阅读说明：本技术 焊枪、抓手一体化及完成自动排出的点焊设备 (Welding gun and gripper integrated spot welding equipment capable of completing automatic discharge ) 是由 邹宗永 于 2021-10-21 设计创作，主要内容包括：本发明公开了一种焊枪、抓手一体化及完成自动排出的点焊设备,包括：机架,定位装置及一体化机械手；一体化机械手包括：底座、多轴活动臂以及操作手,多轴活动臂驱动操作手多方位移动；所述的操作手包括：操作手支架、焊接头组件和抓取组件,所述抓取组件包括：定位板以及抓取钩,定位板通过第一驱动装置驱动直线移动,抓取钩通过第二驱动装置驱动摆动。本发明的一体化机械手上同时设置有点焊头组件以及抓取组件,能够将待加工工件通过一体化机械手送至加工平台后,通过同一个一体化机械手对工件进行点焊,节省了一个送料机械手,简化了设备结构以及设备的成本。(The invention discloses a spot welding device with integrated welding gun and gripper and capable of completing automatic discharge, which comprises: the mechanical arm comprises a rack, a positioning device and an integrated mechanical arm; the integrated manipulator comprises: the multi-axis movable arm drives the operating hand to move in multiple directions; the manipulator comprises: handle support, welding head subassembly and snatch the subassembly, it includes to snatch the subassembly: the positioning plate drives the positioning plate to move linearly through the first driving device, and the grabbing hook drives the grabbing hook to swing through the second driving device. The integrated manipulator is simultaneously provided with the spot welding head assembly and the grabbing assembly, so that a workpiece to be machined can be delivered to the machining platform through the integrated manipulator and then spot welded through the same integrated manipulator, a feeding manipulator is saved, and the equipment structure and the equipment cost are simplified.)

1. Welder, tongs integration and accomplish automatic discharge's spot welding equipment, its characterized in that: the method comprises the following steps:

the device comprises a rack (100) for placing/bearing a workpiece, wherein a positioning device (200) for positioning the workpiece is arranged on the rack (100); the integrated manipulator (300) acts on the workpiece and performs spot welding and grabbing on the workpiece;

the positioning device (200) comprises: drive actuating cylinder (210), locating arm (220) and backup pad (230), drive actuating cylinder and include: the positioning arm (220) is connected to the output shaft (212) and driven by the output shaft (212) to swing; the body (211) is fixedly arranged on the supporting plate (230), and a supporting part (231) for supporting the positioning arm (220) is arranged on the supporting plate (230);

the integrated manipulator (300) comprises: the device comprises a base (310), a multi-axis movable arm (320) and an operating hand (400) arranged on the multi-axis movable arm (320), wherein the multi-axis movable arm (320) drives the operating hand (400) to move in multiple directions;

the manipulator (400) is integrated with a manipulator bracket (410) and a welding head assembly (420) to realize grabbing and welding actions; the multi-axis movable arm (320) rotates to complete the switching of the manipulator bracket (410) and the welding head assembly (420);

an operating hand support (410) connected to the multi-axis movable arm (320);

a bond head assembly (420) comprising: the welding device comprises a first welding head (421), a second welding head (422) and a driving piece (423), wherein the driving piece (423) drives the first welding head (421) and the second welding head (422) to be relatively closed or opened;

the grabbing components (430) and the welding head component (420) are distributed in an included angle mode, and two groups of grabbing components (430) are symmetrically arranged and synchronously operate to grab the edge of the workpiece;

the grasping assembly (430) includes: the positioning plate (431) and the grabbing hook (432) are arranged, the positioning plate (431) is driven to move linearly by a first driving device (433), the grabbing hook (432) is pivoted with the positioning plate (431) and moves linearly along with the positioning plate (431), and the grabbing hook (432) is driven to swing relative to the positioning plate (431) by a second driving device (434);

hook parts (4311, 4321) are respectively arranged at one corresponding ends of the positioning plate (431) and the grabbing hook (432), and when the grabbing hook (432) swings, the hook parts (4311, 4321) contact and close towards the abutting surface of the positioning plate (431); the grabbing hook (432) and the positioning plate (431) are matched to clamp the workpiece.

2. The spot welding apparatus with integrated welding gun and gripper and automatic discharge completion according to claim 1, wherein: the manipulator support (410) comprises: the first installation part (411) and the second installation part (412) are perpendicular to each other, and an included angle of 90 degrees is formed between the first installation part (411) and the second installation part (412), so that a sufficient processing space is formed between the first installation part and the second installation part.

3. The spot welding apparatus with integrated welding gun and gripper and automatic discharge completion according to claim 1, wherein: the weld head assembly (420) further comprises: the welding device comprises a first welding arm (4210) and a second welding arm (4220) which are vertically symmetrical, wherein the first welding arm (4210) is fixedly installed, a first welding head (421) is installed at the tail end of the first welding arm (4210), a second welding head (422) is installed at the tail end of the second welding arm (4220), and the second welding arm (4220) swings through a driving piece (423).

4. The spot welding apparatus according to claim 2, wherein the spot welding apparatus includes a welding gun and a gripper, and the spot welding apparatus further includes: the second installation part (412) is of a plate-shaped structure, the distance between the grabbing component (430) and the multi-axis movable arm (320) is A, the distance between the welding head component (420) and the multi-axis movable arm (320) is B, and A > B.

5. The spot welding apparatus with integrated welding gun and gripper and automatic discharge completion according to claim 1, wherein: the frame (100) comprises: place platform (110) and processing platform (120), place platform (110) and processing platform (120) set up side by side, and are provided with crane (130) at least on processing platform (120), and crane (130) bottom is connected with and drives actuating cylinder (131) to drive crane (130) and reciprocate, crane (130) are the fretwork support.

6. The spot welding apparatus with integrated welding gun and gripper and automatic discharge as defined in claim 5, wherein: the positioning device (200) is arranged on the processing platform (120), and the height of the processing platform (120) is lower than that of the placing platform (110).

7. The spot welding apparatus with integrated welding gun and gripper and automatic discharge completion according to claim 1, wherein: the positioning device (200) is provided with a plurality of positioning devices and distributed around the processing platform (120).

8. The spot welding apparatus with integrated welding gun and gripper and automatic discharge completion according to claim 7, wherein: the positioning arm (220) is in a rod body shape, can be a straight rod or an arc rod body, the open end of the positioning arm (220) is connected with an output shaft of the driving mechanism (210), the positioning arm is approximately perpendicular to a collision part (221) arranged on the rod body, and the collision part (221) is provided with a contact surface.

9. The spot welding apparatus with integrated welding gun and gripper and automatic discharge as defined in claim 8, wherein: the processing platform (120) is provided with a positioning rod (121) corresponding to the positioning arm (200), and when the positioning arm (220) rotates and presses down, the abutting part (221) and the positioning rod (121) abut against each other up and down.

10. The spot welding apparatus with integrated welding gun and gripper and automatic discharge as defined in claim 5, wherein: the processing platform (120) is provided with the lifting frame (130), a driving cylinder (131) at the bottom of the lifting frame (130) is arranged on a slide rail, and the slide rail drives the lifting frame (130) to move transversely.

Technical Field

The invention relates to the technical field of automation equipment, in particular to spot welding equipment integrating a welding gun and a gripper and completing automatic discharge.

Background

Welding: known as fusion, welding, is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or pressure. Welding accomplishes the purpose of joining by three ways:

1. fusion welding, heating the workpieces to be jointed to partially melt the workpieces to form a molten pool, and joining the workpieces after the molten pool is cooled and solidified.

2. Pressure welding-the welding process must exert pressure to the welding piece, belongs to the processing of various metal materials and partial metal materials.

3. Brazing, namely, a metal material with a melting point lower than that of the base metal is used as brazing filler metal, the liquid brazing filler metal is used for wetting the base metal, a joint gap is filled, and the liquid brazing filler metal and the base metal are mutually diffused to realize a link weldment. It is suitable for welding various materials, and also suitable for welding different metals or different materials.

The spot welding is generally divided into two categories of double-sided spot welding and single-sided spot welding, and traditional welding or spot welding are all through manual operation, and the operating efficiency is low to the welding effect is not good, and consequently, more and more enterprises adopt the mode of robot, automatic spot welding to replace traditional manual welding.

At present, robot automatic point welding generally uses a robot to join in marriage dress a servo welder and welds, when the part needs to carry, just needs to reuse other robot and carries out solitary transport, and traditional design causes the equipment investment to increase, and the workstation occupies that the place is big and the robot availability factor is low.

Therefore, the applicant provides spot welding equipment with integrated welding gun and gripper and capable of completing automatic discharge, and the spot welding equipment can realize grabbing and spot welding actions through a manipulator and save the field.

Disclosure of Invention

In view of the above, the present invention provides a spot welding apparatus in which a welding gun and a gripper are integrated and automatic discharge is performed.

In order to achieve the purpose, the invention adopts the following technical scheme: welder, tongs integration and accomplish automatic discharge's spot welding equipment includes: the device comprises a rack, a positioning device and a control device, wherein the rack is used for placing/bearing a workpiece and is provided with the positioning device for positioning the workpiece; the integrated manipulator acts on the workpiece to spot-weld and grab the workpiece;

the positioning device comprises: drive actuating cylinder, locating arm and backup pad, drive actuating cylinder and include: the positioning arm is connected to the output shaft and driven by the output shaft to swing; the body is fixedly arranged on the supporting plate, and a supporting part for supporting the positioning arm is arranged on the supporting plate;

the integrated manipulator comprises: the multi-axis movable arm drives the manipulator to move in multiple directions;

the manipulator is integrated with a manipulator bracket and a welding head assembly to realize grabbing and welding actions; the multi-axis movable arm rotates to complete the switching of the manipulator bracket and the welding head assembly;

the manipulator bracket is connected with the multi-axis movable arm;

a bond head assembly comprising: the driving piece drives the first welding head and the second welding head to be relatively closed or unfolded;

the grabbing components are distributed at included angles with the welding head component, and two groups of grabbing components are symmetrically arranged and synchronously operate to grab the edge of the workpiece;

the grasping assembly includes: the positioning plate is driven to move linearly by the first driving device, the grabbing hook is pivoted with the positioning plate and moves linearly along with the positioning plate, and the grabbing hook is driven to swing relative to the positioning plate by the second driving device; one ends of the positioning plate and the grabbing hook corresponding to each other are respectively provided with a hook part, and when the grabbing hook swings, the hook parts contact and close towards the abutting surface of the positioning plate; the grabbing hook and the positioning plate are matched to clamp the workpiece.

In a further technical scheme, the manipulator support comprises: the first installation part and the second installation part are vertical to each other, and an included angle of 90 degrees is formed between the first installation part and the second installation part, so that a sufficient processing space is formed between the first installation part and the second installation part.

In a further technical solution, the welding head assembly further includes: the welding device comprises a first welding arm and a second welding arm which are vertically symmetrical, wherein the first welding arm is fixedly arranged, a first welding head is arranged at the tail end of the first welding arm, a second welding head is arranged at the tail end of the second welding arm, and the second welding arm swings through a driving piece.

In a further technical scheme, the second installation part is of a plate-shaped structure, the distance between the grabbing component and the multi-axis movable arm is A, the distance between the welding head component and the multi-axis movable arm is B, and A is greater than B.

In a further technical scheme, the rack comprises: place platform and processing platform, place platform and processing platform set up side by side, and are provided with the crane at least on processing platform, and the crane bottom is connected with and drives actuating cylinder to drive the crane and reciprocate, the crane is the fretwork support.

In a further technical scheme, the positioning device is arranged on the processing platform, and the height of the processing platform is lower than that of the placing platform.

In a further technical solution, the positioning device includes: the positioning device comprises a driving mechanism and a positioning arm connected to the driving mechanism.

In a further technical scheme, the positioning arm is in a rod body shape and can be a straight rod or a radian rod body, the open end of the positioning arm is connected with an output shaft of the driving mechanism, and the abutting part is approximately perpendicular to the rod body and provided with a contact surface.

In a further technical scheme, the processing platform on be provided with the locating lever corresponding to the locating arm, the locating arm rotate when pushing down, conflict portion and locating lever support from top to bottom and lean on.

In a further technical scheme, the processing platform is provided with the lifting frame, a driving air cylinder at the bottom of the lifting frame is arranged on a slide rail, and the slide rail drives the lifting frame to move transversely.

According to the technical scheme, compared with the prior art, the invention has the following beneficial technical effects:

the integrated manipulator is simultaneously provided with the spot welding head assembly and the grabbing assembly, so that a workpiece to be machined can be delivered to the machining platform through the integrated manipulator and then spot welded through the same integrated manipulator, a feeding manipulator is saved, and the equipment structure and the equipment cost are simplified;

be provided with the crane on processing platform, the crane drive actuating cylinder and install on slide rail 132, drive whole crane translation through the slide rail, be convenient for see the work piece out.

The invention aims to save equipment investment, occupy the field of the workstation and improve the utilization rate of the equipment.

Other advantageous effects of the present invention are shown in the embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a placement platform of the present invention;

FIG. 3 is a schematic view of a processing platform of the present invention;

FIG. 4 is a schematic structural diagram of a base and a multi-axis movable arm in the integrated manipulator;

FIG. 5 is a schematic structural diagram of an operator in the integrated manipulator;

fig. 6 is an enlarged view of a portion a in fig. 3.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

In the description of the present application, it is to be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1-6, a spot welding apparatus with integrated welding gun and gripper and automatic discharge includes: a rack 100, a positioning device 200 and an integrated manipulator 300.

The rack 100:

the rack 100 is a desktop rack, including: the device comprises a placing platform 110 and a processing platform 120, wherein the placing platform 110 and the processing platform 120 are arranged side by side, and the placing platform 110 is higher than the processing platform 120; the placing platform 110 is used for placing a workpiece 500 to be processed or processed, and the processing platform 120 is used for placing a workpiece 500 to be processed, wherein the workpiece 500 refers to an automobile part, and the equipment is used for performing spot welding processing on the automobile part.

At least, the lifting frame 130 is arranged on the processing platform 120, the bottom of the lifting frame 130 is connected with a driving air cylinder 131 to drive the lifting frame 130 to move up and down, the lifting frame 130 is a hollow support, the weight of the lifting frame 130 is reduced, and meanwhile, the supporting area is increased, because automobile parts are generally sheet metal parts with larger areas or other parts;

in this embodiment, preferably, the lifting frames 130 are disposed on both the placing platform 110 and the processing platform 120, and although the lifting frames 130 are hollow structures, the space covered by the edges of the lifting frames 130 is also large, so that the workpiece 500 can be well supported; the lifting frame 130 is arranged, so that after the workpiece 500 is machined, the lifting frame 130 can move upwards, and the subsequent workpiece 500 can be conveniently sent out; meanwhile, the lifting frame 130 on the placing platform 110 moves upwards, so that the processed workpiece 500 is conveniently received; if the placing platform 110 is used for placing the workpiece 500 to be processed, it is convenient to take out and transport the workpiece 500 to be processed to the processing platform 120 by the integrated robot 300.

Further, the frame 100 is made of a high-hardness metal material;

further, the placing platform 110 is higher than the processing platform 120 because the positioning device 200 is required to be arranged on the processing platform 120, and the positioning device 200 is installed in a space position, the processing platform 120 is located at a low position, so that the space for installing the positioning device 200 can be provided, and the workpiece 500 is transported between the placing platform 110 and the processing platform 120 by the same integrated manipulator 300; and further, the required positions of the equipment in the longitudinal space are reduced, and the field is saved.

Furthermore, the processing platform 120 is provided with the lifting frame 130, the driving cylinder 131 at the bottom of the lifting frame 130 is installed on a slide rail 132, and the slide rail 132 drives the lifting frame 130 to move transversely; after the workpiece 500 on the processing platform 120 is processed, the crane 130 moves horizontally to send out the processed workpiece 500, and the integrated robot 300 takes out and transports the workpiece 500 to be processed to the processing platform 120.

The positioning device 200:

the positioning device 200 is installed on the processing platform 120, and the lifting frame 130 is installed at about the middle position of the processing platform 120; the lifting frame 130 plays a role in supporting the workpiece 500; because the work piece 500 is the plate accessory of car, the area of required crane 130 is also great then, because the required quantity that drives actuating cylinder 131 also is provided with a plurality ofly, evenly distributed in crane 130 bottom also makes the support more parallel, stable simultaneously.

The positioning device 200 comprises: the positioning device 200 comprises a plurality of driving mechanisms 210 and positioning arms 220 connected to the driving mechanisms 210, and is distributed around the edge of the processing platform 120 or the lifting frame 130, so that the workpiece 500 can be limited/fixed from a plurality of directions.

The positioning arm 220 is rod-shaped, and can be a straight rod or a radian rod, and the rod-shaped structure is convenient for limiting the workpiece 500, and the rod is not necessarily in surface contact with the workpiece 500, and can be in point contact to limit the workpiece 500;

the positioning device 200 comprises: drive cylinder 210, locating arm 220 and backup pad 230, drive the cylinder and include: the body 211 and the output shaft 212, the positioning arm 220 is connected to the output shaft 212 and driven by the output shaft 212 to swing; the body 211 is fixedly installed on the supporting plate 230, and the supporting plate 230 is provided with a supporting portion 231 for supporting the positioning arm 220;

furthermore, the open end of the positioning arm 220 is connected to the output shaft of the driving mechanism 210, and an abutting portion 221 is disposed substantially perpendicular to the rod body, and the abutting portion 221 has a contact surface, and is in contact with the workpiece 500 through the contact surface for positioning;

furthermore, a positioning rod 121 may be further added on the processing platform 120 corresponding to the positioning arm 200, when the positioning arm 220 rotates and presses down, the abutting portion 221 abuts against the positioning rod 121 up and down, and the space below the positioning arm 220 forms a limit for the workpiece 500; meanwhile, in the machining process, the supporting force of the positioning arm 220 not only depends on the driving mechanism 210, but also provides a certain support through the positioning rod 121.

Then, when the positioning arm 220 swings to limit the position of the workpiece 500, at least two supporting points are located below the positioning arm 200, wherein one supporting point is limited by the supporting portion 231 of the supporting plate 230, and the other supporting point is limited by the top of the positioning rod 121, so that multi-point limiting of one positioning arm 220 can be realized, and more accurate positioning can be realized;

meanwhile, since the positioning arm 220 is a long rod structure, during swinging, deviation may occur, which may result in inaccurate positioning, but the positioning arm 220 may prevent deviation of the positioning arm 220 through multi-point positioning;

the corresponding contact surface between the positioning arm 220 and the supporting portion 231 can adopt a concave-convex matching structure for better positioning.

As shown in fig. 3, the processing platform 120 is provided with a plurality of positioning devices 200 to position the workpiece 500 from the left and right sides and the front, and the workpiece 500 is not positioned at the rear because it is in contact with the placing platform 110, so that the workpiece can be clamped more stably.

Further, in the positioning, the workpiece 500 is clamped by the abutting part 221 abutting against the positioning rod 121 in the vertical direction, and the positioning is performed by approximately point-like contact, but since the positioning device 200 is provided in plural, plural positioning points are formed, and the workpiece can be clamped well, and when the shape of the workpiece is slightly changed, the replacement of the equipment is not required.

Further, as shown in fig. 3, the positioning rod 121 may be mounted on an air cylinder 1211, and may be adjusted to a change in a certain arc of the workpiece 500 or to a small amount of the placement position by moving up and down by the driving of the air cylinder 1211.

The integrated manipulator 300:

the integrated robot 300 includes: the multi-axis manipulator comprises a base 310, a multi-axis manipulator 320 and a manipulator 400 arranged on the multi-axis manipulator 320, wherein the multi-axis manipulator 320 drives the manipulator 400 to move in multiple directions;

the base 310 may be installed on the rack 100 or may be placed on the ground, and since the multi-axis movable arm 320 is multi-axis movable, the height thereof is higher, since the integrated manipulator 300 is more suitably placed on the ground;

the multi-axis movable arm 320 is mounted on the base 310, the multi-axis movable arm 320 can rotate relative to the base 310, the multi-axis movable arm 320 can be four-axis, five-axis or six-axis and is set according to the degree of the workpiece 500 to be machined, the multi-axis movable arm 320 belongs to the prior art, detailed description is omitted, but the multi-axis movable arm 320 can at least perform rotation, up-and-down swinging and left-and-right swinging actions.

The manipulator 400 comprises: a manipulator support 410, a bond head assembly 420, and a gripper assembly 430.

The manipulator support 410, which is made of metal, has a connection surface connected to the multi-axis movable arm 320, and the manipulator support 410 includes: the first installation part 411 and the second installation part 412 are perpendicular to each other, an included angle of 90 degrees is formed between the first installation part 411 and the second installation part 412, the second installation part 412 is of a plate-shaped structure and extends outwards relative to the first installation part 411, the distance between the grabbing assembly 430 and the multi-axis movable arm 320 is A, and the distance between the welding head assembly 420 and the multi-axis movable arm 320 is B, wherein A is greater than B, so that a sufficient processing space is formed between the welding head assembly 420 and the grabbing assembly 430, and mutual obstruction is avoided when the welding head assembly and the grabbing assembly are used.

The weld head assembly 420, comprising: the welding device comprises a first welding head 421, a second welding head 422 and a driving member 423, wherein the driving member 423 drives the first welding head 421 and the second welding head 422 to be relatively closed or opened;

the weld head assembly 420 further comprises: the first welding arm 4210 and the second welding arm 4220 are vertically symmetrical, the first welding arm 4210 is fixedly installed, the first welding head 421 is installed at the tail end of the first welding arm 4210, the second welding head 422 is installed at the tail end of the second welding arm 4220, the second welding arm 4220 swings through the driving piece 423, when spot welding is carried out, the first welding head 421 and the second welding head 422 are relatively opened, the first welding head 421 moves to the bottom of the workpiece 500, the second welding head 422 moves to the upper portion of the workpiece 500, and the first welding head 421 and the second welding head 422 vertically correspond to each other; the driving part 423 drives the second welding head 422, and the first welding head 421 and the second welding head 422 are closed to perform spot welding on the workpiece 500; after spot welding is completed, the workpiece 500 is moved away through the multi-axis movable arm 320;

a space is left between the first welding arm 4210 and the second welding arm 4220, and the workpiece 500 is clamped during spot welding, and if the first welding arm 4210 and the second welding arm 4220 are arranged substantially horizontally in an orientation, the first welding head 421 and the second welding head 422 are arranged substantially vertically.

The grabbing components 430 are symmetrically provided with two groups and synchronously operate to grab the edges of the workpiece 500, because the workpiece 500 is mostly of a shell structure, the grabbing of a single grabbing component 430 is not stable when grabbing, and at least two grabbing components 430 are symmetrically arranged to grab more stably.

The grasping assembly 430 includes: the workpiece clamping device comprises a positioning plate 431 and a grabbing hook 432 which are vertically arranged, the grabbing hook 432 is in a hook shape, the grabbing hook 432 and the positioning plate 431 are pivoted, the positioning plate 431 is driven to move linearly by a first driving device 433, the grabbing hook 432 is driven by a second driving device 434 to swing relative to the positioning plate 431, hook portions 4311 and 4321 are respectively arranged on the positioning plate 431 and the grabbing hook 432, the first driving device 433 is installed on the positioning plate 431 and synchronously and linearly moves along with the positioning plate 431, and when the grabbing hook 432 swings, the grabbing hook 432 faces the hook portion 4311 of the positioning plate 431 and is matched with the positioning plate 431 to clamp a workpiece 500.

The use of the integrated robot 300 is further described below:

as shown in fig. 1, 4 and 5, the integrated robot 300 is installed beside the rack 100, the processing platform 120 is located at the left side, and the placing platform 110 is located at the right side; the grabbing assembly 430 is relatively positioned at the left side of the processing platform 120, when the integrated manipulator 300 controls the operating head 400 to move downwards, the workpiece 500 is welded through the welding head assembly 430, and during welding, the grabbing assembly 430 is relatively positioned at the left side of the processing platform 120, so that the operation of the welding head assembly 430 cannot be influenced;

after spot welding is finished, the multi-shaft movable arm 320 controls the operating head 400 to rotate anticlockwise, so that the grabbing assembly 430 is downward, the welding head assembly 430 is upward, when the multi-shaft movable arm is used, the positioning plate 431 is moved to the upper side of the workpiece 500, the positioning plate 431 and the grabbing hook 432 can be driven to move downwards through the first driving device 433, the grabbing hook 432 and the positioning plate 431 are relatively opened corresponding to the workpiece, the positioning plate 431 is driven to move downwards through the first driving device 433, and meanwhile the grabbing hook 432 moves downwards along with the movement; until the positioning plate 431 contacts the surface of the workpiece 500, the grabbing hook 432 is driven to swing by the second driving device 434, the bottom of the workpiece 500 is hooked inwards from the side surface of the workpiece 500, and the multi-axis movable arm 320 moves to clamp and take out the workpiece 500.

As the operation of the crane 130 and the positioning device 200 has been described in detail above, after the spot welding is completed, the positioning device 200 releases the workpiece 500, and then the workpiece 500 can be driven to ascend by the crane 130, and finally the workpiece 500 can be grabbed by the grabbing assembly 430, so as to complete the subsequent transportation; after being transported to a designated place, the integrated robot 300 may also grasp the workpiece 500 to be processed on the placing platform 110.

So, realized that an integration manipulator 300 can realize spot welding and the function of snatching simultaneously, saved a traditional feeding manipulator, saved space, reduction equipment cost.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.