CN100581714C - Intersecting line welding robot - Google Patents
Intersecting line welding robot Download PDFInfo
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- CN100581714C CN100581714C CN200610149715A CN200610149715A CN100581714C CN 100581714 C CN100581714 C CN 100581714C CN 200610149715 A CN200610149715 A CN 200610149715A CN 200610149715 A CN200610149715 A CN 200610149715A CN 100581714 C CN100581714 C CN 100581714C
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- guide rail
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Abstract
The present invention relates to an intersecting line welding robot for welding cylinder body. Said welding robot includes welding gun, and is formed from the following several portions: machine body, clamp, rotation mechanism, X-axis movement device, Y-axis movement device, large radial arm and small radial arm. Said invention also provides its working principle and concrete operation method.
Description
Technical field
The present invention relates to a kind of welding equipment, relate to a kind of intersecting line welding robot that is used for the welding of large-size cylinder body intersection particularly.
Background technology
At the welding of large-size cylinder body intersection, China extensively adopts the method for artificial welding at present.Labor strength is big, work under bad environment, and operating efficiency is low, and welding quality is difficult for guaranteeing.Because large-scale intersection is welded to be widely used, in order to increase work efficiency, reduce workman's intensity, guarantee welding quality, need a kind of energy in the practice badly and realize the welding equipment of welding automatically.
Summary of the invention
The objective of the invention is at the problems referred to above, provide a kind of high efficiency, welding quality good, can effectively alleviate the intersecting line welding robot that is used for the cylindrical shell welding of labor strength.
For achieving the above object, the technical solution used in the present invention is: a kind of intersecting line welding robot that is used for the cylindrical shell welding, comprise welding gun, also comprise: body, anchor clamps, rotating mechanism, X-axis mobile device, the moving device of y-axis shift, big cantilever mechanism and little cantilever mechanism; Described underpart is provided with anchor clamps; Described rotating mechanism is made up of standing part and electronic rotating part, and described standing part is fixed on body upper, and described electronic rotating part is arranged on the standing part and can rotates with respect to standing part; Described X-axis mobile device is by the X-axis slide plate that is installed on X-axis translation stage above the described electronic rotating part, can moves in X-axis translation stage upper edge X-axis, and is arranged on the X-axis drive unit that X-axis translation stage one end is used to drive the X-axis slide plate and forms; The moving device of described y-axis shift is by the Y-axis slide plate that is installed on Y-axis translation stage above the described X-axis slide plate, can slides in Y-axis translation stage upper edge Y-axis, and is arranged on the Y-axis drive unit that Y-axis translation stage one end is used to drive the Y-axis slide plate and forms; Described big cantilever mechanism comprises the end plate that is arranged on described Y-axis slide plate one end, be arranged on orthodrome guide rail on the end plate, the one end can move along the orthodrome guide rail big spiral arm and big spiral arm drive unit; Described little cantilever mechanism can be made up of along little spiral arm and little spiral arm drive unit that little arc guide rail moves the little arc guide rail, the one end that are provided with on the described big spiral arm other end and the connecting plate vertical with described orthodrome guide rail; Described welding gun is arranged on the end of described little spiral arm, and the welding gun end points is positioned on the center of circle and described orthodrome guide rail center of circle normal of described little arc guide rail.
Described big spiral arm drive unit can be Vidacare corp, be arranged on the end plate, the driving shaft of described Vidacare corp passes end plate and stretches out to big spiral arm, on described driving shaft crank is housed, crank end is equipped with linear bearing, and on big spiral arm the axle that cooperates with described linear bearing is housed.
Described little spiral arm drive unit can be Vidacare corp, be arranged on the described connecting plate, the driving shaft of drive unit passes connecting plate and stretches out to little spiral arm, on described driving shaft crank is housed, crank end is equipped with linear bearing, and the axle that cooperates with described linear bearing is housed on little spiral arm.
Described anchor clamps can be three-jaw anchor clamps or four paws anchor clamps.
Described X-axis drive unit and Y-axis drive unit can be Vidacare corp.
Because welding robot of the present invention adopts anchor clamps to carry out the fixing of welding robot, and adopt rotating mechanism, X-axis mobile device, the moving device of y-axis shift, big cantilever mechanism and little cantilever mechanism to realize the interlock of five frees degree, thereby can carry out the automatic welding of the intersection of cylindrical shell, its welding efficiency height, welding quality is good and can effectively alleviate working strength of workers; Described welding gun end points is positioned on the center of circle and described orthodrome guide rail center of circle normal of described little arc guide rail, in the time of can guaranteeing that welding gun attitude in welding process is adjusted, the position of welding gun end can not change, and makes that the control of welding robot motion track is more easy, also more accurate.
Description of drawings
Fig. 1 is the structural representation of welding robot of the present invention.
Fig. 2 is that the A of Fig. 1 is to view.
Among the figure
1. anchor clamps 2. bodies 3. rotating mechanism 4.X axle translation stage 5.Y axle translation stages
6.Y axle slide plate 7. big spiral arm drive unit 8,17 cranks 9,16 linear bearings
10,18 11. end plate 12. orthodrome guide rails 13,21 slide blocks
14. connecting plate 15. little spiral arm drive unit 19. little spiral arm 20. little arc guide rails
22. big spiral arm 23. welding guns 24. rotating part drive unit 25.X axial brake devices
26.Y axial brake device
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
As depicted in figs. 1 and 2, the present invention is used for the intersecting line welding robot of cylindrical shell welding, comprises welding gun 23, also comprises: body 2, anchor clamps 1, rotating mechanism 3, X-axis mobile device, the moving device of y-axis shift, big cantilever mechanism and little cantilever mechanism; Described body 2 bottoms are provided with anchor clamps 1; Described rotating mechanism 3 is made up of standing part and electronic rotating part, and described standing part is fixed on body 2 tops, and described electronic rotating part is arranged on the standing part and can be rotated with respect to standing part by 24 drivings of rotating part drive unit; Described X-axis mobile device is by the X-axis slide plate (omitting among the figure) that is installed on X-axis translation stage 4 above the described electronic rotating part, can moves in X-axis translation stage 4 upper edge X-axis, and is arranged on the X-axis drive unit 25 that X-axis translation stage 4 one ends are used to drive the X-axis slide plate and forms; The moving device of described y-axis shift is by the Y-axis slide plate 6 that is installed on Y-axis translation stage 5 above the described X-axis slide plate, can slides in Y-axis translation stage 5 upper edge Y-axis, and is arranged on the Y-axis drive unit 26 that Y-axis translation stage 5 one ends are used to drive Y-axis slide plate 6 and forms; Described big cantilever mechanism comprises the end plate 11 that is arranged on described Y-axis slide plate 6 one ends, be arranged on orthodrome guide rail 12 on the end plate 11, the one end can move along orthodrome guide rail 12 big spiral arm 22 and big spiral arm drive unit 7; Described little cantilever mechanism can be made up of along little spiral arm 19 and little spiral arm drive unit 15 that roundlet arc guide rail 20 moves the roundlet arc guide rail 20, the one end that are provided with on described big spiral arm 22 other ends and the connecting plate 14 vertical with described orthodrome guide rail 12; Described welding gun 23 is arranged on the end of described little spiral arm 19, and the welding gun end points is positioned on the center of circle and described orthodrome guide rail 12 center of circle normals of described roundlet arc guide rail 20.
Referring to Fig. 2, described big spiral arm drive unit 7 is a Vidacare corp, be arranged on the end plate 11, the driving shaft of described Vidacare corp 7 passes end plate 11 and stretches out to big spiral arm 22, crank 8 is housed on described driving shaft, linear bearing 9 is equipped with in crank 8 ends, and on big spiral arm 22 axle 10 that cooperates with described linear bearing 9 is housed.
Referring to Fig. 1, Fig. 2, described little spiral arm drive unit 15 is a Vidacare corp, be arranged on the described connecting plate 14, the driving shaft of drive unit 15 passes connecting plate 14 and stretches out to little spiral arm 19, crank 17 is housed on described driving shaft, linear bearing 16 is equipped with in crank 17 ends, and the axle 18 that cooperates with described linear bearing 16 is housed on little spiral arm 19.
Anchor clamps described in Fig. 11 can be three-jaw anchor clamps or four paws anchor clamps.
Described X-axis drive unit 25 and Y-axis drive unit 26 can be Vidacare corp.
Each drive unit can be realized multiple-freedom linking by automatic controlling system, and control system then can adopt the control technology of existing technology such as Digit Control Machine Tool to carry out programme-control.
The course of work of welding robot of the present invention is as follows:
The intersection welding special purpose robot be made of robot body and supporting control system, is mainly used in the welding of large-scale intersection.During work, earlier carry out spot welding and fix, welding robot is fixed on the cylindrical shell as the four paws anchor clamps by anchor clamps 1 then passing through cylindrical shell mutually.Finish the position of at first regulating welding gun 23 after fixing: regulate welding guns 23 by control X-axis motorized precision translation stage 4 and make it reach correct position in cylinder position radially; Then by mobile Y-axis motorized precision translation stage 5, regulate welding gun 23 vertical Cylindorical rod to the position.After welding gun 23 is adjusted to correct position, rotate big spiral arm drive unit 7 and little spiral arm drive unit 15, drive big spiral arm 22 and 19 motions of little spiral arm.By the attitude that the routing motion of big spiral arm 22 and little spiral arm 19 is regulated welding gun 23, make welding gun 23 reach the optimum posture that is fit to welding.Begin welding after adjusting is finished, waist rotating mechanism 3 certain speed are rotated in welding process, and the entire machine people's part that drives except that body 2 and anchor clamps 1 is rotated around the axis of vertical cylindrical shell.Along with rotation, constantly regulate the upper-lower position of welding gun 23 by the motion of control Y-axis translation stage 5, make solder joint be in correct position all the time.Meanwhile, regulate 19 rotations of big spiral arm 22 and little spiral arm, by both interlock welding gun 23 positions are constantly adjusted, thereby made welding gun 23 be in best welding posture.Because welding gun 23 end points are in the circular arc circle centre position of roundlet arc guide rail 20, also be in simultaneously on the center of circle normal of orthodrome guide rail 12, so just having guaranteed no matter to regulate in adjustment process big spiral arm 22 still is little spiral arm 19, and welding gun 23 end points all are in the intersection of the center of circle normal of the circular arc center of circle of roundlet arc guide rail 20 and orthodrome guide rail 12 all the time.When regulating welding gun 23 attitudes, do not influence the position of welding gun 23 end points like this.Rotating mechanism 3 rotates a circle and finishes the welding of whole intersection, constantly adjusts big spiral arm 22 and little spiral arm 19 and adjust welding gun 23 and make it be in optimum posture all the time in this process, thereby guarantee welding quality.After welding is finished, unclamp anchor clamps 1, welding robot is hung workpiece.
Describe the present invention with way of example above, but the invention is not restricted to above-mentioned specific embodiment, all protection domains that all belongs to claim of the present invention based on any improvement that the present invention did or modification.
Claims (5)
1. an intersecting line welding robot comprises welding gun, it is characterized in that also comprising: body, anchor clamps, rotating mechanism, X-axis mobile device, the moving device of y-axis shift, big cantilever mechanism and little cantilever mechanism;
Described underpart is provided with anchor clamps;
Described rotating mechanism is made up of standing part and electronic rotating part, and described standing part is fixed on body upper, and described electronic rotating part is arranged on the standing part and can rotates with respect to standing part;
Described X-axis mobile device is by the X-axis slide plate that is installed on X-axis translation stage above the described electronic rotating part, can moves in X-axis translation stage upper edge X-axis, and is arranged on the X-axis drive unit that X-axis translation stage one end is used to drive the X-axis slide plate and forms;
The moving device of described y-axis shift is by the Y-axis slide plate that is installed on Y-axis translation stage above the described X-axis slide plate, can slides in Y-axis translation stage upper edge Y-axis, and is arranged on the Y-axis drive unit that Y-axis translation stage one end is used to drive the Y-axis slide plate and forms;
Described big cantilever mechanism comprises the end plate that is arranged on described Y-axis slide plate one end, be arranged on orthodrome guide rail on the end plate, the one end can move along the orthodrome guide rail big spiral arm and big spiral arm drive unit;
Described little cantilever mechanism can be made up of along little spiral arm and little spiral arm drive unit that little arc guide rail moves the little arc guide rail, the one end that are provided with on the described big spiral arm other end and the connecting plate vertical with described orthodrome guide rail;
Described welding gun is arranged on the end of described little spiral arm, and the welding gun end points is positioned on the center of circle and described orthodrome guide rail center of circle normal of described little arc guide rail.
2. intersecting line welding robot according to claim 1, it is characterized in that: described big spiral arm drive unit is a Vidacare corp, be arranged on the end plate, the driving shaft of described Vidacare corp passes end plate and stretches out to big spiral arm, on described driving shaft, crank is housed, crank end is equipped with linear bearing, and on big spiral arm the axle that cooperates with described linear bearing is housed.
3. intersecting line welding robot according to claim 1, it is characterized in that: described little spiral arm drive unit is a Vidacare corp, be arranged on the described connecting plate, the driving shaft of drive unit passes connecting plate and stretches out to little spiral arm, on described driving shaft, crank is housed, crank end is equipped with linear bearing, and the axle that cooperates with described linear bearing is housed on little spiral arm.
4. according to claim 1,2 or 3 described intersecting line welding robots, it is characterized in that: described anchor clamps are three-jaw anchor clamps or four paws anchor clamps.
5. according to claim 1,2 or 3 described intersecting line welding robots, it is characterized in that: described X-axis drive unit and Y-axis drive unit are Vidacare corp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610149715A CN100581714C (en) | 2006-11-06 | 2006-11-06 | Intersecting line welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610149715A CN100581714C (en) | 2006-11-06 | 2006-11-06 | Intersecting line welding robot |
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| CN1935444A CN1935444A (en) | 2007-03-28 |
| CN100581714C true CN100581714C (en) | 2010-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200610149715A Expired - Fee Related CN100581714C (en) | 2006-11-06 | 2006-11-06 | Intersecting line welding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102371449A (en) * | 2010-08-10 | 2012-03-14 | 苏州工业园区华焊科技有限公司 | Gesture control device |
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| CN102069267A (en) * | 2011-01-25 | 2011-05-25 | 杭州凯尔达电焊机有限公司 | Universal arc welding robot teaching method regarding cylinder intersection welding seam |
| CN102152032B (en) * | 2011-01-31 | 2014-07-02 | 陈宏伟 | Machine head of cutting or welding machine, and cutting or welding robot using machine head |
| CN102152044A (en) * | 2011-04-14 | 2011-08-17 | 中国水利水电第十三工程局有限公司橡塑制品厂 | Automatic welding apparatus for flange reinforcing ribs |
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| CN103111718B (en) * | 2013-01-22 | 2015-05-20 | 北京中电华强焊接工程技术有限公司 | Automatic welding system for header welding |
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| CN105436685B (en) * | 2016-01-26 | 2017-11-17 | 钦州学院 | One kind can pinpoint mash welder |
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| CN106271280B (en) * | 2016-09-28 | 2017-10-31 | 天津工业大学 | A kind of K/Y types pipe joint intersection welding seam welding robot system |
| CN106994572A (en) * | 2017-04-06 | 2017-08-01 | 哈尔滨理工大学 | A kind of design of five degree of freedom welding robot in parallel |
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| CN108655625B (en) * | 2018-07-02 | 2024-01-19 | 河南工学院 | High-efficient welding robot |
| CN110936067B (en) * | 2018-09-21 | 2021-11-26 | 中江机电科技江苏有限公司 | Height-corrected small-diameter end face automatic welding machine |
| CN113894483A (en) * | 2021-11-01 | 2022-01-07 | 成都熊谷加世电器有限公司 | Welding gun adjusting component |
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Cited By (1)
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| CN102371449A (en) * | 2010-08-10 | 2012-03-14 | 苏州工业园区华焊科技有限公司 | Gesture control device |
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| CN1935444A (en) | 2007-03-28 |
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Effective date of registration: 20090807 Address after: Postal code 37, Haidian District, Beijing, Xueyuan Road: 100083 Applicant after: Beihang University Co-applicant after: Guangzhong Enterprise Group Co., Ltd., Guangzhou Address before: Postal code 37, Haidian District, Beijing, Xueyuan Road: 100083 Applicant before: Beihang University |
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Granted publication date: 20100120 Termination date: 20181106 |