CN217618592U - Lead screw assembly welding device and lead screw automatic weld system - Google Patents

Abstract

The utility model discloses a lead screw equipment welding set and lead screw automatic weld system, wherein, lead screw equipment welding set includes: the conveying manipulator, the three-axis positioner and the welding robot are sequentially aligned; wherein, the two sides of the three-axis positioner, which are opposite to the carrying manipulator and the welding robot, are fixed with workpiece welding tools; the tail end of the carrying manipulator is fixedly provided with a multifunctional workpiece clamp which is used for clamping various lead screw workpieces to a workpiece welding tool respectively; the workpiece welding tool is provided with a limiting structure matched with the shape of each lead screw workpiece and an assembling structure matched with the position of the limiting structure. The technical scheme of the utility model welding machine's welding efficiency is lower among the solution prior art, influences lead screw welding quality and production efficiency's problem.

Description

A screw assembly welding device and screw automatic welding system

technical field

The utility model relates to the technical field of machining, in particular to a screw assembly welding device and a screw automatic welding system.

Background technique

As a transmission element, the main function of the screw is to convert rotary motion into linear motion or convert torque into axial repetitive force. Screw rods are widely used in the field of new energy power generation equipment. Taking wind power generation as an example, with the rapid development of offshore wind power and onshore wind power, the demand for wind power equipment is increasing day by day. , the annual demand is also growing rapidly.

As shown in Figure 1 and Figure 2, the screw product usually includes three workpieces: stamping part a, plate part b and rod part c, and the three workpieces can be welded to form a complete screw rod. Related fields have extremely high requirements on the welding quality of screw rods, so screw rod welding needs to be equipped with high-level welding workers; however, the demand for screw rod products is large, and welding workers usually cannot bear the continuous work with high quality requirements, which is prone to unstable welding quality. The phenomenon. In order to solve the above problems, in the prior art, a welding robot is usually used to weld the lead screw. By setting a welding program, the lead screw after the components are assembled is welded on a workbench according to a preset operation process.

However, the welding robot in the prior art can usually only weld the assembled lead screw, which requires the operator to continuously load and assemble the lead screw workpiece before welding by the welding robot, which leads to the low welding efficiency of the welding robot. , affecting the welding quality and production efficiency of the lead screw.

Utility model content

The utility model provides a screw assembly welding device and a screw automatic welding system, aiming at solving the problems of low welding efficiency of the welding machine in the prior art, which affects the welding quality and production efficiency of the screw rod.

In order to achieve the above purpose, the utility model proposes a screw assembly welding device, comprising:

The handling manipulator, the three-axis positioner and the welding robot are arranged in sequence; among them,

The workpiece welding tool is fixed on both sides of the three-axis positioner facing the handling manipulator and the welding robot;

The end of the handling manipulator is fixed with a multi-functional workpiece fixture, which is used to respectively clamp various screw workpieces to the workpiece welding tool;

The workpiece welding tool is provided with a limit structure matching the shape of each screw workpiece, and an assembly structure matching the position of the limit structure.

Preferably, in the above-mentioned screw assembly and welding device, the handling manipulator includes:

Robot base;

A six-degree-of-freedom robotic arm connected to the manipulator base in rotation;

And, a flange-mounted base attached to the end of the 6-DOF robotic arm, the flange-mounted base matches the shape of the multifunctional workpiece fixture.

Preferably, in the above-mentioned screw assembly and welding device, the multifunctional workpiece fixture includes:

install the box;

The mounting shaft of the manipulator fixed at the end of the installation box and matching the shape of the end of the handling manipulator;

The electromagnetic pneumatic hand grip fixed on the head end of the installation box;

A pneumatic chuck fixed on one side of the installation box;

And, the electromagnetic chuck fixed on the side of the installation box body adjacent to the pneumatic chuck.

Preferably, in the above-mentioned screw assembly and welding device, the three-axis positioner includes:

positioner base;

a positioner body arranged on the upper end of the positioner base and rotatably connected with the positioner base;

And, the tooling fixing plates are respectively fixed on the two sides of the positioner body facing the conveying manipulator and the welding robot, wherein each tooling fixing plate is respectively connected with the positioner body in rotation.

Preferably, in the above-mentioned screw assembly and welding device, the workpiece welding tool includes a tool body fixed on the three-axis positioner; the assembly structure includes a pressing cylinder fixed on the tool body.

Preferably, in the above-mentioned screw assembly and welding device, the limiting structure includes:

The stamping part limit stopper, the plate part cylindrical positioning groove and the rod part groove are respectively matched with the position of the pressing cylinder; wherein, the plate part cylindrical positioning groove and the rod part groove are aligned and arranged.

Preferably, in the above-mentioned screw assembly welding device, the welding robot includes:

robot base;

The robot arm fixedly connected to the robot base;

And, the welding machine structure fixed on the end of the robot arm and facing the three-axis positioner.

Preferably, the above-mentioned screw assembly welding device also includes:

The welding gun cleaning machine matched with the welding machine structure position is used to clean the welding machine structure.

According to the second aspect of the present utility model, the present utility model also provides an automatic screw welding system, comprising:

A material preparation and unloading device, and a screw assembly welding device provided by any of the above technical solutions; wherein,

The position of the multifunctional workpiece fixture of the screw assembly welding device is matched with the material preparation and unloading device.

Preferably, in the above-mentioned automatic screw welding system, the material preparation and unloading device includes: a material preparation mechanism and an unloading wooden support arranged around the handling manipulator of the screw assembly welding device; the material preparation mechanism includes:

A rod hoist arranged on the side of the handling manipulator near the unloading wooden support;

And, the stamping parts vibration placing machine and the sheet material rotating silo are arranged on the side of the handling manipulator away from the rod hoist.

The working process of the screw assembly welding device provided by the technical solution of the present utility model is as follows:

The handling manipulator, the three-axis positioner and the welding robot are arranged in sequence. When in use, firstly, the handling manipulator clamps the corresponding lead screw workpiece through the multi-functional workpiece fixture fixed at the end and places it on the workpiece welding tool of the three-axis positioner that is at the position of the handling manipulator; then, in the workpiece welding tool, the limit structure The screw workpiece is limited, and the screw workpiece in the limit structure is assembled through the assembly structure; after the workpiece welding tool is assembled to the screw workpiece, the three-axis positioner is turned 180 degrees, and the workpiece is welded in the tool. The assembled screw workpiece is moved to the front of the welding robot, and the welding robot welds the screw workpiece in the workpiece welding tool. In addition, the three-axis positioner can rotate the workpiece welding tool to realize welding in any direction; When the positioner is turned 180 degrees, the lead screw formed after welding can be transported to the handling manipulator, and the welded lead screw can be removed by the handling manipulator, so as to realize the synchronous automatic assembly and automatic welding of the lead screw, and then improve the lead screw. the overall welding efficiency.

To sum up, the screw assembly welding device and the screw automatic welding system provided by the technical solution of the present utility model can automatically clamp the screw workpiece to the workpiece welding tool of the three-axis positioner through the multifunctional workpiece fixture of the transporting manipulator. Assembled in the welding tooling, after assembly, the three-axis positioner is directly transported to the welding robot for welding, which can realize the effect of welding while the screw rod is assembled, thereby improving the overall welding quality and welding efficiency of the screw rod, thus solving the current problem. In the prior art, the welding quality and production efficiency of the lead screw caused by manual loading and unloading and assembly are low.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained based on the structures shown in these drawings without any creative effort.

1 is a front view of a lead screw workpiece provided by an embodiment of the present invention;

Fig. 2 is the top view of the lead screw workpiece provided by the embodiment shown in Fig. 1;

3 is a schematic structural diagram of a screw automatic welding system provided by an embodiment of the present invention;

Fig. 4 is the top view of the lead screw automatic welding system provided by the embodiment shown in Fig. 3;

5 is a schematic structural diagram of a screw assembly welding device provided by an embodiment of the present invention;

6 is a schematic structural diagram of a handling robot provided by the embodiment shown in FIG. 5;

7 is a schematic structural diagram of a multifunctional workpiece fixture provided by the embodiment shown in FIG. 5;

8 is a schematic structural diagram of a three-axis positioner provided by the embodiment shown in FIG. 5;

FIG. 9 is a schematic structural diagram of a welding robot provided by the embodiment shown in FIG. 5 .

Description of reference numbers:

The realization, functional characteristics and advantages of the purpose of the present utility model will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, not all of them. Example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the difference between the various components under a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are only used for description purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present utility model, unless otherwise expressly specified and limited, the terms "connection", "fixed" and the like should be understood in a broad sense, for example, "fixed" can be a fixed connection, a detachable connection, or an integrated; The "connection" can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two elements or the interaction relationship between the two elements, unless otherwise expressly defined . For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions contradicts each other or cannot be realized, it should be considered that such technical solutions The combination does not exist and is not within the protection scope required by the present invention.

As shown in Figure 1 and Figure 2, the screw product includes three workpieces: stamping part a, plate part b and rod part c, and the three workpieces can be welded to form a complete screw rod. The traditional method of using welding robots to weld screw rods requires operators to continuously load and unload and assemble screw rod workpieces. After the splicing is completed, the welding robot performs welding, which leads to low welding efficiency of the welding robot and affects the welding of screw rods. quality and productivity. This is the technical problem to be solved by the following embodiments of the present application.

In order to solve the above problems, the following embodiments of the present application provide an automatic screw welding system, which automatically realizes the loading and unloading, assembling and welding of the screw workpiece, thereby improving the welding efficiency of the screw.

Specifically, as shown in FIG. 3 and FIG. 4 , the automatic screw welding system provided by the embodiment of the present invention includes:

The material preparation and unloading device 9, and the screw assembly welding device provided by the following embodiments; wherein,

The position of the multifunctional workpiece fixture 5 of the screw assembly welding device is matched with that of the material preparation and unloading device 9 .

Wherein, as shown in FIG. 4 , the material preparation and unloading device 9 includes: a material preparation mechanism 901 and an unloading wooden pallet 902 arranged around the conveying robot 1 of the screw assembly and welding device; the material preparation mechanism 901 includes:

A rod hoist 9011 arranged on the side of the handling manipulator 1 close to the unloading wooden pallet 902;

In addition, the stamping parts vibration placing machine 9012 and the plate material rotating bin 9013 are arranged on the side of the conveying robot 1 away from the rod elevator 9011 .

In addition, the screw automatic welding system further includes a transport control cabinet 10 for controlling the transport robot 1 , and a welding robot control cabinet 11 for controlling the welding robot 3 .

The working process of the screw automatic welding system is as follows:

The first step, before the screw welding work, prepare the workpiece parts stamping part a, plate part b and rod part c, and put them in the rod elevator 9011, the stamping part vibration placing machine 9012 and the plate rotating silo, respectively. Through the internal action of the above-mentioned mechanism, the stamping part a, the plate part b and the rod part c are respectively placed.

In the second step, the handling robot 1 in the welding device is assembled with a screw rod, and the multi-functional workpiece fixture 5 is controlled to pick up part of the stamping parts a from the rod lifter 9011, the stamping parts vibration placing machine 9012 and the plate rotating silo, respectively. , plate b and rod c are placed on the workpiece welding tool 4 of the screw assembly and welding device for fixing. Through the action of the handling manipulator 1, the workpiece welding tool 4 can rotate 360 degrees in the vertical direction.

In the third step, after the clamping of the screw workpiece is completed, the three-axis positioner 2 of the welding device assembled by the screw is rotated in the vertical axial direction, so that the workpiece welding tool 4 that has been clamped is transferred to the actual device welding device. On the work surface of the welding robot 3 , at the same time, transfer the welded workpiece welding tool 4 to the work surface of the handling robot 1 .

In the fourth step, the welding robot 3 starts the welding program, and realizes welding in any direction by cooperating with the rotation of the workpiece welding tool 4 . At the same time, the conveying robot 1 unloads the welded workpiece and places it on the unloading wooden pallet 902 .

Repeat the second to fourth steps in this way to realize the automatic feeding, assembly, welding and unloading of the screw workpiece, thereby realizing the cyclic processing and mass production of the screw, and improving the welding quality and production efficiency of the screw.

5 is a schematic structural diagram of a screw assembly and welding device provided by an embodiment of the present invention. As shown in Figure 5, the screw assembly welding device includes:

The handling manipulator 1, the three-axis positioner 2 and the welding robot 3 are aligned in sequence; the handling manipulator 1 is used to transport the screw workpiece to realize the loading and unloading of the screw workpiece; the three-axis positioner 2 can The lead screw workpiece is transported to the welding robot 3 for welding, and the welded lead screw is transported to the transport robot 1 for unloading. The handling manipulator 1, the three-axis positioner 2 and the welding robot 3 are aligned in sequence, which can realize the rapid feeding, assembling, welding and unloading operations of the screw rod, and improve the welding efficiency of the screw rod. in,

The workpiece welding tool 4 is fixed on both sides of the three-axis positioner 2 facing the handling manipulator 1 and the welding robot 3; . The workpiece welding tool 4 is provided on both sides of the three-axis positioner 2 facing the handling manipulator 1 and the welding robot 3, so that the welding effect of the screw workpiece can be realized while the workpiece is loaded and assembled, and the welding efficiency of the screw rod can be improved.

The end of the handling manipulator 1 is fixed with a multi-functional workpiece fixture 5, which is used to respectively clamp various screw workpieces to the workpiece welding tool 4; For example, stamping parts, plate parts and rod parts) to the workpiece welding tool 4 to realize the loading and unloading of various screw workpieces.

The workpiece welding tool 4 is provided with a limit structure 6 that matches the shape of each screw workpiece, and an assembly structure 7 that matches the position of the limit structure 6 . The workpiece welding tool 4 can fix the position of each screw workpiece by setting the limit structure 6, and assemble each screw workpiece through the assembly structure 7 matching the position of the limit structure 6 to obtain the assembled screw.

The working process of the screw assembly welding device provided by the embodiment of the present invention is as follows:

The handling manipulator 1, the three-axis positioner 2 and the welding robot 3 are arranged in sequence. When in use, firstly, the handling manipulator 1 clamps the corresponding screw workpiece through the multi-function workpiece fixture 5 fixed at the end and places it on the workpiece welding tool 4 at the position of the handling manipulator 2 on the three-axis positioner 2; then, on the workpiece welding tool 4 , the screw workpiece is limited by the limit structure 6, and the screw workpiece in the limit structure 6 is assembled by the assembly structure 7; after the workpiece welding tool 4 is assembled to the screw workpiece, the three-axis positioner 2. Turn 180 degrees, move the assembled screw workpiece in the workpiece welding tool 4 to the front of the welding robot 3, and the welding robot 3 welds the screw workpiece in the workpiece welding tool 4. In addition, the three-axis positioner 2 can Rotate the workpiece welding tool 4 to realize welding in any direction; at the same time, when the three-axis positioner 2 is turned by 180 degrees, the lead screw formed after welding can be transported to the transport robot 1, and the welded wire can be transferred by the transport robot 1. The rod is removed, so as to realize the synchronous automatic assembly and automatic welding of the screw rod, thereby improving the overall welding efficiency of the screw rod.

To sum up, the screw assembly welding device and the screw automatic welding system provided by the embodiment of the present invention automatically clamp the screw workpiece to the workpiece welding tool 4 of the three-axis positioner 2 through the multifunctional workpiece fixture 5 of the conveying robot 1 . , the workpiece welding tool 4 is assembled, and after assembly, the three-axis positioner 2 is directly transported to the welding robot 3 for welding, which can realize the effect of welding while the screw rod is assembled, thereby improving the overall welding quality of the screw rod. Therefore, the problems of low welding quality and production efficiency of the screw rod caused by manual loading and unloading and assembly in the prior art are solved.

Specifically, as a preferred embodiment, as shown in FIG. 6 , the handling robot 1 provided in the embodiment of the present application includes:

Robot base 101;

A six-degree-of-freedom manipulator 102 connected to the manipulator base 101 in rotation; the object has six degrees of freedom in space, and the six-degree-of-freedom manipulator 102 is installed on the manipulator base 101, and the six-degree-of-freedom manipulator 102 can realize six degrees of freedom That is, various spatial motion postures can be simulated, and the six-degree-of-freedom manipulator 102 can be used to grasp and move objects in any area within a predetermined distance around the manipulator.

And, a flange mounting base 103 connected to the end of the six-degree-of-freedom robot arm 102 , the flange mounting base 103 is matched with the shape of the multifunctional workpiece holder 5 .

In the embodiment of the present application, the handling manipulator 1 is provided with a six-degree-of-freedom manipulator 102 on the manipulator base 101 , and is connected to the flange mounting base 103 at the end of the six-degree-of-freedom manipulator 102 , and is installed through the flange mounting base 103 The multifunctional workpiece fixture 5 is used to transport and clamp any screw workpiece within a predetermined distance around the transport robot 1 through the movement of the six-degree-of-freedom manipulator 102 .

In addition, in order to realize the function of the multi-function workpiece fixture 5 clamping various screw workpieces, as shown in FIG. 7 , as a preferred embodiment, in the above-mentioned screw assembly and welding device, the multi-function workpiece fixture 5 is six-sided. Three-position fixture, the multifunctional workpiece fixture 5 includes:

Install the box body 501;

A manipulator mounting shaft 502 that is fixed to the end of the installation box 501 and matches the shape of the end of the conveying robot 1; 1 is connected to the six-degree-of-freedom manipulator 102, wherein, the outer ring of the manipulator mounting shaft 502 may be formed with threads, and the multi-functional workpiece fixture 5 is installed on the end of the handling manipulator 1 by means of thread connection.

An electromagnetic pneumatic hand grip 503 fixed on the head end of the installation box 501; the electromagnetic pneumatic grip 503 is used to grip the rod of the lead screw, and is placed in the workpiece welding tool 4 in FIG. 4 above.

The pneumatic chuck 504 is fixed on one side of the installation box 501 ; the pneumatic chuck 504 is a small pneumatic three-grip chuck, which is used to clamp the stamping parts to the workpiece welding tool 4 in FIG. 4 .

And, the electromagnetic chuck 505 is fixed on the mounting box 501 on the side adjacent to the pneumatic chuck 504 . The electromagnetic chuck 505 is used to clamp the plate into the workpiece welding tool 4 shown in FIG. 4 .

In the technical solution provided by the embodiment of the present application, the multifunctional workpiece fixture 5 is a six-sided three-dimensional fixture, and is fixedly connected to the flange mounting base 103 of the handling robot 1 through the mounting shaft 502 of the robotic arm. One side of the multi-function workpiece fixture 5 is equipped with a small pneumatic three-grip chuck, which is used to clamp the stamping part a and place it in the workpiece welding tool 4, and then the cylinder of the workpiece welding tool 4 pushes the blocking plate to compress the stamping part. An electromagnetic chuck 505 is installed on one side of the multifunctional workpiece fixture 5 for grabbing the plate b and placing it in the cylindrical positioning groove of the workpiece welding tool 4 . The head of the multifunctional workpiece fixture 5 is equipped with an electromagnetic pneumatic hand grip 503, which is used to grab the rod material c and place it in the groove of the welding tool.

In addition, the three-axis positioner 2 has three shafts, including a vertical shaft that rotates around the center line and a horizontal shaft on opposite sides. In order to improve the welding efficiency of the screw rod, the embodiment of the present application uses the three-axis positioner 2 to rotate 180 degrees vertically through the vertical axis, so that the workpiece welding tool 4 carrying the screw rod workpiece can be rotated to the side of the welding robot 3, and at the same time Rotate the lead screw that has been welded and formed on the side of the welding robot 3 to the side of the conveying robot 1, and unload the material through the conveying robot 1. Specifically, as a preferred embodiment, as shown in FIG. 8 , the above-mentioned three-axis positioner 2 includes:

The positioner base 201; the vertical shaft after the positioner base 201 is installed, through the vertical rotation of the vertical shaft around the vertical line of the center of the base, the tooling on both sides of the three-axis positioner 2 can be moved. The fixing plates 203 are respectively rotated.

a positioner body 202 that is arranged on the upper end of the positioner base 201 and is rotatably connected to the positioner base 201;

And, the tooling fixing plates 203 are respectively fixed on the two sides of the positioner body 202 facing the conveying manipulator 1 and the welding robot 3 , wherein each tooling fixing plate 203 is rotatably connected to the positioner body 202 .

In the technical solution provided by the embodiment of the present application, the positioner body 202 faces the workpiece fixing plate of the conveying robot 1 and the workpiece welding tool 4 for installing the screw workpiece is fixed, and the positioner body 202 is fixed towards the workpiece fixing plate of the welding robot 3 The workpiece welding tool 4 is equipped with a welded and formed lead screw, and the assembled lead screw workpiece can be transported to the welding robot 3 through the vertical rotation of the positioner body 202 around the positioner base 201 by 180 degrees. At the same time, the lead screw that has been welded and formed on the side of the welding robot 3 is rotated to the side of the handling robot 1, so as to realize the welding operation of the lead screw while feeding and assembling, and improve the welding efficiency of the lead screw.

In addition, in order to realize the limit fixation and assembly of the screw workpiece in the workpiece welding tool 4, as a preferred embodiment, as shown in FIG. 8 , the workpiece welding tool 4 provided in the embodiment of the present application includes: The tooling body 401 of the shaft positioner 2 ; the assembly structure 7 includes a pressing cylinder 701 fixed on the tooling body 401 .

In the embodiment of the present application, the pressing cylinder 701 is used as the assembly structure 7, and the blocking plate can be pushed by the pushing action of the pressing cylinder 701 to press the stamping part; and the rod and the plate can be pressed by the action of the pressing cylinder 701 tight.

Specifically, as shown in FIG. 8 , as a preferred embodiment, the limiting structure 6 includes:

The stamping block 601 , the cylindrical positioning groove 602 of the plate and the groove 603 of the rod are respectively matched with the position of the pressing cylinder 701 ;

In the technical solution provided by the embodiment of the present application, the workpiece welding tool 4 cooperates with the multifunctional workpiece fixture 5 through the pressing cylinder 701 and the limiting mechanism on the workpiece welding tool 4, which can realize the limiting and assembling of various screw workpieces. Specifically, the multi-function workpiece fixture 5 clamps the stamping part a through the three-grip pneumatic chuck 504 and places it in the welding tool, and then the cylinder of the workpiece welding tool 4 pushes the blocking plate to press the stamping part. The multifunctional workpiece fixture 5 grabs the plate b through the electromagnetic chuck 505 and places it in the cylindrical positioning groove of the welding tool 11 . The head of the multifunctional workpiece fixture 5 is equipped with an electromagnetic pneumatic hand grip 503 , which grabs the rod material c and places it in the groove of the workpiece welding tool 4 . Subsequently, the pressing cylinder 701 on the workpiece welding tool 4 acts to press the rod c in the groove and the plate b in the cylindrical positioning groove.

After the screw workpiece is compressed and the automatic assembly of the screw workpiece is completed, the screw needs to be welded and formed. Specifically, as a preferred embodiment, referring to FIG. 9 , the welding robot 3 provided in the embodiment of the present application includes:

Robot base 301;

a robot arm 302 fixedly connected to the robot base 301;

And, the welding machine structure 303 fixed to the end of the robot arm 302 and facing the three-axis positioner 2 .

In the technical solution provided in the embodiment of the present application, the robot arm 302 disposed on the robot base 301 is moved to the workpiece welding tool 4 of the three-axis positioner 2, and the workpiece is welded by the welding machine structure 303 at the end of the robot arm 302. The screw workpiece assembled in the welding tool 4 is welded, and the tool fixing plate 203 of the three-axis positioner 2 rotates around the positioner body 202, and cooperates with the welding machine mechanism to realize automatic welding of the screw workpiece.

In addition, as shown in FIG. 9 , in order to improve the welding efficiency of the screw rod, the above-mentioned screw rod assembly welding device further includes: a welding gun cleaning machine 8 matching the position of the welding machine structure 303 for cleaning the welding machine structure 303 . The function of the welding gun cleaning machine 8 is to clean the impurities in the welding gun and cut the long welding wire during the welding process. Since the welding gun of the welding robot 3 is a very delicate part, the welding robot 3 can automatically call the system after intelligently identifying the welding seam. The welding parameters in the workpiece are welded, and the welding material is melted by arc heating, and then the welding torch is used to fill the welding seam. In this process, the welding gun is a structure in which the welding robot 3 and the workpiece are directly connected, and impurities or welding wires often appear in the welding gun, which requires a gun cleaner for cleaning.

To sum up, the screw assembly and welding device and the screw automatic welding system provided by the above-mentioned embodiments of the present invention automatically clamp the screw workpiece to the workpiece welding tool of the three-axis positioner 2 through the multifunctional workpiece fixture 5 of the transporting robot 1 . In 4, the assembly is carried out in the workpiece welding tool 4, and after assembly, the three-axis positioner 2 is directly transported to the welding robot 3 for welding, which can realize the effect of welding while the screw rod is assembled, thereby improving the overall welding quality of the screw rod. and welding efficiency, thereby solving the problems of low welding quality and production efficiency of the screw rod caused by manual loading and unloading and assembly in the prior art.

The above are only preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model patent. Under the concept of the utility model of the present utility model, the equivalent structure transformations made by using the contents of the present utility model description and accompanying drawings, Or directly/indirectly applied in other related technical fields are included in the scope of patent protection of the present invention.

Claims (10)

1. The utility model provides a lead screw equipment welding set which characterized in that includes:

the conveying manipulator (1), the three-axis positioner (2) and the welding robot (3) are sequentially aligned; wherein,

workpiece welding tools (4) are fixed on two sides of the three-axis positioner (2), which are opposite to the carrying manipulator (1) and the welding robot (3);

a multifunctional workpiece clamp (5) is fixed at the tail end of the carrying manipulator (1) and is used for clamping various lead screw workpieces to the workpiece welding tool (4) respectively;

the workpiece welding tool (4) is provided with a limiting structure (6) matched with each type of the shape of the lead screw workpiece, and an assembling structure (7) matched with the position of the limiting structure (6).

2. Lead screw assembly welding device according to claim 1, characterized in that the handling robot (1) comprises:

a robot base (101);

a six-degree-of-freedom mechanical arm (102) rotatably connected with the mechanical arm base (101);

and the flange mounting base (103) is connected with the tail end of the six-degree-of-freedom mechanical arm (102), and the flange mounting base (103) is matched with the multifunctional workpiece clamp (5) in shape.

3. Lead screw assembly welding device according to claim 1 or 2, characterized in that the multifunctional work holder (5) comprises:

a mounting box (501);

a robot arm mounting shaft (502) fixed to the end of the mounting box (501) and having a shape matching the end of the transfer robot (1);

an electromagnetic pneumatic gripper (503) fixed at the head end of the mounting box body (501);

an air chuck (504) fixed to one side of the mounting case (501);

and an electromagnetic chuck (505) fixed to the mounting case on a side adjacent to the air chuck (504).

4. The lead screw assembly welding device of claim 1, characterized in that the triaxial positioner (2) comprises:

a positioner base (201);

the positioner body (202) is arranged at the upper end of the positioner base (201) and is rotationally connected with the positioner base (201);

and the tooling fixing plates (203) are respectively fixed on the two sides of the positioner body (202) opposite to the carrying manipulator (1) and the welding robot (3), wherein each tooling fixing plate (203) is respectively connected with the positioner body (202) in a rotating way.

5. The lead screw assembly welding device of claim 1 or 4, characterized in that the workpiece welding tooling (4) comprises a tooling body (401) fixed to the three-axis positioner (2); the assembling structure (7) comprises a pressing cylinder (701) fixed on the tool body (401).

6. Lead screw assembly welding device according to claim 5, characterized in that said limit structure (6) comprises:

a stamping part limiting baffle plate (601), a plate cylindrical positioning groove (602) and a rod piece groove (603) which are respectively matched with the compacting cylinder (701) in position; wherein, the plate cylinder positioning grooves (602) are aligned with the rod piece grooves (603).

7. Lead screw assembly welding device according to claim 1, characterized in that the welding robot (3) comprises:

a robot base (301);

a robot mechanical arm (302) fixedly connected with the robot base (301);

and the welding machine structure (303) is fixed at the tail end of the robot mechanical arm (302) and faces the triaxial positioner (2).

8. The lead screw assembly welding device of claim 7, further comprising:

and the welding gun cleaning machine (8) is matched with the position of the welder structure (303) and is used for cleaning the welder structure (303).

9. An automatic welding system for a lead screw, comprising:

a stock unloading device (9) and the screw rod assembling and welding device of any one of claims 1-8; wherein,

the position of a multifunctional workpiece clamp (5) of the screw rod assembly welding device is matched with the stock preparation and unloading device (9).

10. Lead screw automatic welding system according to claim 9, characterized in that the stock material discharge device (9) comprises:

a material preparing mechanism (901) and a discharging wooden support (902) which are arranged at the periphery of a carrying manipulator (1) of the screw rod assembling and welding device;

the stock preparation mechanism (901) comprises:

a rod piece lifter (9011) arranged on one side, close to the unloading wooden support (902), of the carrying manipulator (1);

and the stamping part vibration placing machine (9012) and the plate rotating bin (9013) are arranged on one side, far away from the rod lifter (9011), of the carrying manipulator (1).

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