), the rotating rod (561) is provided with a limiting structure (57) for limiting the relative rotation between the rotating rod (561) and the adjusting worm (552), the bottom plate (53) is further provided with a fixing part (59) for fixing the driving handle (563) and a locking part (58) for locking the threaded rod (553).

6. An automated projection welding station according to claim 5, characterized in that: The locking part (58) comprises a locking gear (581) coaxially arranged on the threaded rod (553), a locking rack (582) is elastically and slidably arranged in the bottom plate (53), the locking rack (582) is movably engaged with the locking gear (581), and the side wall of the locking rack (582) away from the locking gear (581) is movably abutted against the outer peripheral wall of the driving handle (563).

7. An automated projection welding station according to claim 6, characterized in that: The fixing part (59) comprises a fixing block (591) elastically and slidably arranged on the bottom plate (53), one end of the fixing block (591) protrudes from the top wall of the bottom plate (53), the side wall of the fixing block (591) away from the protruding end of the fixing block (591) is inclined, the inclined side of the fixing block (591) is in movable abutment with the outer peripheral wall of the driving handle (563), and when the driving handle (563) is located in the containing groove (564), the outer peripheral wall of the driving handle (563) is in abutment with the side wall of the fixing block (591).

8. An automated projection welding station according to claim 7, characterized in that: The bottom plate (53) is provided with a placing groove (531), the leveling ruler (6) is movably arranged in the placing groove (531), the side wall of the leveling ruler (6) is in movable abutment with the inner side wall of the placing groove (531), the inner bottom wall of the placing groove (531) is slidably provided with an abutting block (532), when the leveling ruler (6) is located in the placing groove (531), the abutting block (532) and the side wall of the leveling ruler (6) that are close to each other are in movable abutment, and the side wall of the abutting block (532) away from the leveling ruler (6) is provided with an abutting spring (533).

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