Motorcycle Frame Welding Robot Workstation (2)

3. Clip specific and positioner

Figure 4 shows a three-axis, two-point locator, and we analyze its specific mechanical structure. The H-shaped structural bracket is mounted on the turntable and can be rotated by 180° to change the specific position of the two sets of clips. Two sets of double fulcrum rotation systems are mounted on the H-bracket to drive the two clamps respectively, so that the robot can find the best working position with respect to the workpiece. Four cylinders are mounted on the gantry below the four corners of the H-bracket. The locating pins and the shackles that are driven to accurately position the H-bracket can prevent the robot from being affected by the deformation of the H-bracket under the action of external forces such as operating force. The quality of the work.

Figure 4 Top view of three-axis double fulcrum positioner

The structure of the turntable is shown in Figure 5. The AC servo motor rotates the H-bracket by the RV reducer and the gear pair. The stop position is completed by the proximity sensor, the over-limit switch and the stop at two positions of 0° and 180°. Detection and location in the event of a fault. There is a through hole in the middle of the main shaft, and a lead wire and a lead pipe bracket are arranged at the lower end. The wire and the hose are led from the bottom to the upper part of the main shaft into the H-shaped bracket, and are respectively sent to the respective wiring and the connection, the lead wire and the lead pipe bracket. A flexible chain-type protective sleeve is used between the brackets fixed to the cabinet.

Figure 5 Schematic diagram of the turntable structure

The structure of the mounting double concrete pivoting system is shown in Figure 6. The clip is specifically mounted on the active side and the passive side, and the AC servo motor on the active side is driven to rotate by the RV speed reducer. The rotating shaft on the passive side is hollow, and the rotary air inlet joint is mounted at the tail of the rotating shaft, and compressed air is introduced from the tail and taken out from the front end surface of the rotating shaft. The negative pole of the welding power source is fixed on the clamp on the right side of the bearing housing. Under the action of the spring, the pressure block is always in contact with the rotating shaft to ensure good electrical conductivity, and the current does not pass through the bearing. The wheel at the front end of the shaft is the release and collection device for the wires. The limit position of the specific rotation of the clamp is detected by two proximity switches. If the proximity switch fails, the collision block at the rear of the active side catcher will be stopped by the dead stop limit.

Figure 6 Schematic diagram of double fulcrum rotation system

The clips mounted on the turntable are divided into two categories. 1, 2 workstations are plate-type clamps, 3, 4 workstations are frame-type clamps, as shown in Figure 7. Although the structure is different, it can be installed on the turntable with the same structural size by taking over. The clamping of each of the clips is pneumatic, and the structure varies with the shape of the parts, the positioning method and the clamping position.

Figure 7 The specific shape of each workstation clip

4 Conclusion

The overall design idea, system composition and key technology of the motorcycle frame support welding robot workstation can be used in the welding work of other workpiece types. No matter which kind of workpiece, when using the robot, the accuracy of the workpiece blank must be stricter. It is required to introduce robots into the work through some non-standard designs of end effectors, positioners, clips, etc., which are characterized by the characteristics of the workpieces, thereby greatly improving productivity and product quality and increasing the competitiveness of the enterprise.

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