Automatic feeding and discharging machine for laser welding
The automatic loading and unloading machine for laser welding, using robotic arms and camera vision guidance, solves the problem of low production efficiency caused by manual loading and unloading of busbar copper parts, realizes automated loading and unloading of busbar welding, and improves production efficiency.
Patent Information
- Application Number
- CN202422980425.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-04
- Publication Date
- 2026-01-16
- Estimated Expiration
- 2034-12-04
AI Technical Summary
During the welding process of the two copper parts of the busbar, the shapes are complex and the shape changes frequently, making it impossible to use a matrix disk for material feeding or regular material feeding, resulting in low production efficiency and requiring manual material loading and unloading.
An automatic laser welding loading and unloading machine is adopted. Through the combination of a robotic arm and a camera vision guide, the automatic loading and unloading of laser welding is realized. The combination of a loading conveyor, an unloading conveyor, a camera, a robotic arm, a flipping device, a first picking device and a second picking device realizes the automatic identification, flipping and movement of workpieces.
It improved the production efficiency of busbar welding, realized automated loading and unloading of laser welding, reduced manual intervention, and improved work efficiency.
Smart Images
Figure CN223801785U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to busbar welding technical field, specifically a kind of automatic feeding and discharging machine of laser welding. BACKGROUND
[0002] In the process of busbar laser welding, two copper parts of busbar need to be welded together, because the shape of the copper parts of busbar is relatively complex, and the type is changed frequently, it cannot be fed by matrix disk or other regular way, only manual feeding and discharging, resulting in low production efficiency. INVENTION CONTENTS
[0003] The utility model provides a kind of automatic feeding and discharging machine of laser welding, realizes the automatic feeding and discharging of laser welding by the way of mechanical hand plus camera vision guide, solves the problem of low production efficiency caused by manual feeding and discharging of two copper parts of busbar in prior art.
[0004] The technical scheme of the utility model is as follows: an automatic feeding and discharging machine of laser welding is arranged on one side of a laser welding machine.
[0005] The automatic feeding and discharging machine of laser welding comprises a feeding conveying device, a discharging conveying device, a camera, a mechanical hand, a turnover device, a first material taking device and a second material taking device.
[0006] The feeding conveying device and the discharging conveying device are arranged on one side of the laser welding machine.
[0007] The camera is located above the feeding conveying device.
[0008] The mechanical hand is located above the feeding conveying device and the discharging conveying device.
[0009] The turnover device is installed on the mechanical hand, the first material taking device and the second material taking device are circumferentially distributed around the rotation shaft of the turnover device, and the turnover device is used to drive the first material taking device and the second material taking device to overturn.
[0010] In further embodiments, the turnover device comprises a turnover frame, a cylinder, a rack, a gear, a rotation shaft, a first rotating arm and a second rotating arm.
[0011] The turnover frame is installed on the mechanical hand, the cylinder and the rotation shaft are installed on the turnover frame, the rack is installed on the cylinder, the gear is installed on the rotation shaft, the gear and the rack are engaged, and the first rotating arm and the second rotating arm are installed on the rotation shaft.
[0012] The first material taking device is installed on the first rotating arm, the second material taking device is installed on the second rotating arm, the rotation shaft is rotated by the cylinder, and the weight of the turnover device is greatly reduced.
[0013] In a further embodiment, the rack side is provided with a groove part, which is arranged along the moving direction of the rack.
[0014] The turnover frame is provided with a protrusion part, which is matched with the groove part in a concave-convex manner. The protrusion part can guide the rack to work more stably.
[0015] In a further embodiment, the first material taking device is a suction cup.
[0016] The second material taking device is a clamping jaw cylinder. The combination of the two material taking devices with different structures can make the robot move different types of workpieces.
[0017] In a further embodiment, the robot is a six-axis robot or a four-axis robot.
[0018] In a further embodiment, the laser welding automatic feeding and discharging machine comprises two feeding conveying devices arranged side by side below the camera and the robot. The two feeding conveying devices can simultaneously convey two workpieces with different structures.
[0019] In a further embodiment, the feeding conveying device is a belt conveying device or a roller conveying device.
[0020] The discharging conveying device is a belt conveying device or a roller conveying device.
[0021] In a further embodiment, the laser welding automatic feeding and discharging machine further comprises a turnover box.
[0022] The turnover box is arranged on the feeding conveying device and / or the discharging conveying device.
[0023] In a further embodiment, the automatic feeding and discharging machine further comprises a rotary feeding device arranged on one side of the laser welding machine, and the camera and the robot are located above the rotary feeding device.
[0024] The rotary feeding device comprises a rotary feeding frame, a rotary power source, a rotary table, a feeding cylinder, a positioning cylinder, and a welding jig.
[0025] The rotary power source is mounted on the rotary feeding frame, the rotary table is mounted on the rotary power source, at least two feeding cylinders are mounted on the rotary table, the positioning cylinder is mounted on the rotary feeding frame, the welding jig is arranged on the rotary feeding frame, and the positioning cylinder and the welding jig are arranged on one side of the rotary table.
[0026] The positioning cylinder is used for positioning the welding jig.
[0027] When the feeding cylinder moves to a predetermined position, the feeding cylinder can be inserted into the welding jig, the feeding cylinder is used to drive the welding jig to move, the two workpieces to be welded are simultaneously transported into the laser welding machine through the rotation of the welding jig of the feeding device as a transfer, and the welded workpiece is transported below the mechanical hand, so that the length of the mechanical hand can be reduced, synchronous work can be realized through the cooperation of the feeding device and the mechanical hand, and the working efficiency is improved.
[0028] The utility model discloses the beneficial effects are: the first workpiece and the second workpiece are moved to the laser welding machine through the camera of the application identifying the workpiece and position on the feeding conveying device, the cooperation of the turnover device on the mechanical hand overturns the first material taking device and the second material taking device, makes the mechanical hand can use the first material taking device and the second material taking device respectively and snatch the first workpiece and the second workpiece, then the first workpiece and the second workpiece are moved to the laser welding machine, in this process, still can pass through the turnover device and adjust the angle of the first workpiece and the second workpiece to realize the transformation of workpiece posture, and after welding, the mechanical hand drives the first material taking device or the second material taking device and moves the welded workpiece to the unloading conveying device, realizes the automatic feeding and discharging of laser welding, solves the problem of low production efficiency caused by manual feeding and discharging of the two copper parts of the busbar in the prior art. BRIEF DESCRIPTION OF DRAWINGS
[0029] Figure 1 It is the overall axonometric schematic diagram of the utility model.
[0030] Figure 2 It is the turnover device state schematic diagram of the utility model's embodiment using the second material taking device to snatch the second workpiece.
[0031] Figure 3 It is the turnover device state schematic diagram of the utility model's embodiment using the first material taking device to snatch the first workpiece.
[0032] Figure 4 It is the axonometric schematic diagram of the utility model's rotation feeding device's overhead angle.
[0033] Figure 5 It is the axonometric schematic diagram of the utility model's rotation feeding device's overhead angle.
[0034] The reference signs shown in the figure are: feeding conveying device 1, unloading conveying device 2, camera 3, mechanical hand 4, turnover device 5, turnover frame 51, cylinder 52, rack 53, gear 54, rotation shaft 55, first rotation arm 56, second rotation arm 57, turnover box 6, first material taking device 7, second material taking device 8, rotation feeding device 10, rotation feeding frame 101, rotation table 102, rotation power source 1021, feeding cylinder 103, positioning cylinder 104, welding jig 105. DETAILED DESCRIPTION
[0035] In the following description, numerous specific details are set forth to provide a more thorough understanding of the present application. However, it will be apparent to one of skill in the art upon
[0036] The application discloses a laser welding automatic feeding and discharging machine which is arranged on one side of a laser welding machine and realizes automatic feeding and discharging of laser welding by placing two workpieces on the laser welding machine before laser welding and taking out the workpieces after laser welding, thereby solving the problem of low production efficiency caused by manual feeding and discharging of two copper parts of a busbar in the prior art.
[0037] The laser welding automatic feeding and discharging machine comprises a feeding conveying device 1, a discharging conveying device 2, a camera 3, a manipulator 4, a turnover device 5, a first material taking device 7 and a second material taking device 8, wherein power elements such as a motor and an air cylinder 52 and sensors are connected with control equipment such as a PLC to realize automatic control.
[0038] The feeding conveying device 1 and the discharging conveying device 2 are arranged on one side of the laser welding machine.
[0039] The camera 3 is located above the feeding conveying device 1.
[0040] The manipulator 4 is located above the feeding conveying device 1 and the discharging conveying device 2.
[0041] The turnover device 5 is installed on the manipulator 4, the first material taking device 7 and the second material taking device 8 are circumferentially arranged around a rotating shaft 55 of the turnover device 5, and the turnover device 5 is used for driving the first material taking device 7 and the second material taking device 8 to turn over.
[0042] As shown in Figs. 1 and 2, the turnover device 5 comprises a turnover frame 51, an air cylinder 52, a rack 53, a gear 54, the rotating shaft 55, a first rotating arm 56 and a second rotating arm 57. Figure 2 3 As shown in Figs. 1 and 2, the turnover device 5 comprises a turnover frame 51, an air cylinder 52, a rack 53, a gear 54, the rotating shaft 55, a first rotating arm 56 and a second rotating arm 57.
[0043] The turnover frame 51 is installed on the manipulator 4, the air cylinder 52 and the rotating shaft 55 are installed on the turnover frame 51, the rack 53 is installed on the air cylinder 52, the gear 54 is installed on the rotating shaft 55, the gear 54 and the rack 53 are engaged, and the first rotating arm 56 and the second rotating arm 57 are installed on the rotating shaft 55, wherein the gear 54, the first rotating arm 56 and the second rotating arm 57 can be connected with the rotating shaft 55 in a key connection mode or the like to realize rotation of the rotating shaft 55 driven by the gear 54, and rotation of the first rotating arm 56 and the second rotating arm 57 driven by the rotating shaft 55.
[0044] The first material handling device 7 is installed on the first rotating arm 56, and the second material handling device 8 is installed on the second rotating arm 57. In a preferred embodiment, the first material handling device 7 and the second material handling device 8 are detachably installed on the first rotating arm 56 and the second rotating arm 57 by screws, which facilitates the replacement of the first material handling device 7 and the second material handling device 8.
[0045] like Figure 2 and 3 The rack 53 shown has a groove on its side, which extends along the moving direction of the rack 53.
[0046] The flipping frame 51 has a protrusion that engages with the groove, such as... Figure 2 and 3 The cross-section of the groove shown is an arc-shaped structure.
[0047] Regarding the first material handling device 7 and the second material handling device 8, as follows: Figure 2 and 3 The first material handling device 7 shown is a suction cup, and the second material handling device 8 is a gripper cylinder 52. The suction cup and the gripper cylinder 52 are connected to a vacuum device and an air source through air circuit components. The air circuit components are connected to control equipment such as PLC to achieve automated control.
[0048] like Figure 2 and 3 The first material handling device 7 and the second material handling device 8 shown are set at a 90° angle, and the included angle between the multiple material handling devices can be adjusted according to the number of material handling devices and factors such as the shape and volume of the workpiece.
[0049] For example, when setting up two material handling devices, if the workpiece area is large, the two material handling devices can be set at a 180° angle.
[0050] When setting up three material handling devices, the three material handling devices can be set at 90° angles.
[0051] Alternatively, the three material handling devices can be set at 60° angles.
[0052] Alternatively, one material handling device can be set at a 90° angle to the middle material handling device, and the other material handling device can be set at a 45° angle to the middle material handling device.
[0053] Regarding the robotic arm 4, the robotic arm 4 refers to either a six-axis robotic arm 4 or a four-axis robotic arm 4, such as... Figure 1 The image shows a four-axis robot arm mounted upside down on a frame.
[0054] Regarding the feeding conveyor 1 and the unloading conveyor 2, as follows: Figure 1 The laser welding automatic loading and unloading machine shown includes two loading conveyor devices 1, which are arranged side by side below the camera 3 and the robot arm 4.
[0055] In a preferred embodiment, the automatic laser welding loading and unloading machine further includes: two unloading conveying devices 2, such as... Figure 1 The two unloading conveyor devices 2 shown correspond to and cooperate with the two loading conveyor devices 1.
[0056] The feeding conveyor 1 is a belt conveyor or a roller conveyor, and the unloading conveyor 2 is a belt conveyor or a roller conveyor, such as... Figure 1 The feeding conveyor 1 shown is a belt conveyor, and the unloading conveyor 2 is a roller conveyor.
[0057] like Figure 1 The laser welding automatic loading and unloading machine shown also includes: a turnover box 6, which is set on the loading conveyor 1 and / or the unloading conveyor 2.
[0058] like Figure 1 Both the loading conveyor 1 and the unloading conveyor 2 shown are equipped with turnover boxes 6. The turnover box 6 on the loading conveyor 1 is used to carry the workpiece to be welded, and the turnover box 6 on the unloading conveyor 2 is used to carry the welded workpiece.
[0059] The working method involves first placing two turnover boxes 6, each carrying a first and a second workpiece to be welded, onto two feeding conveyor devices 1. A camera 3 takes a picture of the turnover boxes 6. Once the first and second workpieces are located, the robotic arm 4 and the flipping device 5 work together to drive the first picking device 7 and the second picking device 8 to grab the first and second workpieces respectively. Then, the first and second workpieces are moved to the laser welding equipment. During this process, the angles of the first and second workpieces can be adjusted using the robotic arm 4 and the flipping device 5 to change the workpiece's posture, ensuring that the first and second workpieces are mounted on the same welding fixture of the laser welding equipment.
[0060] After the first and second workpieces are loaded, the laser welding equipment welds the first and second workpieces.
[0061] After the first and second workpieces are welded, the robot arm 4 drives the first material handling device 7 or the second material handling device 8 to move the welded workpieces onto the turnover box 6 of the unloading conveyor device 2.
[0062] Repeat the above steps to achieve automatic loading and unloading of materials for laser welding.
[0063] The second embodiment adds a rotary feeding device 10 to the first embodiment. The rotary feeding device 10 transports the two workpieces to be welded, the first workpiece and the second workpiece, to the laser welding machine, and moves the welded workpiece in the laser welding machine to the bottom of the robot arm.
[0064] In the embodiment, the rotary feeding device 10 is arranged on one side of the laser welding machine, and the camera 3 and the manipulator 4 are located above the rotary feeding device 10, as shown in Figure 1 The rotary feeding device 10 is arranged between the feeding conveying device 1 and the discharging conveying device 2.
[0065] As shown in Figure 4 and 5 The rotary feeding device 10 comprises a rotary feeding frame 101, a rotary power source 1021, a rotary table 102, a feeding cylinder 103, a positioning cylinder 104, and a welding jig 105.
[0066] The rotary power source 1021 is installed on the rotary feeding frame 101, the rotary table 102 is installed on the rotary power source 1021, at least two feeding cylinders 103 are installed on the rotary table 102, the positioning cylinder 104 is installed on the rotary feeding frame 101, the welding jig 105 is arranged on the rotary feeding frame 101, and the positioning cylinder 104 and the welding jig 105 are arranged on one side of the rotary table 102, wherein the rotary power source 1021 can be a motor or a Figure 5 rotary cylinder as shown.
[0067] The positioning cylinder 104 is used for positioning the welding jig 105, and two positioning cylinders 104 are located on both sides of the welding jig 105, as shown in Figure 4 The positioning cylinder 104 is provided with a positioning block which can be matched with the welding jig 105.
[0068] When the feeding cylinder 103 moves to a predetermined position, the feeding cylinder 103 can be inserted into the welding jig 105, and the feeding cylinder 103 is used to drive the welding jig 105 to move, as shown in Figure 4 The feeding cylinder 103 is provided with two cantilevers which can be inserted into the welding jig 105.
[0069] Working method: on the basis of the first embodiment, the camera 3 and the manipulator 4 are used to move the first workpiece and the second workpiece to the welding jig 105 of the rotary feeding device 10, and the workpiece after welding on the welding jig 105 of the rotary feeding device 10 is taken out.
[0070] In this process, the positioning cylinder 104 drives the positioning block to match with the welding jig 105 to realize the positioning of the welding jig 105, the camera 3 and the manipulator 4 are used to move the first workpiece and the second workpiece to the welding jig 105, then the feeding cylinder 103 drives the two cantilevers to be inserted into the welding jig 105, then the positioning cylinder 104 drives the positioning block to separate from the welding jig 105, and then the feeding cylinder 103 moves the welding jig 105 out of the two positioning cylinders 104 by relying on the friction force between the cantilevers and the welding jig 105.
[0071] Then the rotation power source 1021 and the rotating table 102 rotate the welding jig 105 into the laser welding machine, and in the process, the other feeding cylinder 103 takes out the welding jig 105 provided with the welded workpiece from the laser welding machine and rotates to below the manipulator 4.
[0072] Then the welded workpiece on the welding jig 105 is taken out by the cooperation of the camera 3 and the manipulator 4.
[0073] The above-mentioned actions are repeated to realize the automatic feeding and discharging of the laser welding.
[0074] In the rotating process of the rotation power source 1021 and the rotating table 102, the manipulator 4 moves into the turnover box 6 to perform the workpiece placement work after welding and the workpiece taking work of the first workpiece and the second workpiece, which improves the work efficiency.
[0075] As described above, although the present application has been shown and described with respect to a certain preferred embodiments thereof, it should be construed as not limited to the foregoing. Various changes and modifications can be made thereto without departing from the spirit and scope of the application as defined in the appended claims.
Claims
1. A laser welding automatic feeding and discharging machine, which is arranged on one side of a laser welding machine. characterized in that The laser welding automatic feeding and discharging machine comprises feeding conveying devices, discharging conveying devices, a camera, a manipulator, a turnover device, a first material taking device and a second material taking device. The feeding conveying devices and the discharging conveying devices are arranged on one side of the laser welding machine. The camera is located above the feeding conveying devices. The manipulator is located above the feeding conveying devices and the discharging conveying devices. The turnover device is installed on the manipulator, the first material taking device and the second material taking device are circumferentially arranged around the rotation shaft of the turnover device, and the turnover device is used to drive the first material taking device and the second material taking device to turn over.
2. The automatic loading and unloading machine for laser welding according to claim 1, characterized in that, The turnover device comprises a turnover frame, a cylinder, a rack, a gear, a rotation shaft, a first rotation arm and a second rotation arm. The turnover frame is installed on the manipulator, the cylinder and the rotation shaft are installed on the turnover frame, the rack is installed on the cylinder, the gear is installed on the rotation shaft, the gear and the rack are engaged, and the first rotation arm and the second rotation arm are installed on the rotation shaft. The first material taking device is installed on the first rotation arm, and the second material taking device is installed on the second rotation arm.
3. The automatic loading and unloading machine for laser welding according to claim 2, characterized in that, The side surface of the rack is provided with a groove part, and the groove part is arranged along the moving direction of the rack. The turnover frame is provided with a protrusion part, and the protrusion part is matched with the groove part.
4. The automatic loading and unloading machine for laser welding according to claim 1, characterized in that, The first material taking device is a suction cup. The second material taking device is a clamping jaw cylinder.
5. The automatic loading and unloading machine for laser welding according to claim 1, characterized in that, The manipulator is a six-axis manipulator or a four-axis manipulator.
6. The automatic feeding and unloading machine for laser welding according to claim 1, characterized in that, It comprises: Two feeding conveying devices, which are arranged side by side below the camera and the manipulator.
7. The automatic loading and unloading machine for laser welding according to claim 1, characterized in that, The feeding conveying devices are belt conveying devices or roller conveying devices. The discharging conveying devices are belt conveying devices or roller conveying devices.
8. The automatic feeding and unloading machine for laser welding according to claim 7, characterized in that, It further comprises: A turnover box. The turnover box is arranged on the feeding conveying devices and / or the discharging conveying devices.
9. The automatic loading and unloading machine for laser welding according to claim 1, characterized in that, It further comprises: A rotary feeding device, which is arranged on one side of the laser welding machine, and the camera and the manipulator are located above the rotary feeding device. The rotary feeding device comprises a rotary feeding frame, a rotary power source, a rotary table, feeding cylinders, positioning cylinders and a welding jig. The rotary power source is installed on the rotary feeding frame, the rotary table is installed on the rotary power source, at least two feeding cylinders are installed on the rotary table, the positioning cylinders are installed on the rotary feeding frame, the welding jig is arranged on the rotary feeding frame, and the positioning cylinders and the welding jig are arranged on one side of the rotary table. The positioning cylinders are used to position the welding jig. When the feeding cylinders move to a predetermined position, the feeding cylinders can be inserted into the welding jig, and the feeding cylinders are used to drive the welding jig to move.