CN102114568A - Stud flexible welding device and method - Google Patents
Stud flexible welding device and method Download PDFInfo
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- CN102114568A CN102114568A CN2009102641540A CN200910264154A CN102114568A CN 102114568 A CN102114568 A CN 102114568A CN 2009102641540 A CN2009102641540 A CN 2009102641540A CN 200910264154 A CN200910264154 A CN 200910264154A CN 102114568 A CN102114568 A CN 102114568A
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- 238000012546 transfer Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 10
- 229910052573 porcelain Inorganic materials 0.000 claims description 9
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
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- 229920003266 Leaf® Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000010891 electric arc Methods 0.000 description 1
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Abstract
本发明公开了一种螺柱柔性焊接装置及其焊接方法，装置包括焊接机器人、机器人控制系统、自动螺柱焊枪、自动螺柱送料装置、自动螺柱焊接装夹装置、自动螺柱焊接夹具更换装置；所述焊接机器人、自动螺柱焊枪、自动螺柱送料装置、自动螺柱焊接装夹装置、自动螺柱焊接夹具更换装置都与机器人控制系统相连接，接收机器人控制系统的控制信号；其中自动螺柱送料装置完成对螺柱的运送，自动螺柱焊接装夹装置实现对螺柱和陶瓷圈的自动装夹及焊接工艺中所需预压缩量的设定，自动螺柱焊接夹具更换装置实现对自动螺柱焊接装夹装置的安装和拆卸。本发明可进行自动送料。
The invention discloses a stud flexible welding device and a welding method thereof. The device includes a welding robot, a robot control system, an automatic stud welding torch, an automatic stud feeding device, an automatic stud welding clamping device, and an automatic stud welding fixture replacement device; the welding robot, automatic stud welding gun, automatic stud feeding device, automatic stud welding clamping device, and automatic stud welding fixture replacement device are all connected to the robot control system and receive control signals from the robot control system; wherein The automatic stud feeding device completes the transportation of studs, the automatic stud welding clamping device realizes the automatic clamping of studs and ceramic rings and the setting of the required pre-compression in the welding process, and the automatic stud welding fixture replacement device Realize the installation and disassembly of the automatic stud welding clamping device. The present invention can carry out automatic feeding.
Description
Technical field
The present invention relates to a kind of on steel, aluminium, copper matrix the automatically extraordinary welder and the welding method thereof of large scale double-screw bolt in weldable steel, aluminium, the copper etc., particularly be convenient to automatic stud flexibility welder and welding method thereof based on the double-screw bolt of the different-diameter different length of the middle large scale scope of Robotics and automatic stud welding gun.
Background technology
In the hull cabin, the welding of weapons armored vehicle car body inside, various pressure vessel inside and outside wall, the equal extensive use steel matrix of bridge and other field and steel, aluminium, copper stud, the field that stud welding relates to is increasingly extensive.Along with fast development of modern industry, the utilization rate of double-screw bolt is more and more higher, needs the double-screw bolt quantity of welding also to increase thereupon.The modern mechanical manufacturing technology requires arc stud welding to scoop out to have fast, reliable, simplification, easy and simple to handle, characteristics such as reduce cost.
The double-screw bolt that arc stud welding method (ceramic ring protection and solder flux or gas-protecting type electric arc stud welding) is widely used in diameter of phi 3～Φ 20mm welds on the cut deal workpiece, has obtained extensive use in industries such as shipbuilding, metallurgical furnace kiln and building industry.Manually arc stud welding welding, productivity ratio is low, and per minute can only weld about 10.
The full-automatic stud welding equipment of micro-processor controlled CNC (can be with manipulator or join robot and work simultaneously) is equipped with and send nailing machine automatically, can not only accurately be provided with and write down, store welding parameter, and can in welding process, detection in real time, numeral show, and adjust welding parameter automatically, to guarantee welding quality, reappearance is fabulous.Nail, welding are automatically controlled, sent automatically to the full-automatic stud welding machine of CNC by computer programming, realizes the welding of multistation, multi-angle.Full-automatic welding gun adopts stepper motor or servomotor control, can accurately control the motion of double-screw bolt by technological requirement.A fully automatic system can be joined the screw that a plurality of welding guns weld plurality of specifications simultaneously.Stud welding speed is up to 60/min.This systematic function is stable, given prominence to efficiently, at a high speed, high performance characteristics.At present, send self-feeding that nailing machine can only realize the minor diameter double-screw bolt and the double-screw bolt that can only realize a certain diameter, length and shape to carry out self-feeding and clamping automatically.When needs weld the double-screw bolt of multiple size, need be equipped with many covers according to the diameter of double-screw bolt and length and send nailing machine automatically, and send the replacing inconvenience of nailing machine automatically, had a strong impact on the efficient of automatic stud welding.
Summary of the invention
But technical problem solved by the invention is to provide a kind of flexible welder of double-screw bolt and welding method thereof of self-feeding.
The technical solution that realizes the object of the invention is: the flexible welder of a kind of double-screw bolt comprises more changing device of welding robot, robot control system, automatic stud welding gun, automatic stud pay-off, automatic stud welding and clamping device, automatic stud weld jig; Described welding robot, automatic stud welding gun, automatic stud pay-off, automatic stud welding and clamping device, automatic stud weld jig more changing device all are connected with robot control system, receive the control signal of robot control system; Wherein the automatic stud pay-off is finished transporting double-screw bolt, the automatic stud welding and clamping device is realized the setting to required pre compressed magnitude in the automated exchanged cutter of double-screw bolt and porcelain ring and the welding procedure, and automatic stud weld jig more changing device is realized installation and removal to the automatic stud welding and clamping device; Welding robot carries out the installation of automatic stud welding and clamping device on the corresponding objective table of automatic stud welding fixture device, clamping double-screw bolt on the automatic stud pay-off is finished welding at last on workpiece to be welded afterwards.
The flexible welding method of a kind of double-screw bolt, it may further comprise the steps when double-screw bolt to be welded is same specification:
On the objective table that the first step, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Second step, robot movement are to the double-screw bolt position automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
The 3rd step, robot movement arrive the position of work to be welded, finish the automatic stud welding of double-screw bolt to be welded.
It may further comprise the steps when double-screw bolt to be welded is different size:
On the objective table that step 1, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Step 2, robot movement are to the double-screw bolt assigned address automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
Step 4, robot movement to the automatic stud welding fixture device with welded on the objective table that double-screw bolt is complementary, carry out the dismounting of automatic stud welding and clamping device;
On the objective table that step 5, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Step 6, robot movement are to the double-screw bolt assigned address automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
Step 7, robot movement arrive the position of work to be welded, finish the automatic stud welding of double-screw bolt to be welded.
Invent compared with prior art its remarkable advantage: 1) be based on the flexible welding of automatic stud of Robotics; 2) use same device to realize the automatic friction feeding of the double-screw bolt of different size and length; 3) can realize in the automated exchanged cutter of major diameter double-screw bolt; 4) the double-screw bolt size span of institute's clamping is big, and scope is generally
Maximum can reach more than the 30mm; 5) the double-screw bolt clamping process can realize automation mechanized operation, and efficient obviously improves; 6) do not need to change the automated exchanged cutter that anchor clamps can be realized the double-screw bolt of different length under the same diameter, the applicability of clamping is strong, and the reliability height can reach 100%; 7) can conveniently realize the replacing of different-diameter double-screw bolt anchor clamps, replacing speed is fast, and the reliability height can reach 100%, shows very big advantage when the middle major diameter double-screw bolt that carries out the multiple diameter specification welds automatically; 8) automatic stud pay-off of the present invention can be realized the transfer feed of the middle major diameter double-screw bolt of different-diameter size, length, the automatic stud welding and clamping device can be realized the clamping of the middle major diameter double-screw bolt of same diameter different length, when double-screw bolt diameter to be welded changes the automatic stud clamping more changing device can realize the replacing of automatic stud welding and clamping device quickly and efficiently, guaranteed the efficient, at a high speed and high performance characteristics of automatic stud weldering; 9) realize the automatic welding of double-screw bolt at the workpiece assigned address.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the flexible welder schematic diagram of automatic stud of the present invention.
Fig. 2 is an automatic stud pay-off schematic diagram of the present invention.
Fig. 3 is an automatic stud pay-off of the present invention partial disassembly schematic diagram.
Fig. 4 is a more changing device schematic diagram of automatic stud weld jig of the present invention.
Fig. 5 is an automatic stud welding and clamping device schematic diagram of the present invention.
The implication of number in the figure representative is: the 1--side plate, the 2--panel, 3--first riser, the 4--base plate, the 5--baffle plate, the 6--gear shaft, 7--first cylinder, 8--double-screw bolt fixed block, the 9--cylinder is cut somebody's hair, 10--second cylinder, the 11--air cylinder base, 12--adjusts plate, the 13--open slot, the 14--base, 15--second riser, the 16--support, transfer rope support about 17--, the 18--pulley, 19--clamping deck plate, 20--the 3rd cylinder left socle, 21--the 3rd cylinder, 22--the 3rd cylinder right support, the 23--tooth bar, 24--adjusts nut, 25--adjusts bolt, 26--adjusts fixed head, 27--one-level change-speed gearing, 28--two stage speed change gear, the 29--objective table, 30--edge pin, the 31--centrepin, the 32--transition gear, 33--double-screw bolt clamping device, 34--objective table gear, 35--bearing fixing sleeve, the 36--chuck, the 37--hexagon socket head cap screw, the 38--nut, the 39--upper plate, the 40--spring, the 41--vertical rod, the 42--lower plate, the 43--porcelain ring, the 44--double-screw bolt, the 45--sleeve.
The specific embodiment
In conjunction with Fig. 1, the flexible welder of a kind of double-screw bolt of the present invention comprises more changing device of welding robot, robot control system, automatic stud welding gun, automatic stud pay-off, automatic stud welding and clamping device, automatic stud weld jig; Described welding robot, automatic stud welding gun, automatic stud pay-off, automatic stud welding and clamping device, automatic stud weld jig more changing device all are connected with robot control system, receive the control signal of robot control system; Wherein the automatic stud pay-off is finished transporting double-screw bolt, the automatic stud welding and clamping device is realized the setting to required pre compressed magnitude in the automated exchanged cutter of double-screw bolt and porcelain ring and the welding procedure, and automatic stud weld jig more changing device is realized installation and removal to the automatic stud welding and clamping device; Welding robot carries out the installation of automatic stud welding and clamping device on the corresponding objective table of automatic stud welding fixture device, clamping double-screw bolt on the automatic stud pay-off is finished welding at last on workpiece to be welded afterwards.
In conjunction with Fig. 2, Fig. 3, the automatic stud pay-off comprises base 14 and two automatic stud feeders, two automatic stud feeders are fixed on the base 14 by base plate 4 and about base transverse center plane symmetry, described each automatic stud feeder comprise side plate 1, panel 2, first riser 3, baffle plate 5, gear shaft 6, first cylinder 7, double-screw bolt fixed block 8, cylinder cut somebody's hair 9, second cylinder 10, second air cylinder base 11, adjust plate 12, open slot 13, second riser 15, cylinder support 16, about transfer rope support 17, pulley 18; First cylinder 7 is fixed on base plate 4 tops by support, and its top is a panel 2, and this panel 2 is fixed on the base plate 4 by first riser 3, second riser 15, and described first riser 3, second riser 15 are positioned at the two ends of base plate 4; Panel 2 upper surfaces are provided with two side plates that are parallel to each other 1, the plane at described two side plate places parallels with panel 2, each side plate has chute, gear shaft 6 is arranged in the chute of two side plates and can be free to slide along the chute direction, baffle plate 5, about transfer rope support 17 to be connected on the gear shaft 6, baffle plate 5 between biside plate, about transfer rope support 17 to be positioned at the biside plate outside and spacing to gear shaft 6; Left and right sides pulley 18 is positioned at the biside plate below and is fixed on the pulley spindle, described pulley spindle links to each other with the main shaft of first cylinder 7, above-mentioned pulley is wound with steel wire rope, described steel wire rope one end is fixed on the panel 2, transfer about the other end is fixed on the rope support, when 7 motions of first cylinder, drive gear shaft 6 parallel moving in the biside plate chute; Second air cylinder base 11 is arranged on panel 2 lower surfaces near a side of second riser 15, and second cylinder 10 is arranged on second air cylinder base 11 by support, and cylinder is cut somebody's hair and 9 is positioned at the upper surface of panel 2 and links to each other with the main shaft of second cylinder 10; Double-screw bolt fixed block 8 also can move along its chute between biside plate 1; Adjust plate 12 and be positioned at the side of the upper surface of panel 2 near second cylinder 10, this adjusts plate and baffle plate 5 limits laterally moving of double-screw bolt fixed block 8.
Automatic stud pay-off operation principle is as follows: lay some double-screw bolt fixed heads 81 of left side plate.Its main shaft was released forward after cylinder 1 added air pressure, drove baffle plates 5 by the steel wire rope on it and pulley 18 and travelled forward, and plate washer 5 promotes double-screw bolt fixed blocks 8 and travels forward, move to appointed positions baffle plate 6 after, it is spacing that the double-screw bolt fixed head is adjusted plate 12.Robot drives and to get the double-screw bolt luggage folder of going forward side by side on the double-screw bolt fixed block of automatic stud welding and clamping device to the assigned address.After the double-screw bolt of sending to is taken away by the automatic stud welding and clamping device, robot system is sent control corresponding and is instructed to cylinder 2 pressurizations, cylinder 2 main shafts are cut somebody's hair by cylinder and are promoted double-screw bolt fixed block lengthwise movement on it, when the double-screw bolt fixed block moves to rectangular channel 13 places, the double-screw bolt fixed block falls from fluting under the thrust of second cylinder, falls on worktable panel.Robot system is sent corresponding instruction again makes second cylinder remove air pressure, second cylinder resets, other double-screw bolt fixtures continue to move forward to appointed positions under the thrust of first cylinder, realized the transfer feed double-screw bolt of automatic stud feeding system.Apparatus of the present invention send double-screw bolt simultaneously to enough for two automatic stud welding machines continuously.
In conjunction with Fig. 4, automatic stud weld jig more changing device comprises power set, transmission device and changing device more, and above-mentioned three devices are arranged on the top of clamping deck plate 19, and described power set are cylinder, and this cylinder is fixed on the clamping deck plate 19 by support; Transmission device comprises tooth bar 23, adjust nut 24, adjust bolt 25, adjust fixed head 26, one-level change-speed gearing 27, two stage speed change gear 28, adjust fixed head 26 and be arranged on clamping deck plate 19 tops, adjust and place tooth bar 23 on the fixed head 26, one end of this tooth bar is connected with the main shaft of the 3rd cylinder 21, and under the drive of this main shaft, move, one-level change-speed gearing 27, two stage speed change gear 28 is positioned at a side of adjusting fixed head 26, the axis of above-mentioned two change-speed gearings is positioned at the longitudinal median plane of adjusting fixed head 26, the other end of tooth bar 23 links to each other with one-level change-speed gearing 27, drive its rotation, adjust bolt 25 and be positioned on the tooth bar 23, adjust nut 24 and be spun on the adjustment bolt 25; More changing device comprises the whirligig that links to each other successively, this whirligig drives mutually by excessive gear 32, each whirligig comprises objective table 29, edge pin 30, centrepin 31, objective table gear 34, bearing fixing sleeve 35, bearing fixing sleeve 35 be fixed on clamping deck plate 19 on, objective table 29 by bearing fixing on bearing fixing sleeve 35, objective table gear 34 is fixed on objective table 29 belows and drives objective table 29 rotations, edge pin 30 is set on the objective table, centrepin 31,31 pairs of double-screw bolt clamping device location disposed thereon of centrepin, edge pin 30 drives the automatic stud welding and clamping device rotation that is placed on it.The quantity of whirligig is 6.
Automatic stud weld jig apparatus for automatic change operation principle is as follows: the 3rd cylinder 21 promotes tooth bar 24 translations when the 3rd cylinder 21 loads malleation, rack drives change- speed gearing 27 and 28 rotates, change-speed gearing drives objective table 29 and transition gear 30 rotates, thereby has realized the automated exchanged cutter of automatic stud welding and clamping device.When the 3rd cylinder 21 added back-pressure, the 3rd cylinder 21 is the pulling tooth bar oppositely, drives change-speed gearing and rotates, and objective table 29 reverses, thereby had realized the automatic unloading of automatic stud welding and clamping device.Adjust nut 24 and adjust bolt 25 and adjust the stroke of the 3rd cylinder 21 and make the stroke of the 3rd cylinder 21 precisely controlled by designing one, thereby the rotating cycle of automatic stud welding and clamping device is precisely controlled, has realized automatic stud weld jig apparatus for automatic change reliability service.Can regulate the stroke of the 3rd cylinder 21 in this device accurately by the extension elongation of regulating adjustment nut 24 and adjustment bolt 25, when bolt stretch out quantitative change when big the stroke of cylinder diminish, the rotating cycle of automatic stud welding and clamping device tails off, the stroke of cylinder becomes big when the overhang of bolt diminishes, and it is many that the rotating cycle of automatic stud welding and clamping device becomes.
In conjunction with Fig. 5, automatic stud welding and clamping device structure is as follows: chuck 36 is fixed with upper plate 39 along equally distributed three hexagon socket head cap screws 37 of axis circumferencial direction by three.Sleeve is fixed on the upper plate, and vertical rod 41 and lower plate 42 are connected by screw thread.Vertical rod 41 can be free to slide in sleeve 45 holes vertically.Spring 40 and is in compressive state between the lower convex platform face of sleeve 45 and vertical rod 41.Nut 38 is threaded with vertical rod 41, and is positioned at the upper surface of upper plate 39.Automatic stud welding and clamping device operation principle is as follows: by open a right angle lead angle with guiding function in double-screw bolt chuck 36 lower surfaces, make the clamping of double-screw bolt have automatic center to orthofunction.Connect by spring 40 and guide rod 41 between upper plate 39 and the lower plate 42, realized the pre compressed magnitude of needed adjustable (3-5mm) in the stud welding technology.The scope of the attainable pre compressed magnitude of the present invention is 0-30mm.Realized the function of lower plate clamping porcelain ring by three even distribution spring leafs of lower plate 42 lower ends.
Described upper plate center is provided with chuck, this chuck is connected mutually through upper plate and with upper plate, the bottom of chuck is provided with some rubber-like blades, this blade can rely on the elasticity of self to pick up the double-screw bolt that gos deep into wherein, the below of upper plate is provided with lower plate, on, link to each other by column between the lower plate, the column outside is with spring, upper plate can move up and down along column, the lower plate center is provided with through hole, and the diameter of this through hole is greater than the maximum gauge of double-screw bolt, and the periphery of through hole is provided with some shell fragments, described shell fragment be evenly distributed in through hole around, this shell fragment relies on the elasticity of self to pick up deeply wherein ceramic ring.
The automatic stud welding and clamping device is being applied for an other patent on the same day, and patent name is " a robot major diameter automatic stud weldering welding gun ".
The flexible welding method of a kind of double-screw bolt of the present invention, the concrete welding process of the double-screw bolt of single specification is as follows: be installed in advance on the double-screw bolt fixed head of automatic stud pay-off with the steel double-screw bolt of a certain specification with the supporting porcelain ring of this double-screw bolt earlier.Robot control system sends a series of control signal and finishes whole automatic welding process then, specifically may further comprise the steps:
On the objective table that the first step, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Second step, robot movement are to the double-screw bolt position automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
The 3rd step, robot movement arrive the position of work to be welded, finish the automatic stud welding of double-screw bolt to be welded.
When double-screw bolt to be welded is different size, be installed in advance on the double-screw bolt fixed head of automatic stud pay-off with the double-screw bolt of different size with the supporting porcelain ring of this double-screw bolt, robot control system sends a series of control signal and finishes whole automatic welding process then, and concrete steps are as follows:
On the objective table that step 1, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Step 2, robot movement are to the double-screw bolt assigned address automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
Step 4, robot movement to the automatic stud welding fixture device with welded on the objective table that double-screw bolt is complementary, carry out the dismounting of automatic stud welding and clamping device;
On the objective table that step 5, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Step 6, robot movement are to the double-screw bolt assigned address automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
Step 7, robot movement arrive the position of work to be welded, finish the automatic stud welding of double-screw bolt to be welded.
The automatic stud pay-off can quickly and reliably be two automatic stud welding machine transfer feeds among the present invention.The automatic stud welding and clamping device can quickly and reliably be realized the automated exchanged cutter of double-screw bolt.Automatic stud weld jig apparatus for automatic change can quickly and reliably be realized the automatic replacing of automatic stud welding and clamping device.Automatic stud pay-off and automatic stud weld jig more changing device evenly carry out programming Control by robot control system, are beneficial to safely, automatically, accurately carry out process control.
This product utilizes the more full-automatic process of changing device realization welding process of robot system and automatic stud welding gun design one cover automatic stud pay-off, automatic stud welding and clamping device and automatic stud clamping at the middle major diameter double-screw bolt of different-diameter size, length.
Describe flexible welder of double-screw bolt of the present invention and method in detail with embodiment below.
Embodiment 1
In conjunction with Fig. 1, be that to carry out the automatic stud weldering on the steel plate of thickness of slab 20mm be example for the double-screw bolt of 60mm and 80mm with diameter 12mm length.Is 12mm with diameter earlier, length is respectively the steel double-screw bolt of 60mm and 80mm and is installed in advance on the double-screw bolt fixed head of automatic stud pay-off with the supporting porcelain ring of this double-screw bolt.Robot control system sends a series of control signal and finishes whole automatic welding process then, and concrete steps are as follows: (1) robot movement carries out the installation of automatic stud welding and clamping device to the corresponding objective table of automatic stud welding fixture device; (2) robot movement is to the double-screw bolt 6 position automated exchanged cutter double-screw bolts of automatic stud pay-off; (3) robot movement welds automatically to the assigned address of work to be welded, finishes whole automatic stud welding process.
Embodiment 2
In conjunction with Fig. 1, be that 60mm and diameter are that to carry out the automatic stud weldering on the steel plate of thickness of slab 20mm be example for the double-screw bolt of 60mm for 22mm length for 12mm length with the diameter.Earlier be the steel double-screw bolt of 12mm and 22mm and be installed in advance on the double-screw bolt fixed head of automatic stud pay-off with the supporting porcelain ring of this double-screw bolt with diameter.Robot control system sends a series of control signal and finishes whole automatic welding process then, concrete steps are as follows: (1) robot movement is on the objective table that is complementary of the double-screw bolt of 12mm to automatic stud welding fixture device and diameter, carries out the installation of automatic stud welding and clamping device; (2) robot movement is the double-screw bolt of 12mm to the double-screw bolt 6 position automated exchanged cutter diameters of automatic stud pay-off; (3) robot movement welds automatically to the assigned address of work to be welded, and finishing diameter is the automatic stud welding process of the double-screw bolt of 12mm; (4) robot movement is on the objective table that is complementary of the double-screw bolt of 12mm to automatic stud welding fixture device and diameter, carries out the dismounting of automatic stud welding and clamping device; (5) robot movement is on the objective table that is complementary of the double-screw bolt of 22mm to automatic stud welding fixture device and diameter, carries out the installation of automatic stud welding and clamping device; (6) robot movement is the double-screw bolt of 12mm to the double-screw bolt 6 position automated exchanged cutter diameters of automatic stud pay-off; (7) robot movement welds automatically to the assigned address of work to be welded, and finishing diameter is the automatic stud welding process of the double-screw bolt of 22mm, and whole automatic stud welding process is finished.
Claims (6)
1. the flexible welder of double-screw bolt is characterized in that, comprises more changing device of welding robot, robot control system, automatic stud welding gun, automatic stud pay-off, automatic stud welding and clamping device, automatic stud weld jig; Described welding robot, automatic stud welding gun, automatic stud pay-off, automatic stud welding and clamping device, automatic stud weld jig more changing device all are connected with robot control system, receive the control signal of robot control system; Wherein the automatic stud pay-off is finished transporting double-screw bolt, the automatic stud welding and clamping device is realized the setting to required pre compressed magnitude in the automated exchanged cutter of double-screw bolt and porcelain ring and the welding procedure, and automatic stud weld jig more changing device is realized installation and removal to the automatic stud welding and clamping device; Welding robot carries out the installation of automatic stud welding and clamping device on the corresponding objective table of automatic stud welding fixture device, clamping double-screw bolt on the automatic stud pay-off is finished welding at last on workpiece to be welded afterwards.
2. the flexible welder of double-screw bolt according to claim 1, it is characterized in that, the automatic stud pay-off comprises base [14] and two automatic stud feeders, two automatic stud feeders are fixed on the base [14] and about base transverse center plane symmetry by base plate [4], and described each automatic stud feeder comprises side plate [1], panel [2], first riser [3], baffle plate [5], gear shaft [6], first cylinder [7], double-screw bolt fixed block [8], cylinder cut somebody's hair [9], second cylinder [10], second air cylinder base [11], adjust plate [12], open slot [13], second riser [15], cylinder support [16], about transfer rope support [17], pulley [18]; First cylinder [7] is fixed on base plate [4] top by support, and its top is panel [2], and this panel [2] is fixed on the base plate [4] by first riser [3], second riser [15], and described first riser [3], second riser [15] are positioned at the two ends of base plate [4]; Panel [2] upper surface is provided with two side plates that are parallel to each other [1], the plane at described two side plate places parallels with panel [2], each side plate has chute, gear shaft [6] is arranged in the chute of two side plates and can be free to slide along the chute direction, baffle plate [5], about transfer rope support [17] to be connected on the gear shaft [6], baffle plate [5] between biside plate, about transfer rope support [17] to be positioned at the biside plate outside and spacing to gear shaft [6]; Left and right sides pulley [18] is positioned at the biside plate below and is fixed on the pulley spindle, described pulley spindle links to each other with the main shaft of first cylinder [7], above-mentioned pulley is wound with steel wire rope, described steel wire rope one end is fixed on the panel [2], transfer about the other end is fixed on the rope support, when first cylinder [7] moves, drive gear shaft [6] parallel moving in the biside plate chute; Second air cylinder base [11] is arranged on the side of panel [2] lower surface near second riser [15], second cylinder [10] is arranged on second air cylinder base [11] by support, cylinder cut somebody's hair [9] be positioned at the upper surface of panel [2] and link to each other with the main shaft of second cylinder [10]; Double-screw bolt fixed block [8] is positioned between the biside plate [1] and can moves along its chute; Adjust plate [12] and be positioned at the side of the upper surface of panel [2] near second cylinder [10], this adjusts plate and baffle plate [5] limits laterally moving of double-screw bolt fixed block [8].
3. the flexible welder of double-screw bolt according to claim 1, it is characterized in that, automatic stud weld jig more changing device comprises power set, transmission device and changing device more, above-mentioned three devices are arranged on the top of clamping deck plate [19], described power set are cylinder, and this cylinder is fixed on the clamping deck plate [19] by support; Transmission device comprises tooth bar [23], adjust nut [24], adjust bolt [25], adjust fixed head [26], one-level change-speed gearing [27], two stage speed change gear [28], adjust fixed head [26] and be arranged on clamping deck plate [19] top, adjust fixed head [26] and go up placement tooth bar [23], one end of this tooth bar is connected with the main shaft of the 3rd cylinder [21], and under the drive of this main shaft, move, one-level change-speed gearing [27], two stage speed change gear [28] is positioned at a side of adjusting fixed head [26], the axis of above-mentioned two change-speed gearings is positioned at the longitudinal median plane of adjusting fixed head [26], the other end of tooth bar [23] links to each other with one-level change-speed gearing [27], drive its rotation, adjust bolt [25] and be positioned on the tooth bar [23], adjust nut [24] and be spun on the adjustment bolt [25]; More changing device comprises the whirligig that links to each other successively, this whirligig drives mutually by excessive gear [32], each whirligig comprises objective table [29], edge pin [30], centrepin [31], objective table gear [34], bearing fixing sleeve [35], bearing fixing sleeve [35] be fixed on clamping deck plate [19] on, objective table [29] by bearing fixing on bearing fixing sleeve [35], objective table gear [34] is fixed on objective table [29] below and drives objective table [29] rotation, edge pin [30] is set on the objective table, centrepin [31], centrepin [31] is to double-screw bolt clamping device location disposed thereon, and edge pin [30] drives the automatic stud welding and clamping device rotation that is placed on it.
4. the flexible welder of double-screw bolt according to claim 3 is characterized in that the quantity of whirligig is 6.
5. welding method based on the flexible welder of the described double-screw bolt of claim 1 is characterized in that it may further comprise the steps when double-screw bolt to be welded is same specification:
On the objective table that the first step, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Second step, robot movement are to the double-screw bolt position automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
The 3rd step, robot movement arrive the position of work to be welded, finish the automatic stud welding of double-screw bolt to be welded.
6. welding method based on the flexible welder of the described double-screw bolt of claim 1 is characterized in that it may further comprise the steps when double-screw bolt to be welded is different size:
On the objective table that step 1, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Step 2, robot movement are to the double-screw bolt assigned address automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
Step 3, robot movement arrive the position of work to be welded, finish the automatic stud welding of double-screw bolt to be welded;
Step 4, robot movement to the automatic stud welding fixture device with welded on the objective table that double-screw bolt is complementary, carry out the dismounting of automatic stud welding and clamping device;
On the objective table that step 5, robot movement are complementary to automatic stud welding fixture device and double-screw bolt to be welded, carry out the installation of automatic stud welding and clamping device;
Step 6, robot movement are to the double-screw bolt assigned address automated exchanged cutter double-screw bolt to be welded of automatic stud pay-off;
Step 7, robot movement arrive the position of work to be welded, finish the automatic stud welding of double-screw bolt to be welded.
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| CN2009102641540A CN102114568B (en) | 2009-12-31 | 2009-12-31 | Stud flexible welding device and method |
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| CN2009102641540A CN102114568B (en) | 2009-12-31 | 2009-12-31 | Stud flexible welding device and method |
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