A mobile welding platform for automatically handling and inverting a workpiece

Abstract

This invention provides a mobile welding platform for automatically transporting and flipping workpieces, solving the problem that fixed welding platforms require the cooperation of other pipeline transportation devices to move pipelines onto the welding platform. This invention includes an AGV (Automated Guided Vehicle) trolley, with a welding platform fixedly mounted on its top. A turntable is mounted on top of the welding platform. The turntable includes a fixed base and a rotating base, with the rotating base rotatably mounted on top of the fixed base. A first rotary drive device for driving the rotating base to rotate is located within the fixed base. A robotic arm with claws is mounted on top of the rotating base. The welding platform also has two rows of workpiece clamping mechanisms located on the left and right sides of the robotic arm. The robotic arm can grasp tubular workpieces on the left and right sides of the welding platform and place them on the workpiece clamping mechanism on either side. A flipping drive mechanism is provided on the workpiece clamping mechanism, which can contact the surface of the clamped tubular workpiece.

Description

Technical Field

[0001] This utility model relates to the field of welding platform technology, and in particular to a mobile welding platform for automatically transporting and flipping workpieces. Background Technology

[0002] In the field of steel structure and frame welding, tubular workpieces are often required to be welded. Currently, pipe welding platforms are fixedly installed in the welding plant. During the welding process, the welding platform cannot be easily moved or adjusted according to welding requirements, which greatly reduces the flexibility and applicability of the pipe welding platform. At the same time, this fixed welding platform also requires the cooperation of other pipeline transportation devices to move the pipeline to the welding platform. These pipeline transportation devices also need to be installed in the welding plant, resulting in a small storage area, low plant space utilization, and high plant construction costs. Utility Model Content

[0003] To address the problem in the prior art that fixed welding platforms require the cooperation of other pipeline transportation devices to move the pipelines onto the welding platform, this utility model proposes a mobile welding platform for automatically transporting and flipping workpieces.

[0004] The technical solution of this utility model is: a mobile welding platform for automatically transporting and flipping workpieces, including an AGV trolley, a welding platform fixedly mounted on the top of the AGV trolley, and a turntable mounted on the top of the welding platform;

[0005] The turntable includes a fixed base and a rotating base. The rotating base is rotatably mounted on top of the fixed base, and the fixed base is equipped with a first rotary drive device for driving the rotating base to rotate.

[0006] The top of the rotating seat is equipped with a claw-equipped robotic arm, and the welding platform is also equipped with two rows of workpiece clamping mechanisms located on the left and right sides of the claw-equipped robotic arm, respectively.

[0007] The robotic arm with claws can grab tubular workpieces on the left and right sides of the welding platform and place them on the workpiece clamping mechanism on either side.

[0008] The workpiece clamping mechanism is equipped with a flipping drive mechanism, which can contact the surface of the clamped tubular workpiece and drive the tubular workpiece to flip on the workpiece clamping mechanism.

[0009] The AGV trolley, the first rotary drive device, the claw-equipped robotic arm, the workpiece clamping mechanism, and the flipping drive mechanism are all connected to the controller, which is mounted on the AGV trolley.

[0010] Preferably, the robotic arm with claws has four workpiece clamping mechanisms spaced apart on both the left, right and right sides.

[0011] Preferably, the workpiece clamping mechanism is used to clamp and fix the tubular workpiece, and the contact point between the workpiece clamping mechanism and the fixed tubular workpiece is provided with a rolling structure so that the tubular workpiece can rotate after being clamped on the workpiece clamping mechanism.

[0012] Preferably, the workpiece clamping mechanism includes a support plate with a U-shaped plate structure, the support plate is fixedly mounted on the welding platform, and a vertically mounted fixing plate is fixedly mounted on the top of the support plate;

[0013] The support plate is equipped with a movable plate that can move left and right, and the movable plate corresponds to the fixed plate on the left and right.

[0014] The support plate is provided with a second telescopic device. The movable end of the second telescopic device is fixedly connected to the side of the movable plate away from the fixed plate. The second telescopic device is used to drive the movable plate to move left and right.

[0015] The rolling structure includes several portal-shaped rods fixed at intervals on opposite sides of the fixed plate and the movable plate, and each portal-shaped rod is fitted with a second rotating sleeve that can rotate.

[0016] Preferably, the tilting drive mechanism includes a first mounting plate located at the bottom of the top plate of the support plate, and a rotating shaft extending in the front-rear direction is rotatably mounted on the first mounting plate, with a tilting wheel fixedly mounted on the front side of the rotating shaft;

[0017] The top plate of the support plate has a through groove that is open from top to bottom, and the upper end of the turning wheel passes through the through groove and extends to the top of the support plate.

[0018] A second mounting plate is fixedly mounted on the front side of the first mounting plate. A second rotary drive device is fixedly mounted on the second mounting plate. The output shaft of the second rotary drive device rotates backward through the first mounting plate. A drive wheel is fixedly mounted on the rear end of the output shaft of the second rotary drive device. The circumferential side of the drive wheel rolls in contact with the circumferential side of the tilting wheel. The drive wheel is used to drive the tilting wheel to rotate.

[0019] Preferably, the top of the first mounting plate is slidably connected to the bottom of the top plate of the support plate, and a first telescopic device is fixedly connected between the left side of the first mounting plate and the side plate of the support plate. The first telescopic device is used to push the first mounting plate to move left and right, thereby driving the flipping wheel to move left and right in the through groove.

[0020] Preferably, the AGV trolley is provided with a track below, the top of the track is provided with a track groove extending in the front-to-back direction, and anti-tipping grooves extending in the front-to-back direction are provided on both the left and right sides of the track.

[0021] The AGV is equipped with wheels at the bottom, and the bottom of the wheels rolls within a track groove.

[0022] Both sides of the walking wheel are equipped with L-shaped auxiliary rods. The upper end of the auxiliary rod is fixedly connected to the bottom of the AGV trolley, and the lower end of the auxiliary rod is slidably inserted into the anti-tipping groove.

[0023] Preferably, the lower end of the auxiliary rod is rotatably fitted onto the first rotating sleeve, and the first rotating sleeve is rotatably inserted into the anti-tilting groove.

[0024] The advantages of this invention are: This mobile welding platform enables the grabbing, clamping, flipping, and transporting of workpieces without the need for additional pipeline transport devices within the factory, significantly improving factory space utilization. Furthermore, the mobility of the mobile welding platform provides more flexible location selection for rapid changes in welding sites, and allows for more flexible deployment based on the specific characteristics of the factory interior. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the main structure of Example 1;

[0027] Figure 2 for Figure 1 A top-view structural diagram of the welding platform;

[0028] Figure 3 for Figure 1 A schematic diagram of the workpiece clamping mechanism in the diagram;

[0029] Figure 4 for Figure 3 A top-down view of the structure;

[0030] Figure 5 for Figure 3 A top-view structural diagram of the tilting drive mechanism;

[0031] Figure 6 for Figure 1 Enlarged view of the structure at point A in the image;

[0032] In the diagram, 1. AGV trolley, 2. Track, 3. Walking wheel, 4. Auxiliary rod, 5. First rotating sleeve, 6. Turntable, 7. Claw-wielding robotic arm, 8. Bearing plate, 801. Through slot, 9. Fixed plate, 10. Moving plate, 11. Connecting plate, 12. Portal rod, 13. Second rotating sleeve, 14. First mounting plate, 15. Tilting wheel, 16. Rotating shaft, 17. Drive wheel, 18. Second rotary drive device, 19. Second mounting plate, 20. Second connecting plate, 21. First telescopic device, 22. Second telescopic device, 23. Third mounting plate, 24. Welding platform. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Example 1: A mobile welding platform for automatically transporting and flipping workpieces, including an AGV trolley 1. To prevent the AGV trolley 1 from tilting during operation, as follows... Figure 1 and Figure 5 As shown, the AGV trolley 1 has a track 2 at its bottom, and a track groove extending in the front-to-back direction is provided at the top of the track 2. Anti-tipping and slip grooves extending in the front-to-back direction are provided on both the left and right sides of the track 2. The AGV trolley 1 has a traveling wheel 3 at its bottom, and the bottom of the traveling wheel 3 is rolled in the track groove. The left and right sides of the traveling wheel 3 are provided with L-shaped auxiliary rods 4. The upper end of the auxiliary rod 4 is fixedly connected to the bottom of the AGV trolley 1, and the lower end of the auxiliary rod 4 is rotatably fitted into the first rotating sleeve 5. The first rotating sleeve 5 is rotatably inserted into the anti-tipping and slip groove.

[0035] A welding platform 24 is fixedly mounted on the top of the AGV trolley 1, and a turntable 6 is mounted on the top of the welding platform 24. The turntable 6 includes a fixed base and a rotating base, with the rotating base rotatably mounted on top of the fixed base. A first rotary drive device for driving the rotating base to rotate is provided inside the fixed base. In this embodiment, the first rotary drive device is a servo motor. The structure of the turntable 6 is conventional technology in this technical field, and its specific structure will not be described in detail here.

[0036] The top of the rotating seat is equipped with a claw-equipped robotic arm 7, and the welding platform 24 is also equipped with two rows of workpiece clamping mechanisms located on the left and right sides of the claw-equipped robotic arm 7, respectively. Figure 2 As shown, the robotic arm 7 with grippers has four workpiece clamping mechanisms spaced apart on its left, right, and right sides. The robotic arm 7 with grippers can grab tubular workpieces on the left and right outer sides of the welding platform 24 and place them on the workpiece clamping mechanism on either side.

[0037] The workpiece clamping mechanism is used to clamp and fix the tubular workpiece, and the contact point between the workpiece clamping mechanism and the fixed tubular workpiece is provided with a rolling structure so that the tubular workpiece can rotate after being clamped on the workpiece clamping mechanism.

[0038] Specifically, such as Figure 3 and Figure 4 As shown, the workpiece clamping mechanism includes a support plate 8 with a U-shaped plate structure. The support plate 8 is fixedly mounted on the welding platform 24. A vertically mounted fixing plate 9 is fixedly mounted on the top of the support plate 8. A movable plate 10 that can move left and right is provided on the support plate 8. The movable plate 10 corresponds to the fixing plate 9 on the left and right.

[0039] A second telescopic device 22 is provided on the support plate 8. The movable end of the second telescopic device 22 is fixedly connected to the side of the movable plate 10 away from the fixed plate 9. The second telescopic device 22 is used to drive the movable plate 10 to move left and right. In this embodiment, the second telescopic device 22 uses an electric push rod. In other embodiments, a cylinder or hydraulic cylinder can also be used instead.

[0040] The rolling structure includes several portal-shaped rods 12 fixed at intervals on opposite sides of the fixed plate 9 and the movable plate 10, and each portal-shaped rod 12 is fitted with a second rotating sleeve 13 that can rotate.

[0041] The workpiece clamping mechanism is equipped with a flipping drive mechanism, which can contact the surface of the clamped tubular workpiece and drives the tubular workpiece to flip on the workpiece clamping mechanism. Figure 3 , Figure 4 , Figure 5 As shown, the flipping drive mechanism includes a first mounting plate 14 slidably connected to the bottom of the top plate of the support plate 8. In this embodiment, the sliding connection structure between the support plate 8 and the first mounting plate 14 adopts a dovetail groove and dovetail block structure. The dovetail groove is opened at the bottom of the top plate of the support plate 8, and the dovetail block is fixedly installed on the top of the first mounting plate 14.

[0042] The first mounting plate 14 is rotatably provided with a rotating shaft 16 extending in the front-rear direction, and a rotating wheel 15 is fixedly mounted on the front side of the rotating shaft 16.

[0043] The top plate of the support plate 8 has a through groove 801 that is open from top to bottom. The upper end of the flipping wheel 15 passes through the through groove 801 and extends to the top of the support plate 8.

[0044] A second mounting plate 19 is fixedly mounted on the front side of the first mounting plate 14. A second rotary drive device 18 is fixedly mounted on the second mounting plate 19. In this embodiment, the second rotary drive device 18 is a servo motor. The output shaft of the second rotary drive device 18 rotates rearward through the first mounting plate 14. A drive wheel 17 is fixedly mounted on the rear end of the output shaft of the second rotary drive device 18. The circumferential side of the drive wheel 17 rolls in contact with the circumferential side of the tilting wheel 15. The drive wheel 17 is used to drive the tilting wheel 15 to rotate.

[0045] A first telescopic device 21 is fixedly connected between the left side of the first mounting plate 14 and the side plate of the bearing plate 8. The first telescopic device 21 is used to push the first mounting plate 14 to move left and right, thereby driving the flipping wheel 15 to move left and right in the through groove 801.

[0046] In this embodiment, the gripper-equipped robotic arm 7 is equipped with a high-definition camera that works in conjunction with it. The high-definition camera is connected to the controller via signal transmission. The controller observes the workpiece position through the high-definition camera and controls the gripper-equipped robotic arm 7 to grasp the workpiece and place it at a fixed point. This technology is prior art and will not be described in detail in this embodiment.

[0047] The AGV trolley 1, the first rotary drive device, the claw-equipped robotic arm 7, the workpiece clamping mechanism, and the flipping drive mechanism are all connected to the controller, which is located on the AGV trolley 1.

[0048] Working principle: When in use, the track 2 is laid out in the factory area, and then the tubular workpiece is stored on one or both sides of the track 2.

[0049] When a workpiece needs to be picked up for processing, the AGV can be remotely controlled to run on track 2. When the AGV moves to the storage location of the tubular workpiece, the first rotary drive device in the turntable 6 drives the claw-equipped robotic arm 7 on it to rotate to the side where the tubular workpiece is stored.

[0050] Then, depending on the diameter of the tubular workpiece to be gripped, the position of the flipping wheel 15 is adjusted by the first telescopic device 21 so that the flipping wheel 15 can be located at the bottom of the tubular member clamped between the fixed plate 9 and the moving plate 10.

[0051] Then, a high-definition camera set on the gripper arm 7 observes the position of the tubular workpiece, and the controller controls the gripper arm 7 to grasp the tubular workpiece and place it on the workpiece clamping mechanism.

[0052] In use, among the four workpiece clamping mechanisms on each side, one tubular workpiece is clamped by two adjacent workpiece clamping mechanisms, so that the two adjacent tubular workpieces can be directly connected, which is convenient for welding.

[0053] After the tubular workpiece is placed between the fixed plate 9 and the movable plate 10 of the workpiece clamping mechanism, the movable plate 10 is pushed by the second telescopic device 22 to clamp and fix the tubular workpiece between the fixed plate 9 and the movable plate 10. At the same time, since the fixed plate 9 and the movable plate 10 are each equipped with a rotatable second rotating sleeve 13, and the second rotating sleeve 13 is in rolling contact with the tubular workpiece.

[0054] During welding, the second rotary drive device drives the tilting wheel 15, which smoothly rotates the tubular workpiece between the fixed plate 9 and the moving plate 10 to facilitate 360-degree welding.

[0055] Example 2: A mobile welding platform for automatically transporting and flipping workpieces. The difference between this example and Example 1 is that the first rotating sleeve 5 is no longer provided; the lower end of the auxiliary rod 4 is directly slidably inserted into the anti-tilting groove. Other structures are the same as in Example 1.

[0056] Example 3: A mobile welding platform for automatically transporting and flipping workpieces. This example differs from Example 1 in that the robotic arm 7 with claws has two workpiece clamping mechanisms spaced apart on both its left, right, and right sides. In use, when welding two long tubular workpieces, the two mobile welding platforms can move back and forth on the track 2 to align the tubular workpieces held on the two platforms.

[0057] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims and not by the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A mobile welding platform for automatically transporting and flipping workpieces, characterized in that: Includes an AGV trolley (1), the top of which is fixedly equipped with a welding platform (24), and the top of the welding platform (24) is equipped with a turntable (6); The turntable (6) includes a fixed seat and a rotating seat. The rotating seat is rotatably mounted on top of the fixed seat. The fixed seat is equipped with a first rotary drive device for driving the rotating seat to rotate. The top of the rotating seat is equipped with a claw-wielding robotic arm (7), and the welding platform (24) is also equipped with two rows of workpiece clamping mechanisms located on the left and right sides of the claw-wielding robotic arm (7); The robotic arm (7) with claws can grab the tubular workpieces on the left and right sides of the welding platform (24) and place them on the workpiece clamping mechanism on either side. The workpiece clamping mechanism is equipped with a flipping drive mechanism, which can contact the surface of the clamped tubular workpiece and drive the tubular workpiece to flip on the workpiece clamping mechanism. The AGV trolley (1), the first rotary drive device, the claw-equipped robotic arm (7), the workpiece clamping mechanism, and the flipping drive mechanism are all connected to the controller, which is located on the AGV trolley (1).

2. The mobile welding platform for automatically transporting and flipping workpieces as described in claim 1, characterized in that: The robotic arm (7) with claws has four workpiece clamping mechanisms set at intervals on the left, right and right sides.

3. A mobile welding platform for automatically transporting and flipping workpieces as described in claim 1 or 2, characterized in that: The workpiece clamping mechanism is used to clamp and fix the tubular workpiece, and the contact point between the workpiece clamping mechanism and the fixed tubular workpiece is provided with a rolling structure so that the tubular workpiece can rotate after being clamped on the workpiece clamping mechanism.

4. The mobile welding platform for automatically transporting and flipping workpieces as described in claim 3, characterized in that: The workpiece clamping mechanism includes a support plate (8) with a Z-shaped plate structure. The support plate (8) is fixed on the welding platform (24), and a vertically arranged fixing plate (9) is fixed on the top of the support plate (8). The support plate (8) is provided with a movable plate (10) that can move left and right, and the movable plate (10) corresponds to the fixed plate (9) on the left and right. The support plate (8) is provided with a second telescopic device (22). The movable end of the second telescopic device (22) is fixedly connected to the side of the movable plate (10) away from the fixed plate (9). The second telescopic device (22) is used to drive the movable plate (10) to move left and right. The rolling structure includes several portal-shaped rods (12) fixed at intervals on opposite sides of the fixed plate (9) and the movable plate (10), and each portal-shaped rod (12) is fitted with a second rotating sleeve (13) that can rotate.

5. The mobile welding platform for automatically transporting and flipping workpieces as described in claim 4, characterized in that: The flipping drive mechanism includes a first mounting plate (14) located at the bottom of the top plate of the support plate (8), and a rotating shaft (16) extending in the front-rear direction is rotatably provided on the first mounting plate (14), and a flipping wheel (15) is fixedly mounted on the front side of the rotating shaft (16). The top plate of the support plate (8) has a through groove (801) that is open from top to bottom. The upper end of the turning wheel (15) passes through the through groove (801) and extends to the top of the support plate (8). A second mounting plate (19) is fixedly provided on the front side of the first mounting plate (14). A second rotary drive device (18) is fixedly provided on the second mounting plate (19). The output shaft of the second rotary drive device (18) rotates backward through the first mounting plate (14). A drive wheel (17) is fixedly mounted on the rear end of the output shaft of the second rotary drive device (18). The circumferential side of the drive wheel (17) rolls in contact with the circumferential side of the tilting wheel (15). The drive wheel (17) is used to drive the tilting wheel (15) to rotate.

6. The mobile welding platform for automatically transporting and flipping workpieces as described in claim 5, characterized in that: The top of the first mounting plate (14) is slidably connected to the bottom of the top plate of the support plate (8). The left side of the first mounting plate (14) is fixedly connected to the side plate of the support plate (8). The first telescopic device (21) is used to push the first mounting plate (14) to move left and right, thereby driving the flipping wheel (15) to move left and right in the through groove (801).

7. The mobile welding platform for automatically transporting and flipping workpieces as described in claim 1, characterized in that: The AGV trolley (1) is provided with a track (2) below it. The top of the track (2) is provided with a track groove extending in the front-back direction. Anti-tipping and slipping grooves extending in the front-back direction are provided on both the left and right sides of the track (2). The bottom of the AGV trolley (1) is provided with a traveling wheel (3), and the bottom of the traveling wheel (3) is rolled in the track groove; L-shaped auxiliary rods (4) are provided on both the left and right sides of the walking wheel (3). The upper end of the auxiliary rod (4) is fixedly connected to the bottom of the AGV trolley (1), and the lower end of the auxiliary rod (4) is slidably inserted into the anti-tipping groove.

8. The mobile welding platform for automatically transporting and flipping workpieces as described in claim 7, characterized in that: The lower end of the auxiliary rod (4) is rotatably fitted onto the first rotating sleeve (5), which is rotatably inserted into the anti-tilting groove.

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