CN102152032B - Machine head of cutting or welding machine, and cutting or welding robot using machine head - Google Patents
Machine head of cutting or welding machine, and cutting or welding robot using machine head Download PDFInfo
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- CN102152032B CN102152032B CN201110033208.XA CN201110033208A CN102152032B CN 102152032 B CN102152032 B CN 102152032B CN 201110033208 A CN201110033208 A CN 201110033208A CN 102152032 B CN102152032 B CN 102152032B
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- cutting torch
- rotating shaft
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- torch
- swinging axle
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- 238000003466 welding Methods 0.000 title abstract description 54
- 238000009434 installation Methods 0.000 abstract 2
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The invention discloses a machine head of a cutting or welding machine, and a cutting or welding robot using the machine head. The machine head also comprises a cutting torch rotating shaft of which the axial line is arranged in a vertical direction; a cutting torch side extension arm is arranged on the lower part of the cutting torch rotating shaft along a radial direction of the cutting torch rotating shaft; one end, away from the cutting torch rotating shaft, of the cutting torch side extension arm is hinged with an installation rod for installing a cutting torch or a welding torch through a hinging shaft; the axial line of the hinging shaft is vertical to the central line of the cutting torch side extension arm; and after the cutting torch or the welding torch is arranged on the cutting torch installation rod, the central line of the cutting torch or the welding torch is intersected with an extension direction of the vertical axial line of the cutting torch rotating shaft at one point. By the invention, the problem that the cutting precision or the welding precision is low due to operation experience of workers during cutting or welding in the prior art can be solved.
Description
Technical field
The present invention relates to industry cutting and welding field, relate in particular to a kind of cutting or bonding machine head and use cutting or the welding robot of this head.
Background technology
According to disclosed workpiece welding groove cutting machine in mono-kind of Chinese patent 200910143483.X " workpiece welding groove-workpiece rotary type Numerical control cutting machine-tooled method ", this workpiece welding groove cutting machine comprises support, the side of described support is provided with cutting torch vertical (Y) to straight-line motion mechanism, described cutting torch vertical (Y) comprises longitudinal slide to straight-line motion mechanism, above described support, be provided with endless-rotating scratch diskette, the top of described endless-rotating scratch diskette is provided with the crossbeam being connected with longitudinal slide, on described crossbeam, be provided with horizontal stroke (X) to straight-line motion mechanism and cross slide, vertical (Y) forms rectangular co-ordinate (X to straight-line motion mechanism and horizontal stroke (X) to straight-line motion mechanism, Y) to motion structure, on described cross slide, be provided with cutting torch lifter, on described cutting torch lifter, be provided with this groove cutting machine head, described groove cutting machine head comprises to be used and the pendulous device that incisory cutting torch is installed, described pendulous device comprises the mounting rod of installing for cutting torch and the jointed shaft of adjusting for cutting the gradient, described pendulous device can be realized the adjustment of the workpiece welding gradient, this workpiece welding groove cutting machine is by endless-rotating scratch diskette, (X, Y) to motion structure, thereby cutting torch lifter and pendulous device are realized different-thickness, the Numerical control cutting of the welding bevel of steel plate of different angles shapes, this workpiece welding groove cutting machine is in specific operation process, by setting-out on workpiece in advance, workman aims at the setting-out of finishing in advance by experience cutting torch and cuts, cutting accuracy is not high, in the time that being changed into welding torch, cutting torch also there is the problem that welding precision is not high.
Summary of the invention
The object of the present invention is to provide a kind of cutting or bonding machine head and use cutting or the welding robot of this head, to solve prior art in cutting or welding process, workman is because the cutting accuracy that experiential operating causes is not high, the problem that welding precision is not high.
In order to address the above problem, the technical scheme of cutting of the present invention or bonding machine head is:
A kind of cutting machine head, this head also comprises the cutting torch rotating shaft that axis vertically arranges, the bottom of described cutting torch rotating shaft is along being provided with cutting torch side semi-girder away from the direction of cutting torch rotating shaft, described cutting torch side semi-girder is hinged with the mounting rod for cutting torch or welding torch are installed away from one end of cutting torch rotating shaft by jointed shaft, the axis of described jointed shaft is vertical with the center line of described cutting torch side semi-girder, and the center line after described cutting torch or welding torch are installed on cutting torch mounting rod and described cutting torch rotating shaft Axis Extension direction from top to bottom intersect at a point.
Described cutting torch rotating shaft can rotate freely along its axis, described cutting torch side semi-girder is cutting torch swinging axle, the lower end that is assemblied in cutting torch rotating shaft is rotated in one end of described cutting torch swinging axle by assembly set, between described cutting torch swinging axle and cutting torch rotating shaft, lock by cutting torch swinging axle locking member.
Described cutting torch swinging axle is assemblied in assembly set away from one end rotation of cutting torch rotating shaft.
The lower end edge axis direction of described cutting torch rotating shaft is provided with laser generator, and the laser rays of described laser generator is towards straight down.
Described head also comprises cutting torch connecting rod, described mounting rod by cutting torch rod hinge connection in described cutting torch swinging axle the one end away from cutting torch rotating shaft, described cutting torch or welding torch slidable fit are locked on described mounting rod and by head locking member.
The technical scheme of cutting of the present invention or welding robot is:
Cutting robot, comprise support, orthogonal both direction on horizontal plane is defined as respectively to directions X, Y-direction, vertical direction is defined as Z direction, on described support, be respectively arranged with cutting torch linear longitudinal movement mechanism and the horizontal straight-line motion mechanism of cutting torch along orthogonal two horizontal directions, on described cutting torch linear longitudinal movement mechanism or the horizontal straight-line motion mechanism of cutting torch, be provided with cutting torch lifter, on described lowering or hoisting gear, be provided with cutting or bonding machine head, this head also comprises the cutting torch rotating shaft that axis vertically arranges, the bottom of described cutting torch rotating shaft is along being provided with cutting torch side semi-girder away from the direction of cutting torch rotating shaft, described cutting torch side semi-girder is hinged with the mounting rod for cutting torch or welding torch are installed away from one end of cutting torch rotating shaft by jointed shaft, the axis of described jointed shaft is vertical with the center line of described cutting torch side semi-girder, center line after described cutting torch or welding torch are installed on cutting torch mounting rod and described cutting torch rotating shaft Axis Extension direction from top to bottom intersect at a point.
Described cutting torch rotating shaft can rotate freely along its axis, described cutting torch side semi-girder is cutting torch swinging axle, the lower end that is assemblied in cutting torch rotating shaft is rotated in one end of described cutting torch swinging axle by assembly set, between described cutting torch swinging axle and cutting torch rotating shaft, lock by cutting torch swinging axle locking member.
Described cutting torch swinging axle is assemblied in assembly set away from one end rotation of cutting torch rotating shaft.
The lower end edge axis direction of described cutting torch rotating shaft is provided with laser generator, and the laser rays of described laser generator is towards straight down.
Described head also comprises cutting torch connecting rod, described mounting rod by cutting torch rod hinge connection in described cutting torch swinging axle the one end away from cutting torch rotating shaft, described cutting torch or welding torch slidable fit are locked on described mounting rod and by head locking member.
The beneficial effect that the present invention produces is: cutting of the present invention or bonding machine head, comprise and cut the cutting torch rotating shaft vertically arranging, the bottom of cutting torch rotating shaft be provided with cutting torch side semi-girder along its radial direction, mounting rod is articulated with cutting torch side semi-girder one end away from cutting torch rotating shaft by jointed shaft, center line after cutting torch or welding torch are installed on cutting torch mounting rod and described cutting torch rotating shaft Axis Extension direction from top to bottom intersect at a point, this cutting or bonding machine head are assemblied on cutting or welding robot, moving towards cutting or welding according to the joining of the rotating shaft axis of the center line of cutting torch or welding torch and cutting torch rotating shaft, solve prior art workman because the cutting accuracy causing by experiential operating is not high, the problem that welding machine precision is not high.
Brief description of the drawings
Fig. 1 is cutting or the embodiment schematic diagram of bonding machine head in the present invention;
Fig. 2 is that the present invention heavily cuts or the embodiment schematic diagram of welding robot;
Fig. 3 is the left view of Fig. 2.
Detailed description of the invention
In the present invention, cutting or bonding machine head embodiment are as shown in Figure 1:
This head comprises the cutting torch rotating shaft 20 axially vertically arranging, cutting torch rotating shaft 20 can rotate freely along its axis in the present embodiment, cutting torch rotating shaft 20 also can rotate in other embodiments of the invention, above cutting torch rotating shaft 20, be provided with the power intake for power input, power intake is provided with driven gear 19, the 4th drive motors 17 coordinates to realize 360 ° of cutting torch rotating shaft 20 and rotates freely with the gear of driven gear 19 by driving gear 18, its axis of the lower end edge of cutting torch rotating shaft 20 is provided with laser generator (not marking in figure) and the head for workpiece welding or cutting, the laser rays of laser generator is towards straight down, head comprises cutting torch or welding torch and for the mounting rod 23 of cutting torch or welding torch is installed, the laser rays direction that described cutting torch or the working end of welding torch are penetrated towards laser generator, described cutting torch or the center line of welding torch, the laser rays coplanar that the rotating shaft axis of cutting torch rotating shaft 20 and laser generator penetrate arranges, the bottom of described cutting torch rotating shaft 20 is along being provided with cutting torch side semi-girder 21 away from the direction of cutting torch rotating shaft 20, cutting torch side semi-girder is horizontally disposed with in the present embodiment, be hinged with the mounting rod 23 for cutting torch or welding torch are installed in described cutting torch side semi-girder 21 one end away from cutting torch rotating shaft 20 by jointed shaft 22, the jointed shaft locking nut that jointed shaft 22 is arranged by correspondence is locked, cutting torch side semi-girder 21 is cutting torch swinging axle in the present embodiment, the lower end that is assemblied in cutting torch rotating shaft 20 is rotated in one end of described cutting torch swinging axle by assembly set, between described cutting torch swinging axle and cutting torch rotating shaft 20, lock by cutting torch swinging axle 21 locking members, described cutting torch swinging axle locking member is locking nut in the present embodiment, described cutting torch swinging axle is assemblied in assembly set away from one end rotation of cutting torch rotating shaft 20, , the swinging axle axis of described cutting torch swinging axle 21 is vertical with the jointed shaft axis of described jointed shaft 22, described head comprises cutting torch or welding torch and for the mounting rod 23 of cutting torch or welding torch is installed, mounting rod 23 is articulated with described cutting torch swinging axle one end away from cutting torch rotating shaft 20 by cutting torch connecting rod 25, described cutting torch or the center line of welding torch, the laser rays coplanar that the rotating shaft axis of cutting torch rotating shaft 20 and laser generator penetrate arranges, described cutting torch or welding torch slidable fit are locked on described mounting rod 23 and by head locking member, head locking member is locking nut in the present embodiment, the center line of cutting torch or welding torch, cut the center line of mounting rod 23, the swinging axle axis of cutting torch swinging axle 21, the laser rays coplanar that the rotating shaft axis of cutting torch rotating shaft 20 and laser generator produce arranges.
In the present invention, cutting or welding robot embodiment are as shown in Fig. 2～3:
This cutting or welding robot comprise support 4, orthogonal both direction on horizontal plane is defined as respectively to directions X, Y-direction, vertical direction is defined as Z direction, upper surface on described support is provided with cutting torch linear longitudinal movement mechanism 7 along Y-direction, on support 4, be provided with the longitudinal rail 5 assembling for cutting torch linear longitudinal movement mechanism 7, on longitudinal rail 5, be provided with longitudinal rack rails 3, the first drive motors 1 by the first gear 2 and longitudinal rack rails 3 coordinate realize cutting torch linear longitudinal movement mechanism 7 and move along Y-direction, cutting torch linear longitudinal movement mechanism 7 also comprises longitudinal slide 6, on longitudinal slide 6, be provided with along X to the horizontal straight-line motion mechanism of cutting torch and cross slide 24, the horizontal straight-line motion mechanism of cutting torch comprises transverse shifting crossbeam 8, longitudinal slide 6 is realized cooperations by the second cross slide way 12 arranging on its upper first cross slide way 11 arranging and transverse shifting crossbeam 8, the horizontal rack rails 10 that the second drive motors 9 arranges on it by cross slide 24 is realized transverse shifting crossbeam 8 moving along directions X, on the end face of transverse shifting crossbeam 8 one end, be provided with cutting torch lifter 15, cutting torch lifter 15 is realized cutting torch lifter 15 elevating movement vertically by the 3rd drive motors 13 and leading screw 14, on cutting torch lifter 15, be provided with mounting seat 16, cutting or bonding machine head are installed in mounting seat 16, cutting or bonding machine head are not described in detail as described in Example 1 herein, make cutting torch or welding torch in the rotary course of cutting torch rotating shaft 20, point to all the time laser spots by adjusting, laser spots is pointed to workpiece 26 all the time, moving towards cutting or welding according to laser spots, can improve cutting accuracy or welding precision, the first drive motors 1 of this cutting or welding robot, the second drive motors 9, the 3rd drive motors 13, the 3rd drive motors 13 is connected respectively at corresponding numerical control terminal with the 4th drive motors 17, people passes through cutting torch linear longitudinal movement mechanism 7 under the control of numerical control terminal, laterally straight-line motion mechanism 8, four members of cutting torch lifter 15 and cutting torch rotating shaft 20 are numerical control linked can cut out various shape on workpiece 26, also can carry out to workpiece 26 the groove processing of each angle, when cutting torch or welding torch are changed into sucked type machinery, this robot also can be used as article on industrial flow-line and captures robot use.
Claims (8)
1. a cutting machine head, it is characterized in that: this head also comprises the cutting torch rotating shaft that axis vertically arranges, the bottom of described cutting torch rotating shaft is provided with the cutting torch side semi-girder that along continuous straight runs extends away from cutting torch rotating shaft, described cutting torch side semi-girder is hinged with the mounting rod for cutting torch is installed away from one end of cutting torch rotating shaft by jointed shaft, the axis of described jointed shaft is vertical with the center line of described cutting torch side semi-girder, center line after described cutting torch is installed on cutting torch mounting rod and described cutting torch rotating shaft Axis Extension direction from top to bottom intersect at a point, the lower end edge axis direction of described cutting torch rotating shaft is provided with laser generator, the laser rays of described laser generator is towards straight down, the laser rays direction that the working end of described cutting torch is penetrated towards laser generator.
2. cutting machine head according to claim 1, it is characterized in that: described cutting torch rotating shaft can rotate freely along its axis, described cutting torch side semi-girder is cutting torch swinging axle, the lower end that is assemblied in cutting torch rotating shaft is rotated in one end of described cutting torch swinging axle by assembly set, between described cutting torch swinging axle and cutting torch rotating shaft, lock by cutting torch swinging axle locking member.
3. cutting machine head according to claim 2, is characterized in that: described cutting torch swinging axle is assemblied in assembly set away from one end rotation of cutting torch rotating shaft.
4. cutting machine head according to claim 1, it is characterized in that: described head also comprises cutting torch connecting rod, described mounting rod by cutting torch rod hinge connection in described cutting torch swinging axle the one end away from cutting torch rotating shaft, described cutting torch slidable fit is locked on described mounting rod and by head locking member.
5. cutting robot, comprise support, orthogonal both direction on horizontal plane is defined as respectively to directions X, Y-direction, vertical direction is defined as Z direction, on described support, be respectively arranged with cutting torch linear longitudinal movement mechanism and the horizontal straight-line motion mechanism of cutting torch along orthogonal two horizontal directions, on described cutting torch linear longitudinal movement mechanism or the horizontal straight-line motion mechanism of cutting torch, be provided with cutting torch lifter, on described lowering or hoisting gear, be provided with cutting machine head, it is characterized in that: this head also comprises the cutting torch rotating shaft that axis vertically arranges, the bottom of described cutting torch rotating shaft is provided with the cutting torch side semi-girder that along continuous straight runs extends away from cutting torch rotating shaft, described cutting torch side semi-girder is hinged with the mounting rod for cutting torch is installed away from one end of cutting torch rotating shaft by jointed shaft, the axis of described jointed shaft is vertical with the center line of described cutting torch side semi-girder, center line after described cutting torch is installed on cutting torch mounting rod and described cutting torch rotating shaft Axis Extension direction from top to bottom intersect at a point, the lower end edge axis direction of described cutting torch rotating shaft is provided with laser generator, the laser rays of described laser generator is towards straight down, the laser rays direction that the working end of described cutting torch is penetrated towards laser generator.
6. cutting robot according to claim 5, it is characterized in that: described cutting torch rotating shaft can rotate freely along its axis, described cutting torch side semi-girder is cutting torch swinging axle, the lower end that is assemblied in cutting torch rotating shaft is rotated in one end of described cutting torch swinging axle by assembly set, between described cutting torch swinging axle and cutting torch rotating shaft, lock by cutting torch swinging axle locking member.
7. cutting robot according to claim 6, is characterized in that: described cutting torch swinging axle is assemblied in assembly set away from one end rotation of cutting torch rotating shaft.
8. cutting robot according to claim 5, it is characterized in that: described head also comprises cutting torch connecting rod, described mounting rod by cutting torch rod hinge connection in described cutting torch swinging axle the one end away from cutting torch rotating shaft, described cutting torch slidable fit is locked on described mounting rod and by head locking member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110033208.XA CN102152032B (en) | 2011-01-31 | 2011-01-31 | Machine head of cutting or welding machine, and cutting or welding robot using machine head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110033208.XA CN102152032B (en) | 2011-01-31 | 2011-01-31 | Machine head of cutting or welding machine, and cutting or welding robot using machine head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102152032A CN102152032A (en) | 2011-08-17 |
| CN102152032B true CN102152032B (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110033208.XA Expired - Fee Related CN102152032B (en) | 2011-01-31 | 2011-01-31 | Machine head of cutting or welding machine, and cutting or welding robot using machine head |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476061B (en) * | 2014-10-31 | 2016-08-24 | 安徽省绩溪家德钢结构有限责任公司 | A kind of numerical control flange assembles special welding machine |
| CN104526217B (en) * | 2014-12-26 | 2017-02-22 | 上海气焊机厂有限公司 | Cutting device |
| CN104708244A (en) * | 2015-01-30 | 2015-06-17 | 李世强 | Annular 360-degree numerical control welding machine |
| CN109807520B (en) * | 2019-04-07 | 2021-06-29 | 武汉市双新汽车零部件有限公司 | Automatic welding manipulator for automobile assembly |
| CN110142887A (en) * | 2019-05-27 | 2019-08-20 | 深圳市创世纪机械有限公司 | Localization tool for carving machine |
| CN116160170B (en) * | 2023-04-25 | 2023-07-04 | 常州市鹏睿机械有限公司 | Automatic welding device for processing transformer shell |
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| US4577089A (en) * | 1981-09-28 | 1986-03-18 | Olson Gene R | Automatic welding machine |
| JP3841757B2 (en) * | 2003-01-23 | 2006-11-01 | ファナック株式会社 | Torch cable processing structure of arc welding robot |
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| CN101274399A (en) * | 2007-03-26 | 2008-10-01 | 株式会社神户制钢所 | Device for controlling workpiece positioning device |
| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN101716709A (en) * | 2009-05-27 | 2010-06-02 | 北京林克曼数控技术股份有限公司 | Machining method of workpiece welding groove-workpiece rotary type numerical control cutting machine |
| CN202015910U (en) * | 2011-01-31 | 2011-10-26 | 陈宏伟 | Cutting or welding machine nose and cutting or welding robot using same |
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2011
- 2011-01-31 CN CN201110033208.XA patent/CN102152032B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4577089A (en) * | 1981-09-28 | 1986-03-18 | Olson Gene R | Automatic welding machine |
| JP3841757B2 (en) * | 2003-01-23 | 2006-11-01 | ファナック株式会社 | Torch cable processing structure of arc welding robot |
| CN1935444A (en) * | 2006-11-06 | 2007-03-28 | 北京航空航天大学 | Intersecting line welding robot |
| CN101274399A (en) * | 2007-03-26 | 2008-10-01 | 株式会社神户制钢所 | Device for controlling workpiece positioning device |
| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
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| CN102152032A (en) | 2011-08-17 |
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| CB03 | Change of inventor or designer information |
Inventor after: Liang Xu Inventor after: Du Fuli Inventor after: Yang Lin Inventor before: Chen Hongwei |
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| TR01 | Transfer of patent right |
Effective date of registration: 20160106 Address after: The old city of Henan province Luoyang City Road 471000 No. 256 Patentee after: Luoyang Han Ding elevator machinery Co., Ltd Address before: 471000, No. eight, Xin Xin Road, Luo Xin Development Zone, Luoyang, Henan, Luoyang Patentee before: Chen Hongwei |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140702 Termination date: 20210131 |
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| CF01 | Termination of patent right due to non-payment of annual fee |