CN112025154A - Multi-axis numerical control linkage welding production line and control method thereof - Google Patents
Multi-axis numerical control linkage welding production line and control method thereof Download PDFInfo
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- CN112025154A CN112025154A CN202010891990.8A CN202010891990A CN112025154A CN 112025154 A CN112025154 A CN 112025154A CN 202010891990 A CN202010891990 A CN 202010891990A CN 112025154 A CN112025154 A CN 112025154A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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Abstract
The invention discloses a multi-axis numerical control linkage welding production line and a control method thereof, and the multi-axis numerical control linkage welding production line comprises a supporting table, wherein a numerical control box is arranged at one end of the supporting table, a ball screw conveying line is arranged in the middle of the upper end of the supporting table, a Z-axis transmission mechanism, an X-axis transmission mechanism and a Y-axis transmission mechanism are arranged at one end of the ball screw conveying line, the Z-axis transmission mechanism, the Y-axis transmission mechanism and the X-axis transmission mechanism respectively comprise a connecting frame, a first groove, an adjusting motor, a fixed block, a rotating screw, an adjusting block and a bearing plate, a clamping and positioning mechanism is arranged at the upper end of the sliding block, a carrying robot arm is arranged at one end, close to a tool cabinet, of the ball screw conveying line, and a. Has the advantages that: the automation is realized, the production efficiency is greatly increased, the amount of manual labor is reduced, the consistency of the production efficiency and the welding quality is improved, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a multi-axis numerical control linkage welding production line and a control method thereof.
Background
In the existing welding technology, the welding of circular seams and intersecting lines is mainly performed manually, for example, the welding of circular seams and intersecting lines of a hydraulic oil cylinder, an air storage tank, an oil tank, a liquefied gas tank, a transmission shaft, a production line roller and the like consumes a large amount of welding time, is low in efficiency, low in precision, high in labor intensity, large in product upgrading automation control difficulty, high in manufacturing cost and high in energy consumption. In addition, in places with high requirements on welding processes, the quality of manual welding is difficult to ensure to reach the standard, and the numerical control automatic welding mode is a novel welding mode created on the basis of the manual welding mode, and can easily realize a plurality of actions which can not be finished by manual welding. At present, welding machines people adopts fixed mounting more, can not remove about, so hardly accomplish whole welding, this just probably leads to follow-up needs manual welding, and manual welding is error probably appearing, has also reduced production efficiency simultaneously, consequently, designs a simple operation, production efficiency height, multiaxis numerical control linkage welding equipment.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a multi-axis numerical control linkage welding production line and a control method thereof, so as to overcome the technical problems in the prior related art.
Therefore, the invention adopts the following specific technical scheme:
a multi-axis numerical control linkage welding production line and a control method thereof comprise a supporting table, wherein a numerical control box is arranged at one end of the supporting table, a ball screw conveying line is arranged in the middle of the upper end of the supporting table, a tool cabinet is arranged in the middle of the supporting table, a Z-axis transmission mechanism, an X-axis transmission mechanism and a Y-axis transmission mechanism are arranged at one end of the ball screw conveying line, the Z-axis transmission mechanism is positioned on two sides of the upper end of the supporting table, the Y-axis transmission mechanism is positioned in the middle of the upper end of the Z-axis transmission mechanism and movably connected with the middle of the upper end of the Z-axis transmission mechanism in a matched mode, the X-axis transmission mechanism is positioned in the middle of one side of the Y-axis transmission mechanism and movably connected with the middle of one side of the Y-axis transmission mechanism, the Z-axis transmission mechanism, the two sides of the upper end of the support table are respectively provided with the connecting frame, the middle part of the connecting frame is provided with the first groove, the top end of the connecting frame is provided with the adjusting motor, the fixed block is arranged between the connecting frame and the adjusting motor, one end of the adjusting motor is provided with the rotating lead screw extending into the first groove, the middle part of the rotating lead screw is sleeved with the adjusting block which is matched with the rotating lead screw, the upper end of the adjusting block is provided with the bearing plate, the bearing plate of the X-axis transmission mechanism and the welding gun assembly are arranged, the two sides of the middle part of the upper end of the ball lead screw conveying line are respectively provided with a sliding block, the upper end of the sliding block is respectively provided with a clamping and positioning mechanism, the clamping and positioning mechanism comprises a support plate which is positioned on one side of the, the two ends of one side of the front end of the supporting plate are respectively provided with a sliding rail, the side edge of the supporting plate is respectively provided with a supporting sliding block matched with the sliding rail, one end of each supporting sliding block is respectively provided with a movable block, one side of each movable block, which corresponds to and is staggered, is provided with a rack plate extending to the second groove, the side edge of the supporting plate, which is close to the second groove, is provided with a driving motor, one end of an output shaft of the driving motor is provided with a driving gear, the driving gear is matched and connected with the rack plate, one end of each movable block, which is far away from the supporting sliding block, is provided with a bearing block, the two ends of one corresponding side of the bearing block are respectively provided with a fixed clamping block, the fixed clamping blocks are matched and connected with threaded grooves of the bearing blocks, the supporting plate is positioned, the automatic stacking device is characterized in that a linkage screw rod connected with a thread groove of the bearing block is arranged at one end of the rotating motor, the linkage screw rod is in threaded connection with a threaded hole at one end of the fixed clamping block, a carrying robot arm is arranged at one end, close to the tool cabinet, of the ball screw conveying line, and a stacking machine matched with the carrying robot arm is arranged on the side edge of the tool cabinet.
Furthermore, one side of the numerical control box is provided with a heat dissipation grid, and one side of the upper end of the numerical control box is provided with a warning lamp.
Furthermore, the front end of the tool cabinet is provided with two doors, and one side of each door is provided with a handle.
Furthermore, the lower ends of the supporting tables are provided with adjusting supporting feet, the lower ends of the adjusting supporting feet are provided with expanding supporting plates, and the expanding supporting plates are fixedly connected with the adjusting supporting feet in a welding mode.
Furthermore, the carrying robot arm is composed of a first joint shaft, a second joint shaft, a third joint shaft, a fourth joint shaft, a fifth joint shaft and a sixth joint shaft, a fixed base is arranged at the lower end of the carrying robot arm, the upper end of the fixed base is movably connected with the first joint shaft, the upper end of the first joint shaft is movably connected with the second joint shaft, the upper end of the second joint shaft is movably connected with the third joint shaft, one end of the third joint shaft is movably connected with the fourth joint shaft, one end, far away from the third joint shaft, of the fourth joint shaft is movably connected with the fifth joint shaft, the sixth joint shaft is arranged at the top end of the fifth joint shaft, and the top end of the sixth joint shaft is connected with the manipulator.
Furthermore, the second joint shaft is an arc-shaped robot arm.
Furthermore, the backup pad is located the both sides of recess two are crisscross to be provided with the connecting block, the connecting block is kept away from the one end of backup pad all be provided with rack plate matched with supplementary spacing roller.
Furthermore, the supporting platform is arranged outside the Z-axis transmission mechanism and is provided with a protective observation box.
According to another aspect of the present invention, there is provided a multi-axis numerical control linkage welding production line and a control method thereof for the claimed multi-axis numerical control linkage welding production line and the control method thereof, comprising the steps of:
s1, compiling a plurality of data parameter instructions through the numerical control box to obtain preset positioning parameters, presetting the movement of the operation positions of the ball screw conveying line, the clamping and positioning mechanism, the Z-axis transmission mechanism, the X-axis transmission mechanism, the Y-axis transmission mechanism and the carrying robot arm, obtaining the position error and the positioning error in the numerical control box, and feeding back, adjusting and calibrating in time;
s2, under the control of a numerical control box, a driving motor on a clamping and positioning mechanism drives a driving gear to move, so that rack plates at the upper end and the lower end move towards the middle part under the meshing of the driving gear, a movable block and a supporting sliding block connected with each end of each rack plate slide on a sliding rail, a rotating motor on two bearing blocks at the front end of each movable block moves a rotating lead screw, a threaded block of each fixed clamping block moves towards the middle, and the two fixed clamping blocks can move towards two sides by matching to clamp a workpiece, so that the workpiece is clamped and fixed;
s3, receiving instructions by the Z-axis transmission mechanism, the X-axis transmission mechanism and the Y-axis transmission mechanism under the numerical control system, sequentially moving the Z-axis transmission mechanism, the X-axis transmission mechanism and the Y-axis transmission mechanism, and after the positions are adjusted, controlling the welding gun assembly by the system of the numerical control box to weld a workpiece;
and S4, after welding is completed, the ball screw conveying line is driven to move the machined piece to the side edge of the arm of the transfer robot, the clamping and positioning mechanism is loosened, the machined piece is moved to the stacking machine by the arm of the transfer robot, and automatic welding is completed.
The invention has the beneficial effects that: the welding gun assembly is linked through the Z-axis transmission mechanism, the X-axis transmission mechanism and the Y-axis transmission mechanism with the welding gun assembly to weld three-dimensional space welding spots through the multi-axis linkage numerical control unit, so that an industrial robot can be simulated to weld, the structure is small and simple, the operation is simple and convenient, higher quality consistency, higher flexibility, lower investment and maintenance cost and higher production efficiency are ensured, different welding objects can be adapted, shaft number, structural form diversification and customized quick combination application are carried out aiming at different welding objects, the welding spots can be welded in a centralized manner by applying to a production line, the number of welding work positions and the number of welding tongs are reduced, the welding process and workshop process layout are optimized, the production line is simplified, meanwhile, manual welding is replaced by an automatic welding unit, automation is realized, the production efficiency is greatly increased, the manual labor amount is reduced, and the consistency of the production efficiency and the welding quality, the labor cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a multi-axis numerical control linkage welding production line and a control method thereof according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a transmission mechanism of a multi-axis numerical control linkage welding production line and a control method thereof according to an embodiment of the invention;
FIG. 3 is a schematic view of a clamping and positioning mechanism of a multi-axis numerical control linkage welding production line and a control method thereof according to an embodiment of the invention;
FIG. 4 is a schematic view of a handling robot arm of a multi-axis numerical control linkage welding production line and a control method thereof according to an embodiment of the invention;
fig. 5 is a process flow diagram of a multi-axis numerical control linkage welding production line and a control method thereof according to an embodiment of the invention.
In the figure:
1. a support table; 2. a numerical control box; 3. a ball screw conveyor line; 4. a tool cabinet; 5. a Z-axis transmission mechanism; 6. an X-axis transmission mechanism; 7. a Y-axis transmission mechanism; 8. a connecting frame; 9. a first groove; 10. adjusting the motor; 11. a fixed block; 12. rotating the screw rod; 13. an adjusting block; 14. a bearing plate; 15. welding a welding gun assembly; 16. a slider; 17. a clamping and positioning mechanism; 18. a support plate; 19. a second groove; 20. a slide rail; 21. a support slide block; 22. a movable block; 23. a rack plate; 24. a drive motor; 25. a drive gear; 26. a bearing block; 27. fixing the clamping block; 28. rotating the motor; 29. a screw rod is linked; 30. a transfer robot arm; 31. a warning light; 32. two doors are opened; 33. adjusting the supporting legs; 34. expanding a supporting plate; 35. a joint shaft I; 36. a second joint shaft; 37. a joint shaft III; 38. a joint shaft IV; 39. a joint axis five; 40. a joint shaft six; 41. connecting blocks; 42. supplementary spacing roller.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to the embodiment of the invention, a multi-axis numerical control linkage welding production line and a control method thereof are provided.
The first embodiment is as follows:
as shown in fig. 1-4, the multi-axis numerical control linkage welding production line and the control method thereof according to the embodiment of the invention comprise a support table 1, a numerical control box 2 is arranged at one end of the support table 1, a ball screw conveyor line 3 is arranged in the middle of the upper end of the support table 1, a tool cabinet 4 is arranged in the middle of the support table 1, a Z-axis transmission mechanism 5, an X-axis transmission mechanism 6 and a Y-axis transmission mechanism 7 are arranged at one end of the ball screw conveyor line 3, the Z-axis transmission mechanism 5 is positioned at two sides of the upper end of the support table 1, the Y-axis transmission mechanism 7 is positioned at the middle of the upper end of the Z-axis transmission mechanism 5 and movably connected with each other, the X-axis transmission mechanism 6 is positioned at one side of the Y-axis transmission mechanism 7 and movably connected with each other, and the Z-axis transmission mechanism 5, the, The welding device comprises a first groove 9, an adjusting motor 10, a fixing block 11, a rotating screw rod 12, an adjusting block 13 and a bearing plate 14, wherein the X-axis transmission mechanism 6 is taken as an example, the connecting frame 8 is arranged on both sides of the upper end of the supporting table 1, the first groove 9 is arranged in the middle of the connecting frame 8, the adjusting motor 10 is arranged at the top end of the connecting frame 8, the fixing block 11 is arranged between the connecting frame 8 and the adjusting motor 10, the rotating screw rod 12 extending into the first groove 9 is arranged at one end of the adjusting motor 10, the adjusting block 13 matched with the rotating screw rod 12 is sleeved in the middle of the rotating screw rod 12, the bearing plate 14 is arranged at the upper end of the adjusting block 13, the bearing plate 14 and the welding gun assembly 15 of the X-axis transmission mechanism 6 are arranged, sliding blocks 16 are arranged on both sides of the middle of the upper end of the ball screw rod conveying line 3, and a, the clamping and positioning mechanism 17 comprises a support plate 18 positioned on one side of the middle part of the upper ends of the sliding block 16 and the linkage block, a groove II 19 is arranged in the middle of the upper end of the support plate 18, slide rails 20 are arranged at both ends of one side of the front end of the support plate 18, a support slider 21 matched with the slide rails 20 is arranged at each side of the support plate 18, a movable block 22 is arranged at each end of the support slider 21, rack plates 23 extending to the groove II 19 are arranged at one correspondingly staggered side of the movable blocks 22, a driving motor 24 is arranged at each side of the support plate 18 close to the groove II 19, a driving gear 25 is arranged at one end of an output shaft of the driving motor 24, the driving gear 25 is matched and connected with the rack plates 23, a bearing block 26 is arranged at one end of the movable block 22 far away from the support slider 21, and a fixing clamp block 27 is, the fixed clamping block 27 is matched and connected with the thread groove of the bearing block 26, the supporting plate 18 is located the two sides of the driving motor 24 are both provided with a rotating motor 28, an output shaft of the rotating motor 28 penetrates through the through grooves in the two sides of the supporting plate 18, one end of the rotating motor 28 is provided with a linkage screw rod 29 connected with the thread groove of the bearing block 26, the linkage screw rod 29 is in threaded connection with a threaded hole in one end of the fixed clamping block 27, one end, close to the tool cabinet 4, of the ball screw rod conveying line 3 is provided with a carrying robot arm 30, and the side edge of the tool cabinet 4 is provided with a stacking machine matched with the carrying robot arm 30.
By means of the technical scheme, the Z-axis transmission mechanism 5 with the welding gun component 15, the X-axis transmission mechanism 6 and the Y-axis transmission mechanism 7 are linked through the multi-axis linkage numerical control unit to weld three-dimensional space welding spots, so that an industrial robot can be simulated to weld, the structure is small and simple, the operation is simple and convenient, high quality consistency, high flexibility, low investment and maintenance cost and high production efficiency are ensured, different welding objects are welded, diversification of the number of axes and the structural form and customized quick combination application are carried out aiming at different welding objects, the welding spots can be welded in a centralized manner by being applied to a production line, the number of welding stations and the number of welding tongs are reduced, the welding process and the workshop process layout are optimized, the production line is simplified, meanwhile, manual welding is replaced by an automatic welding unit, automation is realized, and the production efficiency is greatly increased, the labor intensity is reduced, the production efficiency and the welding quality are improved, and the labor cost is saved.
Example two:
as shown in fig. 1 to 4, a heat dissipation grid is disposed on one side of the numerical control box 2, and a warning light 31 is disposed on one side of the upper end of the numerical control box 2. Two doors 32 are arranged at the front end of the tool cabinet 4, and handles are arranged on one sides of the two doors 32. The lower ends of the supporting tables 1 are provided with adjusting supporting feet 33, the lower ends of the adjusting supporting feet 33 are provided with expanding supporting plates 34, and the expanding supporting plates 34 are fixedly connected with the adjusting supporting feet 33 in a welding mode.
As shown in fig. 1 to 4, the transfer robot arm 30 includes a first joint shaft 35, a second joint shaft 36, a third joint shaft 37, a fourth joint shaft 38, a fifth joint shaft 39, and a sixth joint shaft 40, a fixed base is disposed at a lower end of the transfer robot arm 30, the first joint shaft 35 is movably connected to an upper end of the fixed base, the second joint shaft 36 is movably connected to an upper end of the first joint shaft 35, the third joint shaft 37 is movably connected to an upper end of the second joint shaft 36, the fourth joint shaft 38 is movably connected to one end of the third joint shaft 37, the fifth joint shaft 39 is movably connected to one end of the fourth joint shaft 38 away from the third joint shaft 37, the sixth joint shaft 40 is disposed at a top end of the fifth joint shaft 39, and a manipulator is connected to a top end of the sixth joint shaft 40. The second joint shaft 36 is an arc-shaped robot arm. The supporting plate 18 is located the both sides of the second groove 19 are provided with connecting blocks 41 in a staggered manner, and one end of each connecting block 41 far away from the supporting plate 18 is provided with an auxiliary limiting roller 42 matched with the rack plate 23. And the supporting table 1 is provided with a protective observation box outside the Z-axis transmission mechanism 5.
Example three:
for the convenience of understanding the above technical solution of the present invention, the following detailed description is made on the flow of the above solution of the present invention with reference to the accompanying drawings, and specifically is as follows:
according to the embodiment of the invention, as shown in fig. 5, a multi-axis numerical control linkage welding production line and a control method thereof are also provided.
The multi-axis numerical control linkage welding production line and the control method thereof comprise the following steps:
step S101: the numerical control box 2 is used for compiling a plurality of data parameter instructions to obtain preset positioning parameters, presetting the movement of the operation positions of the ball screw conveying line 3, the clamping and positioning mechanism 17, the Z-axis transmission mechanism 5, the X-axis transmission mechanism 6, the Y-axis transmission mechanism 7 and the carrying robot arm 30 is actually finished, obtaining position errors and positioning errors in the numerical control box 2, and feeding back, adjusting and calibrating in time;
step S103: under the control of the numerical control box 2, a driving motor 24 on the clamping and positioning mechanism 17 drives a driving gear 25 to move, so that rack plates 23 at the upper end and the lower end move towards the middle part under the meshing of the driving gear 25, a movable block 22 and a supporting slide block 21 connected with each end of each rack plate 23 slide on a slide rail 20, a rotating motor 28 on two bearing blocks 26 at the front end of the movable block 22 moves to an interlocking screw rod 29, a threaded block of a fixed clamping block 27 moves towards the middle part, and the two fixed clamping blocks 27 can move at two sides by matching to clamp a workpiece, so that the workpiece is clamped and fixed;
step S105: the Z-axis transmission mechanism 5, the X-axis transmission mechanism 6 and the Y-axis transmission mechanism 7 receive instructions under the numerical control system, the Z-axis transmission mechanism 5, the X-axis transmission mechanism 6 and the Y-axis transmission mechanism 7 move in sequence, and after the positions are adjusted, the system of the numerical control box 2 controls the welding gun assembly 15 to weld a workpiece;
step S107: after welding, the ball screw conveying line 3 is driven to move the machined parts to the side edge of the carrying robot arm 30, the clamping and positioning mechanism 17 is loosened, the machined parts are moved to the stacking machine by the carrying robot arm 30, and automatic welding is completed.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In conclusion, by means of the technical scheme of the invention, the Z-axis transmission mechanism 5 with the welding gun assembly 15, the X-axis transmission mechanism 6 and the Y-axis transmission mechanism 7 are linked through the multi-axis linkage numerical control unit to weld three-dimensional space welding spots, so that an industrial robot can be simulated to weld, the structure is small and simple, the operation is simple and convenient, the quality consistency, the flexibility, the investment and maintenance cost and the production efficiency are ensured to be higher, the welding gun assembly is suitable for different welding objects, the diversification of the shaft number and the structure form and the customized rapid combined application are carried out aiming at different welding objects, the welding spots can be welded in a centralized manner by being applied to a production line, the welding number and the welding clamp number are reduced, the welding process and the workshop process layout are optimized, the production line is simplified, meanwhile, the automatic welding unit replaces manual welding to realize, greatly increased production efficiency, reduced amount of manual labor, improved production efficiency and welding quality consistency, and saved human cost.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides a multiaxis numerical control linkage welding production line, a serial communication port, including brace table (1), the one end of brace table (1) is provided with numerical control case (2), the upper end middle part of brace table (1) is provided with ball screw transfer chain (3), the middle part of brace table (1) is provided with tool cabinet (4), the one end of ball screw transfer chain (3) is provided with Z axle drive mechanism (5), X axle drive mechanism (6) and Y axle drive mechanism (7), Z axle drive mechanism (5) are located the upper end both sides of brace table (1), Y axle drive mechanism (7) are located the upper end middle part swing joint that cooperatees of Z axle drive mechanism (5), X axle drive mechanism (6) are located one side middle part swing joint of passing Y axle drive mechanism (7), Z axle drive mechanism (5), The Y-axis transmission mechanism (7) and the X-axis transmission mechanism (6) comprise a connecting frame (8), a first groove (9), an adjusting motor (10), a fixing block (11), a rotating screw rod (12), an adjusting block (13) and a bearing plate (14), the X-axis transmission mechanism (6) is taken as an example, the connecting frame (8) is arranged on two sides of the upper end of the supporting table (1), the first groove (9) is arranged in the middle of the connecting frame (8), the adjusting motor (10) is arranged on the top end of the connecting frame (8), the fixing block (11) is arranged between the connecting frame (8) and the adjusting motor (10), the rotating screw rod (12) extending into the first groove (9) is arranged at one end of the adjusting motor (10), the adjusting block (13) is sleeved on the middle of the rotating screw rod (12) and matched with the adjusting block, the upper end of the adjusting block (13) is provided with the bearing plate (14), the bearing plate (14) of the X-axis transmission mechanism (6) and the welding gun assembly (15), sliding blocks (16) are arranged on two sides of the middle part of the upper end of the ball screw conveying line (3), clamping and positioning mechanisms (17) are arranged on the upper ends of the sliding blocks (16), each clamping and positioning mechanism (17) comprises a supporting plate (18) positioned on one side of the middle part of the upper end of each sliding block (16) and the corresponding linkage block, a second groove (19) is arranged in the middle part of the upper end of each supporting plate (18), sliding rails (20) are arranged on two ends of one side of the front end of each supporting plate (18), supporting sliding blocks (21) matched with the sliding rails (20) are arranged on the side edges of the supporting plates (18), and movable blocks (22) are arranged on, the corresponding crisscross one side of movable block (22) is provided with rack plate (23) that extends to recess two (19), backup pad (18) are close to the side of recess two (19) is provided with driving motor (24), driving motor (24) output shaft one end is provided with drive gear (25), and, drive gear (25) with rack plate (23) cooperate and be connected, the one end that support slider (21) was kept away from in movable block (22) is provided with carrier block (26), the corresponding one side both ends of carrier block (26) all are provided with fixed clamp splice (27), fixed clamp splice (27) with the thread groove cooperation of carrier block (26) is connected, backup pad (18) are located the both sides of driving motor (24) all are provided with rotation motor (28), the output shaft that rotates motor (28) alternates on the logical groove of backup pad (18) both sides, the one end of rotating motor (28) be provided with interlock lead screw (29) that the thread groove of carrier block (26) is connected, interlock lead screw (29) with the screw hole threaded connection of fixed clamp splice (27) one end, the one end that is close to instrument cabinet (4) on ball screw transfer chain (3) is provided with transfer robot arm (30), the side of instrument cabinet (4) be provided with transfer robot arm (30) matched with stacking machine.
2. The multi-axis numerical control linkage welding production line according to claim 1, characterized in that a heat dissipation grid is arranged on one side of the numerical control box (2), and a warning lamp (31) is arranged on one side of the upper end of the numerical control box (2).
3. The multi-axis numerical control linkage welding production line according to claim 1, characterized in that two opening doors (32) are arranged at the front end of the tool cabinet (4), and a handle is arranged on each side of the two opening doors (32).
4. The multi-axis numerical control linkage welding production line according to claim 1, characterized in that the lower ends of the support tables (1) are respectively provided with an adjusting support leg (33), the lower ends of the adjusting support legs (33) are respectively provided with an expanding plate (34), and the expanding plate (34) is fixedly connected with the adjusting support legs (33) in a welding manner.
5. The multi-axis numerical control linkage welding production line according to claim 1, characterized in that the transfer robot arm (30) is composed of a first joint shaft (35), a second joint shaft (36), a third joint shaft (37), a fourth joint shaft (38), a fifth joint shaft (39) and a sixth joint shaft (40), a fixed base is arranged at the lower end of the transfer robot arm (30), the first joint shaft (35) is movably connected to the upper end of the fixed base, the second joint shaft (36) is movably connected to the upper end of the first joint shaft (35), the third joint shaft (37) is movably connected to the upper end of the second joint shaft (36), the fourth joint shaft (38) is movably connected to one end of the third joint shaft (37), and the fifth joint shaft (39) is movably connected to one end of the fourth joint shaft (38) far away from the third joint shaft (37), the top end of the fifth joint shaft (39) is provided with a sixth joint shaft (40), and the top end of the sixth joint shaft (40) is connected with a manipulator.
6. The multi-axis numerical control linkage welding production line of claim 5, characterized in that the second joint axis (36) is an arc-shaped robot arm.
7. The multi-axis numerical control linkage welding production line according to claim 1, characterized in that connecting blocks (41) are arranged on two sides, located on the second groove (19), of the supporting plate (18) in a staggered mode, and auxiliary limiting rollers (42) matched with the rack plates (23) are arranged at one ends, away from the supporting plate (18), of the connecting blocks (41).
8. The multi-axis numerical control linkage welding production line according to claim 1, characterized in that the supporting table (1) is provided with a protective observation box outside the Z-axis transmission mechanism (5).
9. A multi-axis numerical control linkage welding production line and a control method thereof, which are used for the multi-axis numerical control linkage welding production line and the control method thereof of claim 8, and comprise the following steps:
s1, a plurality of data parameter instructions are compiled through the numerical control box (2), preset positioning parameters are obtained, the ball screw conveying line (3), the clamping and positioning mechanism (17), the Z-axis transmission mechanism (5), the X-axis transmission mechanism (6), the Y-axis transmission mechanism (7) and the carrying robot arm (30) are subjected to actual movement presetting of operation positions, position errors and positioning errors are obtained in the numerical control box (2), and timely feedback adjustment and calibration are carried out;
s1, under the control of a numerical control box (2), a driving motor (24) on a clamping and positioning mechanism (17) drives a driving gear (25) to move, so that rack plates (23) at the upper end and the lower end move towards the middle part under the meshing of the driving gear (25), a movable block (22) and a supporting sliding block (21) connected with each end of each rack plate (23) slide on a sliding rail (20), and a rotating motor (28) on two bearing blocks (26) at the front end of the movable block (22) moves a linkage screw rod (29), a threaded block of a fixed clamping block (27) moves towards the middle part, so that the two fixed clamping blocks (27) can move at two sides by matching between the movable blocks to clamp a workpiece, and clamping and fixing the workpiece are realized;
s3, receiving instructions by the Z-axis transmission mechanism (5), the X-axis transmission mechanism (6) and the Y-axis transmission mechanism (7) under the numerical control system, sequentially moving the Z-axis transmission mechanism (5), the X-axis transmission mechanism (6) and the Y-axis transmission mechanism (7), and after the positions are adjusted, controlling the welding gun assembly (15) by the system of the numerical control box (2) to weld a workpiece;
and S4, after welding is completed, the ball screw conveying line (3) is driven to move the machined piece to the side edge of the carrying robot arm (30), the clamping and positioning mechanism (17) is loosened, the machined piece is moved to the stacking machine by the carrying robot arm (30), and automatic welding is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN112757251A (en) * | 2020-12-31 | 2021-05-07 | 南京昱晟机器人科技有限公司 | Intelligent manufacturing industrial robot convenient to operate |
| CN114485428A (en) * | 2021-12-22 | 2022-05-13 | 青岛金沙滩建设集团有限公司 | Building prefabricated component overall dimension measuring device capable of reducing reset time |
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