A positioner device supporting double robot cooperation and continuous welding

Abstract

The utility model discloses a kind of positioner equipment supporting double-robot collaborative and continuous welding, including public base;Public base is provided with 2 installation areas, wherein area one is installed with left and right two welding robot bases, wherein area two is installed with positioner assembly;Positioner assembly includes rotary support base, rotary support, servo drive motor, RV speed reducer and drive gear;Rotary H arm of positioner is located on rotary support and is provided with turnover drive device one and turnover drive device two on left and right sides of rotary H arm of positioner;Turnover drive device one and turnover drive device two are driven by motor speed reducer;Servo drive motor is connected with RV speed reducer;The drive gear of RV speed reducer is engaged with the gear of rotary support.This positioner has double turnover shaft and horizontal rotary shaft, so automatic welding and feeding can be carried out simultaneously, which improves welding efficiency and ensures the safety of operators.

Description

Technical Field

[0001] This utility model relates to a positioner device that supports dual-robot collaborative and continuous welding, belonging to the field of automated welding robot technology. Background Technology

[0002] Traditional end-to-end positioners only have a single rotating axis, requiring two independent positioners to be arranged on both sides of the robot to achieve synchronous welding and material loading. This has the following drawbacks: the equipment layout occupies a large space, and a light shield cannot be installed in the middle robot area, posing a safety hazard of laser / spatter injury; the spatial relationship between the robot and positioners needs to be readjusted when moving the machine, resulting in a long debugging cycle; and the single positioner has low station switching efficiency, affecting welding continuity. Utility Model Content

[0003] To address the problems existing in the prior art, this utility model provides a positioner device that supports dual-robot collaborative and continuous welding, thereby providing a positioner device that integrates dual-robot collaborative welding, robot and positioner linkage welding, and a common base, solving the problems of efficiency, safety, and relocation and debugging.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: a positioner device that supports dual-robot collaborative and continuous welding, including a common base; the common base is provided with two installation areas, wherein area one is equipped with two welding robot bases on the left and right, and area two is equipped with a positioner assembly; The positioner assembly includes a slewing support base, a slewing support, a servo drive motor, an RV reducer, and a drive gear; a positioner slewing H-arm is provided on the slewing support; a first tilting drive device and a second tilting drive device are provided on the left and right sides of the positioner slewing H-arm; the first tilting drive device and the second tilting drive device are driven by a motor reducer. The servo drive motor is connected to the RV reducer; the drive gear of the RV reducer meshes with the gear of the slewing support.

[0005] Furthermore, the common base is a T-shaped structure, with welding robot bases installed on both sides of the vertical end base and a positioner assembly installed on the central vertical end base.

[0006] Furthermore, the welding robot base is fixedly connected to the common base by bolts; the rotary support base is fixedly connected to the common base by bolts.

[0007] Furthermore, a countersunk mounting surface is provided between the slewing support base and the slewing support by precision milling to ensure the coaxiality of the slewing support positioning and the stability of the locking.

[0008] Furthermore, a transition adjustment plate is provided between the RV reducer and the rotating H-arm of the positioner.

[0009] Furthermore, the positioner's rotating H-arm is equipped with a light-blocking plate, and the areas on the left and right sides of the light-blocking plate are the processing area and the waiting-to-process area, respectively. The processing area is the welding position of the part to be welded, and the waiting-to-process area is the installation position of the part to be welded.

[0010] Furthermore, the first and second flipping drive devices have the same structure, including a drive plate, a drive shaft, a drive motor, and a reducer; the drive plate is provided with a mounting bracket for mounting and fixing with the workpiece to be welded; the drive shaft is connected to the flipping drive plate, and the drive plate is flipped by the combined power output of the drive motor and the reducer, thereby driving the workpiece to be welded to move.

[0011] The beneficial effects of this utility model are: 1. This positioner has three movable axes and two welding robot bases, which can realize dual-machine collaborative welding without interference and welding and loading and unloading can be carried out simultaneously, thus maximizing welding efficiency.

[0012] 2. This positioner uses a drive system consisting of a servo motor, a precision cycloidal reducer, a gear pair, and a rotary support. It boasts a repeatability of ±0.05mm, meeting the requirements of high-precision welding.

[0013] 3. This positioner also comes with a common base, ensuring that the relative positions of each part remain unchanged when the equipment is moved, greatly shortening the time for relocation and debugging. Attached Figure Description

[0014] Figure 1 This is a schematic front view of the structure of this utility model; Figure 2 This is a top view illustrating the structure of this utility model; Figure 3 This is a schematic cross-sectional view (BB) illustrating the structure of this utility model. Figure 4 This is an enlarged schematic diagram of the VI structure of this utility model; Figure 5 This is a schematic diagram of the connection position structure of the transition adjustment plate of this utility model.

[0015] In the diagram: 1. Common base, 1-1. Vertical end base, 1-2. Central vertical end base, 2. Welding robot base, 3. Positioner rotary H-arm, 4. Tilting drive device one, 5. Light blocking plate, 6. Tilting drive device two, 7. Rotary support, 8. Rotary support base, 9. Servo drive motor, 10. RV reducer, 11. Drive gear, 12. Transition adjustment plate. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit its scope.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0018] like Figures 1-4 As shown, a positioner device that supports dual-robot collaborative and continuous welding includes a common base 1; the common base 1 is provided with two installation areas, wherein the first area is equipped with two welding robot bases 2 on the left and right sides, and the second area is equipped with a positioner assembly. The positioner assembly includes a rotary support base 8, a rotary support 7, a servo drive motor 9, an RV reducer 10, and a drive gear 11; a positioner rotary H-arm 3 is provided on the rotary support 7; a first flip drive device 4 and a second flip drive device 6 are provided on the left and right sides of the positioner rotary H-arm 3; the first flip drive device 4 and the second flip drive device 6 are driven by a motor reducer. The servo drive motor 9 is connected to the RV reducer 10; the drive gear 11 of the RV reducer 10 meshes with the gear of the slewing support 7.

[0019] In this embodiment, the common base 1 is a T-shaped structure. Welding robot bases 2 are installed on both sides of the vertical end base 1-1, and positioner components are installed on the central vertical end base 1-2.

[0020] In this embodiment, the welding robot base 2 is fixedly connected to the common base 1 by bolts; the rotary support base 8 is fixedly connected to the common base 1 by bolts.

[0021] In this embodiment, a countersunk mounting surface is provided between the slewing support base 8 and the slewing support 7 by precision milling to ensure the coaxiality of the slewing support (7) positioning and the stability of locking.

[0022] In this embodiment, a transition adjustment plate 11 is provided between the RV reducer 10 and the positioner rotary H-arm 3.

[0023] In this embodiment, a light-blocking plate 5 is provided on the rotating H-arm 3 of the positioner. The areas on the left and right sides of the light-blocking plate 5 are the processing area and the processing area, respectively. The processing area is the welding position of the part to be welded, and the processing area is the installation position of the part to be welded.

[0024] In this embodiment, the flipping drive device 4 and the flipping drive device 6 have the same structure, including a drive plate, a drive shaft, a drive motor, and a reducer. The drive plate is provided with a mounting bracket, which is used to install and fix it to the workpiece to be welded. The drive shaft is connected to the flipping drive plate, and the drive plate is flipped by the combined power output of the drive motor and the reducer, thereby driving the workpiece to be welded to move.

[0025] In this device, the welding robot base 2 uses a standard base, and the mounting surface of the lower part of the base is connected to the common base 1 using four bolts to ensure stability. The positioner base adopts a drive seat style, and the slewing support base (8) is also bolted to the common base. The mounting surface of the countersunk platform is precision milled on the connection surface between the slewing support base 8 and the slewing support 7 to ensure the coaxiality of the slewing support 7 positioning and the stability of the locking. The reducer 10 and the 3-rotation H-arm are connected by a transition adjustment plate, which can realize the dynamic adjustment of the meshing center distance between the reducer output gear 11 and the slewing support gear, thereby improving the operating accuracy and quality of the positioner.

[0026] Working principle: Installation: Position the slewing support 7 on the base 8 using a precision milling countersink and tighten the bolts; connect the RV reducer 10 to the H-arm 3 via the transition adjustment plate 12 and adjust the meshing clearance of the gear 11. Linkage control: The control cabinet synchronously drives the servo motor 9, the tilting drive device 1 4, and the tilting drive device 2 6 to achieve coordinated positioning and welding; Workflow: Workpiece installed in the waiting area → Robot welds workpiece in the processing area → Rotation axis adjusts welding posture → Workpiece installation in the waiting area is completed, H-arm rotates 180° → Robot welds the workpiece already installed in the waiting area.

[0027] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A positioner device supporting dual-robot collaborative and continuous welding, characterized in that, Includes a common base (1); the common base (1) is provided with two installation areas, wherein the first area is equipped with two welding robot bases (2) on the left and right, and the second area is equipped with a positioner assembly; The positioner assembly includes a slewing support base (8), a slewing support (7), a servo drive motor (9), an RV reducer (10), and a drive gear (11); a positioner slewing H-arm (3) is provided on the slewing support (7); a first flip drive device (4) and a second flip drive device (6) are provided on the left and right sides of the positioner slewing H-arm (3); the first flip drive device (4) and the second flip drive device (6) are driven by a motor reducer; The servo drive motor (9) is connected to the RV reducer (10); the drive gear (11) of the RV reducer (10) meshes with the gear of the slewing support (7).

2. The positioner equipment supporting dual-robot collaborative and continuous welding according to claim 1, characterized in that, The common base (1) is a T-shaped structure. Welding robot bases (2) are installed on both sides of the vertical end base (1-1), and positioner components are installed on the central vertical end base (1-2).

3. The positioner equipment supporting dual-robot collaborative and continuous welding according to claim 1, characterized in that, The welding robot base (2) is fixedly connected to the common base (1) by bolt connection; the rotary support base (8) is fixedly connected to the common base (1) by bolt connection.

4. A positioner device supporting dual-robot collaborative and continuous welding according to claim 1, characterized in that, The slewing support base (8) and the slewing support (7) are provided with a countersunk mounting surface by precision milling to ensure the coaxiality of the slewing support (7) in positioning and the stability of locking.

5. A positioner device supporting dual-robot collaborative and continuous welding according to claim 1, characterized in that, A transition adjustment plate (12) is provided between the RV reducer (10) and the positioner rotary H-arm (3).

6. A positioner device supporting dual-robot collaborative and continuous welding according to claim 1, characterized in that, The positioner's rotating H-arm (3) is equipped with a light-blocking plate (5). The areas on the left and right sides of the light-blocking plate (5) are the processing area and the area to be processed, respectively. The processing area is the welding position of the part to be welded, and the area to be processed is the installation position of the part to be welded.

7. A positioner device supporting dual-robot collaborative and continuous welding according to claim 1, characterized in that, The first flipping drive device (4) and the second flipping drive device (6) have the same structure, including a drive plate, a drive shaft, a drive motor, and a reducer. The drive plate is provided with a mounting bracket, which is used to install and fix the workpiece to be welded. The drive shaft is connected to the flipping drive plate, and the drive plate is flipped by the combined power output of the drive motor and the reducer, thereby driving the workpiece to be welded to move.

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