Transfer manipulator of welding workstation

Abstract

The utility model discloses a transfer manipulator of a welding workstation, and belongs to the technical field of welding workstations. The welding workstation transfer manipulator comprises a manipulator body and a hollow-out plate installed at the operation end of the manipulator body, a liftable vacuum suction cup is arranged on the side, away from the manipulator body, of the hollow-out plate, two positioning plates with adjustable positions are arranged on the surface of the hollow-out plate, and a plurality of balls are arranged on the surface of the hollow-out plate at intervals; according to the utility model, the balls and the positioning plates are arranged, so that the hollow plate and the metal plate are lifted to a high position by the manipulator body, and meanwhile, the hollow plate is inclined, so that the metal plate slides towards the two positioning plates through the balls, and the metal plate is subjected to secondary positioning through the two positioning plates; the metal plate can be quickly positioned without other positioning equipment, the working efficiency is improved, meanwhile, the number of equipment around the welding workstation can be reduced, and the cleanliness of the working environment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding workstation technical field especially relates to welding workstation transfer manipulator. BACKGROUND

[0002] Welding workstation is a kind of workstation that controls robot or mechanical arm through control system to complete the welding of material, saves manpower and time, along with the continuous development of science and technology, people's manufacturing process requirements for welding workstation are also more and more high.

[0003] In welding workstation, transfer manipulator is usually used to transfer workpiece needing welding, when transferring the metal plate of thin thickness, the metal plate is easily deformed due to thin thickness, cannot be taken by clamping, usually adopts suction cup to take and transfer, when the metal plate is placed with deviation or is not neat, the suction cup cannot be positioned twice to the metal plate, usually needs to use manipulator to place the metal plate on the equipment of secondary positioning to be positioned and then be transferred to welding workstation to be welded, to cause that transfer efficiency is low, influence welding efficiency.

[0004] Therefore, the application proposes a transfer manipulator that can position the metal plate without the aid of secondary positioning equipment, to improve the transfer efficiency. UTILITY MODEL CONTENT

[0005] The utility model aims at solving the problem in prior art and provides welding workstation transfer manipulator.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0007] Welding workstation transfer manipulator, including manipulator body and hollow plate installed at the operation end of manipulator body, the side, away from manipulator body, of hollow plate is provided with liftable vacuum suction cup, the surface of hollow plate is provided with two adjustable-position positioning plates, the surface of hollow plate is provided with multiple ball bearings at intervals, multiple ball bearings are detachably installed on the surface of hollow plate, and the installation height of ball bearing is lower than the height of positioning plate.

[0008] In some embodiments, the two positioning plates are perpendicular to each other, and the two positioning plates are parallel to the side surface of the hollow plate, respectively.

[0009] In some embodiments, the vacuum suction cup is lifted on the surface of the hollow plate through the telescopic assembly, the telescopic assembly includes a connecting disc fixed at the bottom of the vacuum suction cup and two outer plates fixed on the surface of the hollow plate, and the lower surface of the connecting disc is fixed with two inner plates for sliding on the inner side of the outer plate.

[0010] In some embodiments, the hollow plate surface is provided with a lifting assembly for driving the telescopic assembly to adjust the height, the lifting assembly comprises a right and left threaded column rotating on the hollow plate surface and two first moving blocks threadedly connected on the surface of the right and left threaded column, the two first moving blocks are respectively hinged with connecting rods, the upper ends of the connecting rods are hinged with a connecting disc, and the connecting rods are symmetrically arranged.

[0011] In some embodiments, the two positioning plates are respectively adjusted in position by a moving assembly, the moving assembly comprises a first threaded column rotating on the side of the hollow plate close to the body of the manipulator and a second moving block threadedly connected on the surface of the first threaded column, and the second moving block is fixed on the bottom of the positioning plate.

[0012] In some embodiments, the ball comprises a mounting cylinder for rolling the ball and a threaded rod fixed on the bottom of the mounting cylinder, and the hollow plate surface is provided with a plurality of threaded holes matched with the threaded rods.

[0013] Compared with the prior art, the welding workstation transfer manipulator has the following beneficial effects.

[0014] 1、The hollow plate and the metal plate are lifted to a high position by the body of the manipulator, and the metal plate is inclined and slides to the direction of the two positioning plates through the plurality of balls, the metal plate is positioned again by the two positioning plates, the metal plate is positioned quickly without the aid of other positioning devices, the work efficiency is improved, the number of devices around the welding workstation is reduced, and the neatness of the working environment is improved.

[0015] 2、The lifting assembly and the telescopic assembly are arranged, so that the connecting disc is driven by the plurality of connecting rods to slide and lift in the two inner plates in the inner walls of the two outer plates, the height of the vacuum chuck is adjusted, the metal plate is easily sucked when the height of the vacuum chuck is higher than the height of the positioning plate, and the metal plate is easily placed on the surface of the plurality of balls and positioned on the surface of the balls when the height of the vacuum chuck is lower than the height of the balls.

[0016] Other advantages, objects and features of the present application will be apparent to those skilled in the art from the following description; and to some extent, it will be obvious to those skilled in the art based on the study of the following; or it can be taught from the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is an axial structure schematic view of the present application.

[0018] Figure 2The utility model discloses a middle hollowed plate inclination device's structural diagram.

[0019] Figure 3 The utility model discloses Figure 2 The utility model discloses a middle A place's structural diagram.

[0020] Figure 4 The utility model discloses a middle hollowed plate's overhead structure diagram.

[0021] Figure 5 The utility model discloses a middle suction cup's explosion structure diagram.

[0022] Figure 6 The utility model discloses a middle hollowed plate's bottom view structure diagram.

[0023] Figure 7 The utility model discloses a middle ball's structure diagram.

[0024] In the drawing,

[0025] 1, mechanical hand body 2, hollowed plate 3, vacuum chuck 4, positioning plate 5, ball 6, telescopic component 601, connecting disc 602, inner plate 603, outer plate 7, lifting assembly 701, positive and negative screw thread column 702, first moving block 703, connecting rod 8, moving assembly 801, first screw thread column 802, second moving block 9, screw rod 10, screw hole 11, scale line. Specific implementation

[0026] The technical scheme in the embodiments of the utility model will be apparently and completely described in combination with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0027] Referring to Figures 1-7 Welding workstation transfer manipulator, including mechanical hand body 1 and install in the mechanical hand body 1 operating end's hollowed plate 2, hollowed plate 2 is set up with the liftable vacuum chuck 3 to the side of mechanical hand body 1, and the vacuum chuck 3 is located in the middle part of hollowed plate 2, and the surface of hollowed plate 2 is provided with two adjustable position's positioning plate 4, and the two positioning plate 4 are perpendicular to each other, and the two positioning plate 4 are parallel to the side of hollowed plate 2 respectively, and the surface of hollowed plate 2 is provided with a plurality of balls 5 at intervals, and the plurality of balls 5 are detachably installed on the surface of hollowed plate 2, and the installation height of ball 5 is lower than the height of positioning plate 4.

[0028] It can be understood that, by setting the vacuum chuck 3, the mechanical hand body 1 drives the hollowed plate 2 and the vacuum chuck 3 to take the metal plate, then the mechanical hand body 1 holds the hollowed plate 2 and the metal plate to the high place, and at the same time, the hollowed plate 2 is inclined, and the perpendicular angle of the two positioning plates 4 is at the lowest, and the referenceFigure 2 The suction force of the vacuum chuck 3 disappears, the metal plate is supported by the plurality of balls 5, the metal plate slides to the direction of the two positioning plates 4 through the plurality of balls 5, the metal plate is positioned again by the two positioning plates 4, the metal plate is positioned quickly without the help of other positioning devices, the work efficiency is improved, meanwhile, the number of devices around the welding station can be reduced, and the neatness of the working environment is improved.

[0029] Specifically, the vacuum chuck 3 is lifted on the surface of the hollow plate 2 through the telescopic assembly 6, the surface of the hollow plate 2 is provided with a lifting assembly 7 for driving the telescopic assembly 6 to adjust the height, referring to Figure 5 , the telescopic assembly 6 includes a connecting disc 601 fixed at the bottom of the vacuum chuck 3 and two outer plates 603 fixed on the surface of the hollow plate 2, the lower surface of the connecting disc 601 is fixed with two inner plates 602, the two inner plates 602 and the two outer plates 603 are both arc-shaped and concentrically arranged, the connecting disc 601 slides inside the two outer plates 603 through the two inner plates 602, the lifting assembly 7 includes a right and left threaded column 701 rotating on the surface of the hollow plate 2 and two first moving blocks 702 threadedly connected to the surface of the right and left threaded column 701, the right and left threaded column 701 is located between the two outer plates 603, the two first moving blocks 702 are respectively hinged with a connecting rod 703 on both sides, the upper ends of the plurality of connecting rods 703 are hinged to the lower surface of the connecting disc 601, the plurality of connecting rods 703 are symmetrically arranged, the right and left threaded column 701 is driven to rotate by a driving motor, and the driving motor is fixed on the surface of the hollow plate 2.

[0030] It can be understood that the driving motor drives the right and left threaded column 701 to rotate, so that the right and left threaded column 701 drives the two first moving blocks 702 to move close to or away from each other, the plurality of connecting rods 703 automatically adjust the supporting angle, so as to drive the connecting disc 601 to slide and lift on the inner wall of the two outer plates 603 through the two inner plates 602, thereby adjusting the height of the vacuum chuck 3, when the height of the vacuum chuck 3 is higher than the height of the positioning plate 4, the metal plate is conveniently sucked, when the height of the vacuum chuck 3 is lower than the height of the ball 5, the metal plate is placed on the surface of the plurality of balls 5, so that the metal plate is positioned on the surface of the ball 5.

[0031] Specifically, the two positioning plates 4 are respectively adjusted in position by a moving assembly 8, the moving assembly 8 includes a first threaded column 801 rotating on one side of the hollow plate 2 close to the mechanical hand body 1 and a second moving block 802 threadedly connected to the surface of the first threaded column 801, the second moving block 802 is fixed at the bottom of the positioning plate 4, the bottom of the positioning plate 4 is attached to the surface of the hollow plate 2, the first threaded column 801 is fixed with a handle at the outer end, and the surface of the hollow plate 2 is provided with two groups of scale lines 11 for observing the position coordinates of the two positioning plates 4.

[0032] It is understandable that by rotating the handle, the first threaded post 801 is driven to rotate, thereby causing the second moving block 802 to move the positioning plate 4 to adjust its position on the surface of the hollow plate 2, so as to adapt to the use of metal plates of different sizes. By setting the scale line 11, it is convenient to observe the position coordinates of the positioning plate 4 when manually adjusting its position.

[0033] Specifically, the ball 5 includes a mounting cylinder for rolling the ball 5. A threaded rod 9 is fixed at the bottom of the mounting cylinder. Multiple threaded holes 10 are spaced apart on the surface of the hollow plate 2. The mounting cylinder is threadedly connected to the inside of the threaded holes 10 through the threaded rod 9.

[0034] Understandably, by providing the threaded rod 9 and threaded hole 10, the installation and fixing of the ball bearing 5 and the mounting cylinder are facilitated. By making the ball bearing 5 removable, its interference with the position adjustment of the positioning plate 4 is avoided. When positioning metal plates of different sizes, the ball bearing 5 can be selectively installed according to the position of the positioning plate 4. (Refer to...) Figure 4 .

[0035] In this invention, when a metal plate needs to be gripped, the drive motor rotates the positive and negative threaded columns 701, causing the two first moving blocks 702 to move closer together. This allows the multiple connecting rods 703 to automatically adjust their support angles, driving the connecting plate 601 to slide and rise through the inner walls of the two outer plates 603 via the two inner plates 602. This adjusts the height of the vacuum suction cup 3 to be higher than the height of the positioning plate 4, facilitating the vacuum suction cup 3 to grip the metal plate. After gripping the metal plate, the robotic arm 1 lifts the perforated plate 2 and the metal plate to a high position, while simultaneously tilting the perforated plate 2 so that the vertical angle of the two positioning plates 4 is at its lowest point. (Reference) Figure 2 Then, the drive motor drives the positive and negative threaded column 701 to rotate, causing the vacuum suction cup 3 to descend. When the height of the vacuum suction cup 3 is lower than the height of the ball bearings 5, the suction force of the vacuum suction cup 3 disappears. The metal plate is supported by multiple ball bearings 5, and the metal plate slides towards the two positioning plates 4. The two positioning plates 4 perform secondary positioning of the metal plate. Then, the vacuum suction cup 3 rises and generates suction to adsorb the metal plate. The robot body 1 places the metal plate on the welding workstation for welding. When other sizes need to be transferred, the number of ball bearings 5 ​​is adjusted according to the position of the positioning plate 4. The ball bearings 5 ​​that affect the movement of the positioning plate 4 are removed. The rotation drives the first threaded column 801 to rotate, causing the second moving block 802 to move the positioning plate 4 to adjust its position on the surface of the hollow plate 2 to adapt to the use of metal plates of different sizes. The position coordinates of the positioning plate 4 are easily observed under the action of the scale line 11.

[0036] The above merely describes a preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes to the technical scheme and the inventive concept of the present application within the technical scope disclosed by the present application, and all of them should be covered within the protection scope of the present application.

[0037] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0038] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and modifications to the above embodiments within the scope of the present application.

Claims

1. A welding station transfer robot, characterized in that, Including mechanical arm body (1) and install in mechanical arm body (1) operating end's hollowed board (2), the hollowed board (2) side away from mechanical arm body (1) is provided with the liftable vacuum chuck (3), the hollowed board (2) surface is provided with two adjustable position's locating plate (4), the hollowed board (2) surface is provided with multiple ball (5) at intervals, multiple the ball (5) can be detachably installed on the hollowed board (2) surface, the installation height of ball (5) is lower than the height of locating plate (4).

2. The welding station transfer manipulator of claim 1, wherein, Two the locating plate (4) is perpendicular to each other, two the locating plate (4) is parallel to the side of hollowed board (2) respectively.

3. The welding station transfer manipulator of claim 1, wherein, The vacuum chuck (3) is lifted on the surface of hollowed board (2) through telescopic component (6), the telescopic component (6) includes connecting disc (601) fixed in the bottom of vacuum chuck (3) and two outer plates (603) fixed on the surface of hollowed board (2), the lower surface of connecting disc (601) is fixed with two inner plates (602) for sliding in the inner side of outer plate (603).

4. The welding station transfer manipulator of claim 1, wherein, The surface of hollowed board (2) is provided with lifting assembly (7) for driving telescopic component (6) to adjust height, the lifting assembly (7) includes right and left screw column (701) rotating on the surface of hollowed board (2) and two first moving blocks (702) threadedly connected on the surface of right and left screw column (701), two the first moving blocks (702) two sides are respectively hinged with connecting rod (703), multiple the upper end of connecting rod (703) is hinged in the lower surface of connecting disc (601), multiple the connecting rod (703) is symmetrically arranged.

5. The welding station transfer manipulator of claim 1, wherein, Two the locating plate (4) is adjusted in position through moving assembly (8) respectively, the moving assembly (8) includes first screw column (801) rotating on the side of hollowed board (2) close to mechanical arm body (1) and second moving block (802) threadedly connected on the surface of first screw column (801), the second moving block (802) is fixed in the bottom of locating plate (4).

6. The welding station transfer manipulator of claim 1, wherein, The ball (5) includes installation cylinder for making ball (5) roll and threaded rod (9) fixed in the bottom of installation cylinder, the surface of hollowed board (2) is provided with multiple screw holes (10) matched with threaded rod (9) at intervals.

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