CN101585109A - Full-automatic high speed four-shaft two-operating positions rotary welding device - Google Patents
Full-automatic high speed four-shaft two-operating positions rotary welding device Download PDFInfo
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- CN101585109A CN101585109A CNA2009103035105A CN200910303510A CN101585109A CN 101585109 A CN101585109 A CN 101585109A CN A2009103035105 A CNA2009103035105 A CN A2009103035105A CN 200910303510 A CN200910303510 A CN 200910303510A CN 101585109 A CN101585109 A CN 101585109A
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Abstract
A kind of full-automatic high speed four-shaft two-operating positions rotary welding device.Be characterized on frame, having by X, y, the z system of 3 axes, wherein Y-axis coordinate system base plate is the rotary table connection on the frame, on the base plate of Y-axis coordinate system, vertically be connected with the frame of Z axis coordinate system, vertically be connected with the X coordinate system on Z axis coordinate system base plate, X-axis coordinate system base plate in the X coordinate system and ball screw assembly, constitute the ball-screw moving structure; On X-axis coordinate system base plate, be connected with outward extending welding gun by the welding gun regulating system; The R coordinate system is located at two sides in frame respectively.Its advantage is to adopt four-axle linked the welding, can realize the welding of different workpieces by numerical control programming, and is applied widely; Because adopt rush-harvesting and rush-planting two-operating positions rotary welding manner, the production efficiency height is equipped with the automatic governor motion of weld tracker and welding torch position simultaneously, can follow the tracks of weld seam automatically, thereby guaranteed the reliable and attractive in appearance of the stability of welding and weldquality.
Description
Technical field
The present invention relates to a kind of welding equipment, particularly relates to a kind of full-automatic high speed four-shaft two-operating positions rotary welding device of adopting in automobile and other mechanical industry of being particularly suitable for.
Background technology
The welding of the component of machine in other mechanical industries such as domestic automobile, engineering machinery mostly is manual welding, and labor strength is big, work under bad environment, production efficiency are low.The enterprise of minority uses welding robot to weld, but because purchase cost is too high, safeguards and use difficulty, is difficult in most of enterprises and promotes; The automatic special welding machine of four-shaft two-operating positions that domestic welding equipment manufacturer produces only adapts to the welding of various ironwares, as hollow handle of a knife, wine pot, card holder, therefore the automation welding of various handles and other class plane closed curve weld seam has the limitation of use; Another is a numerical control four-axis interlock welding robot, only with to car, the exhaust bobbin of motorcycle, the damper bobbin automatically welds, and applicable scope is limitation too too, simultaneously owing to reasons such as structure and no weld seam tracking means, can't be applicable to the welding of big workpiece, since too high to the requirement on machining accuracy of workpiece, the welding of industry workpiece such as automobile industry and engineering machinery therefore not too be applicable to, can't in automobile and other mechanical industry, widely popularize.
Summary of the invention
Purpose of the present invention just provides four-axle linked welding of a kind of employing, can realize the welding of different workpieces by numerical control programming, and applied widely, welding stability is good, the full-automatic high speed four-shaft two-operating positions rotary welding device that weldquality is good.
Technical scheme of the present invention is such: have on frame by X, y, the z system of 3 axes, wherein Y-axis coordinate system base plate is the rotary table connection on the frame, vertically be connected with the frame of Z axis coordinate system on the base plate of Y-axis coordinate system, described base plate and ball screw assembly, constitute the ball-screw moving structure; Vertically be connected with the X coordinate system on Z axis coordinate system base plate, Z axis coordinate system base plate and ball screw assembly, constitute the ball-screw moving structure; X-axis coordinate system base plate in the X coordinate system and ball screw assembly, constitute the ball-screw moving structure; On X-axis coordinate system base plate, be connected with outward extending welding gun by the welding gun regulating system; The R coordinate system is located at two sides in frame respectively, wherein duplexing positioner frock fixed disk is hinged with duplexing positioner and matches with the position of welding gun, thereby realize adopting driven by servomotor X, y, the z system of 3 axes moves to rotate with the R coordinate system realizes four-axle linked the welding, realizes the welding of different workpiece by numerical control programming.X wherein, y, the z three-coordinate is unified the R coordinate system separately, X, y, z system of 3 axes are fixed on the swinging workbench of one 180 degree, whole system of 3 axes can rotate back and forth by 180 degree, the R rotating shaft is installed on the positioner, and the double that drives positioner is rotated workpiece, always is in the welding position of level during with the assurance welding work pieces; Design symmetric double station positioner simultaneously, adopt rush-harvesting and rush-planting to weld simultaneously, a positioner is in welding, and another one positioner workpiece loading and unloading, whole welding system turn round switching on two positioners, improved the purpose of operating efficiency to greatest extent.
Adopt the welding gun regulating system to connect, weld tracker and the automatic governor motion of welding torch position respectively are housed on two weldering devices, detect the range deviation at the center and the weld seam center of welding gun by the soldering joint automatic tracking device, and drive two stepper motors by intelligent processing system, logical transmission device carry out welding gun about and the adjusting of high and low position, thereby realize the function of soldering joint automatic tracking, the correctness of appearance of weld position when having guaranteed welding.
After adopting technique scheme, control section adopts PLC four drivers able to programme and industry control touch-screen to carry out automation control, and the four system all is equipped with limit switch, can prevent contingency; Simultaneously accessory system adopts four-wheel constant speed wire feeder, and wire feed is stable, and current interruption is housed restarts, and protective gas time of delivery checkout gear waits and detects its welding process, thereby has guaranteed the reliable and attractive in appearance of the stability of welding and weldquality.
Advantage of the present invention is to adopt four-axle linked the welding, can realize the welding of different workpieces by numerical control programming, and is applied widely; Owing to adopt rush-harvesting and rush-planting two-operating positions rotary welding manner, the production efficiency height is equipped with the automatic governor motion of weld tracker and welding torch position simultaneously, can follow the tracks of weld seam automatically, and adopt four-wheel constant speed wire feed system., guaranteed the reliable and attractive in appearance of the stability of welding and weldquality.
Description of drawings
Accompanying drawing is embodiments of the invention.
Accompanying drawing 1 is a general structure diagrammatic sketch of the present invention.
Accompanying drawing 2 is rotary table configuration diagram.
Accompanying drawing 3 is configuration diagram of system of 3 axes.
Accompanying drawing 4 is front views of the automatic governor motion of welding torch position.
Accompanying drawing 5 is left views of the automatic governor motion of welding torch position.
Accompanying drawing 6 is general structure diagrammatic sketch of the automatic governor motion of welding gun.
Accompanying drawing 7 is cutaway view C-C.
Accompanying drawing 8 is cutaway view A-A.
Accompanying drawing 9 is B zoomed-in views.
Accompanying drawing 10 is vertical views of system of 3 axes.
Accompanying drawing 11 is that weld joint tracking device and welding gun connect diagrammatic sketch.
Accompanying drawing 12 is configuration diagram of double positioner.
The specific embodiment
The present invention includes rotary table 1, servomotor 2, frame 3, base plate 4, accurate rolling guide-rail pairs 5, servomotor 6, Y-axis coordinate system base plate 7, ball screw assembly, 8, gear 9, accurate rolling guide-rail pairs 10, tooth bar 11, Z coordinate system base plate 12, accurate rolling guide-rail pairs 13, ball screw assembly, 14, servomotor 15, accurate rolling guide-rail pairs 16, ball screw assembly, 17, servomotor 18, X-axis coordinate system base plate 19, crossbeam 20, the frame 21 of Z axis coordinate system, stepper motor 22, bearing 23, gear 24, stepper motor 25, ball screw assembly, 26, base plate 27, base plate 28, ball screw assembly, 29, welding gun adjusting device assembly 30, perpendicular side 31, support 32, welding gun 33, soldering joint automatic tracking device 34, double positioner 35, frock fixed disk 36, frame 37, driven in synchronism bevel gear pair 38, servomotor 39, bolt 40.
On frame 3, have by X, y, the z system of 3 axes,, wherein Y-axis coordinate system base plate 7 is rotary table 1 connections on the frame 3, drives by servomotor 2 and can carry out 180 degree revolutions, Y-axis coordinate system base plate 7 is installed on the rotary table 1 by six groups of bolts 40; On the base plate 4 of Y-axis coordinate system, vertically be connected with the frame 21 of Z axis coordinate system, described base plate 4 constitutes the ball-screw moving structure with ball screw assembly, 8, moving of Y-axis coordinate system: drive ball screw assembly, 8 by servomotor 6, drive base plate 4 and move, base plate 4 is fixed on accurate rolling guide-rail pairs 5; Vertically be connected with the X coordinate system on Z axis coordinate system base plate 12, Z axis coordinate system base plate 12 constitutes the ball-screw moving structures with ball screw assembly, 14, the moving of Z axis coordinate system: drive ball screw assembly,s 14 by servomotor 15, drive base plate 12 and move; X-axis coordinate system base plate 19 in the X coordinate system constitutes the ball-screw moving structures with ball screw assembly, 17, the moving of X-axis: drive ball screw assembly,s 17 by servomotor 18, drive base plate 19 and move, base plate 19 is fixed on the accurate rolling guide-rail pairs 16; Crossbeam 20 is fixed on above the base plate 19. On X-axis coordinate system base plate 19, be connected with outward extending welding gun 33 by the welding gun regulating system; The R coordinate system is located at two sides in frame 3 respectively, and wherein duplexing positioner 35 frock fixed disks 36 are hinged with duplexing positioner 35 and match with the position of welding gun 33.
The jointed shaft of the frock fixed disk 36 in the described duplexing positioner 35 and driven in synchronism bevel gear pair 38 constitute gear transmission structure, servomotor 39 rotates and drives 38 rotations of driven in synchronism bevel gear pair, frock fixed disk 36 is rotated, realize the rotation of R coordinate system.
Described welding gun regulating system is to be connected with crossbeam 20 on X-axis coordinate system base plate 19, on the crossbeam 20 tooth bar is arranged, and constitutes rack and pinion drive mechanism by rack and pinion 9, and described welding gun 33 is connected an end of crossbeam 20.Described crossbeam 22 has tooth bar 11, and tooth bar 11 constitutes moving structure with accurate rolling guide-rail pairs 10, and welding gun 33 is to be connected with accurate rolling guide-rail pairs 10.Be connected with bearing 23 on the described accurate rolling guide-rail pairs 10, the moving structure that is made of stepper motor 22, ball screw assembly, 29 and base plate 28 is arranged on the bearing 23, welding gun 33 is and is connected by bottom deck assembly.Be connected with perpendicular side 31 on described bottom deck assembly, welding gun 33 is to be connected with perpendicular side 31.Described base plate 4 constitutes in the ball-screw moving structure with ball screw assembly, 8, and ball screw assembly, 8 is to be connected with servomotor 6; Z axis coordinate system base plate 12 constitutes in the ball-screw moving structure with ball screw assembly, 14, and ball screw assembly, 14 is to be connected with servomotor 16; X-axis coordinate system base plate 19 in the X coordinate system constitutes in the ball-screw moving structure with ball screw assembly, 17, and ball screw assembly, 17 is to be connected with servomotor 18.
Welding gun adjusting device assembly 30 is fixed on the accurate rolling guide-rail pairs 10, but and by gear 24 and tooth bar 11 left and right adjusting distance between the two.
The welding gun regulating system: with four soket head cap screws bearing 23 is fixed on the accurate rolling guide-rail pairs 10, stepper motor 22 drives ball screw assembly, 29 drive base plates 28 and moves up and down; Stepper motor 25 drives ball screw assembly, 26 and drives base plate 27 move left and right, and perpendicular square 31 fixedly fix on the base plate 27, and welding gun 33 links with soldering joint automatic tracking device 34 and support 32, and fixes with perpendicular side 31
The double positioner: double positioner 35 is installed on the frame 37, by servomotor 39 driven in synchronism bevel gear pairs 38, thereby driving frock fixed disk 36 rotates synchronously with system of 3 axes, the frock clamp of welding work pieces is fixed on the frock fixed disk 36, when welding different parts, need to change different frocks.
Claims (7)
1. full-automatic high speed four-shaft two-operating positions rotary welding device, it is characterized in that on frame (3), having by X, y, the z system of 3 axes, wherein Y-axis coordinate system base plate (7) is rotary table (1) connection on the frame (3), vertically be connected with the frame (21) of Z axis coordinate system on the base plate (4) of Y-axis coordinate system, described base plate (4) constitutes the ball-screw moving structure with ball screw assembly, (8); Vertically be connected with the X coordinate system on Z axis coordinate system base plate (12), Z axis coordinate system base plate (12) constitutes the ball-screw moving structure with ball screw assembly, (14); X-axis coordinate system base plate (19) in the X coordinate system constitutes the ball-screw moving structure with ball screw assembly, (17); Upward be connected with outward extending welding gun (33) at X-axis coordinate system base plate (19) by the welding gun regulating system; The R coordinate system is located at two sides in frame (3) respectively, and wherein duplexing positioner (35) frock fixed disk (36) is hinged with duplexing positioner (35) and matches with the position of welding gun (33).
2. full-automatic high speed four-shaft two-operating positions rotary welding device according to claim 1, it is characterized in that described welding gun regulating system is to be connected with crossbeam (20) on X-axis coordinate system base plate (19), crossbeam has tooth bar on (20), constitute rack and pinion drive mechanism by rack and pinion (9), described welding gun (33) is connected an end of crossbeam (20).
3. full-automatic high speed four-shaft two-operating positions rotary welding device according to claim 2, it is characterized in that described crossbeam (22) has tooth bar (11), tooth bar (11) constitutes moving structure with accurate rolling guide-rail pairs (10), and welding gun (33) is to be connected with accurate rolling guide-rail pairs (10).
4. full-automatic high speed four-shaft two-operating positions rotary welding device according to claim 3, it is characterized in that being connected with on the described accurate rolling guide-rail pairs (10) bearing (23), the moving structure that is made of stepper motor (22), ball screw assembly, (29) and base plate (28) is arranged on the bearing (23), and welding gun (33) is and is connected by bottom deck assembly.
5. full-automatic high speed four-shaft two-operating positions rotary welding device according to claim 4 is characterized in that being connected with perpendicular side (31) on described bottom deck assembly, welding gun (33) is to be connected with perpendicular side (31).
6. full-automatic high speed four-shaft two-operating positions rotary welding device according to claim 1 is characterized in that the jointed shaft of the frock fixed disk (36) in the described duplexing positioner (35) and driven in synchronism bevel gear pair (38) constitute gear transmission structure.
7. full-automatic high speed four-shaft two-operating positions rotary welding device according to claim 1 is characterized in that described base plate (4) and ball screw assembly, (8) constitute in the ball-screw moving structure, and ball screw assembly, (8) is to be connected with servomotor (6); Z axis coordinate system base plate (12) constitutes in the ball-screw moving structure with ball screw assembly, (14), and ball screw assembly, (14) is to be connected with servomotor (16); X-axis coordinate system base plate (19) in the X coordinate system constitutes in the ball-screw moving structure with ball screw assembly, (17), and ball screw assembly, (17) is to be connected with servomotor (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009103035105A CN101585109A (en) | 2009-06-22 | 2009-06-22 | Full-automatic high speed four-shaft two-operating positions rotary welding device |
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| CNA2009103035105A CN101585109A (en) | 2009-06-22 | 2009-06-22 | Full-automatic high speed four-shaft two-operating positions rotary welding device |
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| CN101585109A true CN101585109A (en) | 2009-11-25 |
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| CNA2009103035105A Pending CN101585109A (en) | 2009-06-22 | 2009-06-22 | Full-automatic high speed four-shaft two-operating positions rotary welding device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102029522A (en) * | 2010-12-16 | 2011-04-27 | 北京科技大学 | Four-axis four-linkage inverted turning and milling combined machining device |
| CN102357717A (en) * | 2011-10-18 | 2012-02-22 | 中联重科股份有限公司 | Welding gun adjusting device and automatic welding machine |
| CN102513677A (en) * | 2011-12-30 | 2012-06-27 | 长城汽车股份有限公司 | Four-axis linkage automatic spot welding machine |
| CN102756223A (en) * | 2011-04-29 | 2012-10-31 | 宁波市拓新焊接技术有限公司 | Multi-station automatic welder |
| CN102794556A (en) * | 2012-08-29 | 2012-11-28 | 长城汽车股份有限公司 | Numerical control welding system |
| CN103170707A (en) * | 2013-02-04 | 2013-06-26 | 成都佳士科技有限公司 | Robot welding workstation for cylinder body |
| CN103394838A (en) * | 2013-07-20 | 2013-11-20 | 杨毅坚 | Automatic four-axis numerical-control welder |
| CN103659133A (en) * | 2013-12-04 | 2014-03-26 | 安徽巨一自动化装备有限公司 | Fixture shifting and switching unit |
| CN104526124A (en) * | 2014-12-26 | 2015-04-22 | 昆山普达盛模具有限公司 | Intelligent multi-circle annular welding equipment |
| CN104985299A (en) * | 2015-07-14 | 2015-10-21 | 哈尔滨理工大学 | Double-station automatic argon arc welding device based on CCD |
| CN105479027A (en) * | 2016-01-16 | 2016-04-13 | 芜湖安普机器人产业技术研究院有限公司 | Automatic welding device for car radiator pipeline and working method of automatic welding device |
| CN107498152A (en) * | 2017-09-06 | 2017-12-22 | 江苏菲达环保科技有限公司 | A kind of large area metal plate tool structure automatic soldering device for being classified positioning |
| CN111545869A (en) * | 2020-07-13 | 2020-08-18 | 常州凯特工业机器人有限公司 | Five-axis welding robot |
| CN111774794A (en) * | 2020-07-24 | 2020-10-16 | 佛山市福而达金属制品有限公司 | Automatic welding machine table and using method thereof |
| CN113770725A (en) * | 2021-09-18 | 2021-12-10 | 东北林业大学 | Novel stair railing elbow machining center |
| CN117798832A (en) * | 2024-02-28 | 2024-04-02 | 四川卓皓雅医疗器械有限公司 | Dental implant sand blasting device and application method thereof |
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2009
- 2009-06-22 CN CNA2009103035105A patent/CN101585109A/en active Pending
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102029522A (en) * | 2010-12-16 | 2011-04-27 | 北京科技大学 | Four-axis four-linkage inverted turning and milling combined machining device |
| CN102029522B (en) * | 2010-12-16 | 2012-07-18 | 北京科技大学 | Four-axis four-linkage inverted turning and milling combined machining device |
| CN102756223A (en) * | 2011-04-29 | 2012-10-31 | 宁波市拓新焊接技术有限公司 | Multi-station automatic welder |
| CN102756223B (en) * | 2011-04-29 | 2016-02-10 | 宁波众工互联科技有限公司 | Multi-station automatic welder |
| CN102357717B (en) * | 2011-10-18 | 2015-01-21 | 中联重机股份有限公司 | Welding gun adjusting device and automatic welding machine |
| CN102357717A (en) * | 2011-10-18 | 2012-02-22 | 中联重科股份有限公司 | Welding gun adjusting device and automatic welding machine |
| CN102513677A (en) * | 2011-12-30 | 2012-06-27 | 长城汽车股份有限公司 | Four-axis linkage automatic spot welding machine |
| CN102794556A (en) * | 2012-08-29 | 2012-11-28 | 长城汽车股份有限公司 | Numerical control welding system |
| CN102794556B (en) * | 2012-08-29 | 2015-04-22 | 长城汽车股份有限公司 | Numerical control welding system |
| CN103170707A (en) * | 2013-02-04 | 2013-06-26 | 成都佳士科技有限公司 | Robot welding workstation for cylinder body |
| CN103394838A (en) * | 2013-07-20 | 2013-11-20 | 杨毅坚 | Automatic four-axis numerical-control welder |
| CN103659133A (en) * | 2013-12-04 | 2014-03-26 | 安徽巨一自动化装备有限公司 | Fixture shifting and switching unit |
| CN103659133B (en) * | 2013-12-04 | 2016-03-02 | 安徽巨一自动化装备有限公司 | A kind of fixture deflection machine switch unit |
| CN104526124A (en) * | 2014-12-26 | 2015-04-22 | 昆山普达盛模具有限公司 | Intelligent multi-circle annular welding equipment |
| CN104985299A (en) * | 2015-07-14 | 2015-10-21 | 哈尔滨理工大学 | Double-station automatic argon arc welding device based on CCD |
| CN105479027A (en) * | 2016-01-16 | 2016-04-13 | 芜湖安普机器人产业技术研究院有限公司 | Automatic welding device for car radiator pipeline and working method of automatic welding device |
| CN107498152A (en) * | 2017-09-06 | 2017-12-22 | 江苏菲达环保科技有限公司 | A kind of large area metal plate tool structure automatic soldering device for being classified positioning |
| CN111545869A (en) * | 2020-07-13 | 2020-08-18 | 常州凯特工业机器人有限公司 | Five-axis welding robot |
| CN111774794A (en) * | 2020-07-24 | 2020-10-16 | 佛山市福而达金属制品有限公司 | Automatic welding machine table and using method thereof |
| CN113770725A (en) * | 2021-09-18 | 2021-12-10 | 东北林业大学 | Novel stair railing elbow machining center |
| CN113770725B (en) * | 2021-09-18 | 2024-01-12 | 东北林业大学 | Novel stair railing elbow machining center |
| CN117798832A (en) * | 2024-02-28 | 2024-04-02 | 四川卓皓雅医疗器械有限公司 | Dental implant sand blasting device and application method thereof |
| CN117798832B (en) * | 2024-02-28 | 2024-05-10 | 四川卓皓雅医疗器械有限公司 | Dental implant sand blasting device and application method thereof |
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Open date: 20091125 |