CN102699612B - Precision five-axis double-station position changing machine - Google Patents
Precision five-axis double-station position changing machine Download PDFInfo
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- CN102699612B CN102699612B CN201210189118.4A CN201210189118A CN102699612B CN 102699612 B CN102699612 B CN 102699612B CN 201210189118 A CN201210189118 A CN 201210189118A CN 102699612 B CN102699612 B CN 102699612B
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Abstract
The invention relates to a precision five-axis double-station position changing machine. The machine comprises a rotating base, an upright post box arranged on the rotating base in a horizontal rotating mode, a first servo motor for driving the upright post box to rotate, and a first clamping device and a second clamping device which are respectively arranged on the two sides of the upright post box, wherein the first clamping device comprises a first rocker arm, a second servo motor for connecting the upright post box and the first rocker arm and driving the first rocker arm to vertically rotate, a first headstock and a first tailstock which are arranged on the first rocker arm, and a third servo motor for driving the first headstock to rotate; and the second clamping device comprises a second rocker arm, a fourth servo motor for connecting the upright post box and the second rocker arm and driving the second rocker arm to vertically rotate, a second headstock and a second tailstock which are arranged on the second rocker arm, and a fifth servo motor for driving the second headstock to rotate. Double position-changeable stations are arranged, so that a welding robot can continuously work, time consumption during production is reduced, production efficiency is improved, and rotating accuracy and repositioning accuracy are high.
Description
Technical field
The present invention relates to the precision five axle double positioner that a kind of assisted automated welding uses.
Background technology
Positioner is widely used welding equipment in automatic welding, and conventional positioner has L-type positioner, C type positioner, end to end frame positioner, positioner etc. of tumbling, and is generally single shaft or twin shaft positioner.Conventional positioner is single station positioner, and when workpiece loads and unloads (generally consuming time≤5min), welding robot must quit work, and reduces production efficiency.Along with expanding economy, enterprise has higher requirement to welding production efficiency, needs a kind of novel positioner for this reason, enables welding robot continuous operation.
Summary of the invention
The object of this invention is to provide a kind of precision five axle double positioner making welding robot continuous operation, enhance productivity.
For achieving the above object, the technical solution used in the present invention is:
A kind of accurate five axle double positioners, for assisted automated welding, described precision five axle double positioner comprise rotary table, can horizontally rotate be arranged at column casing on described rotary table, drive described in column casing the first servomotor, the first clamping device being arranged at described column casing both sides and the second clamping device that rotate;
The first described clamping device comprises the first rocking arm, connect described in column casing and the first described rocking arm and the first rocking arm described in driving vertically rotate the second servomotor, relative be arranged at first headstock on the first described rocking arm and the first tailstock, drive described in the 3rd servomotor that rotates of first headstock, the first described rocking arm, the first described headstock, the first described tailstock surround the first clamping station;
The second described clamping device comprises the second rocking arm, connect described in column casing and the second described rocking arm and the second rocking arm described in driving vertically rotate the 4th servomotor, relative be arranged at second headstock on the second described rocking arm and the second tailstock, drive described in the 5th servomotor that rotates of second headstock, the second described rocking arm, the second described headstock, the second described tailstock surround the second clamping station.
Preferably, the middle part of described column casing is provided with the arc light protecting screen of the first clamping device described in separation and the second described clamping device.
Preferably, the first described headstock comprises the first headstock body, rotate with the first described headstock body the first headstock rotating disk be connected, and the 3rd described servomotor is connected with the first described headstock rotating disk and the first headstock dial rotation described in driving; The first described tailstock comprises the first tailstock body, rotate with the first described tailstock body the first tailstock rotating disk be connected;
The second described headstock comprises the second headstock body, rotate with the second described headstock body the second headstock rotating disk be connected, and the 5th described servomotor is connected with the second described headstock rotating disk and the second headstock dial rotation described in driving; The second described tailstock comprises the second tailstock body, rotate with the second described tailstock body the second tailstock rotating disk be connected.
Preferably, the first described rocking arm, the second described rocking arm are all in " Jiong " font, the first described rocking arm, the second described rocking arm surround the first clamping station and the second clamping station respectively, the both ends of what the first described headstock was relative with the first described tailstock be arranged at the first described rocking arm, the both ends of what the second described headstock was relative with the second described tailstock be arranged at the second described rocking arm.
In use, by first workpiece to be welded after the first clamping station is clamping, the first servomotor drive column casing rotates 180 ° makes the first workpiece to be welded near welding robot to accurate five axle double positioners of the present invention.Welding robot is when welding, and link the second servomotor and the 3rd servomotor, welds the first workpiece to be welded at the first clamping station.Now, second generation welder part is carried out clamping at the second clamping station.Weld after the first workpiece to be welded completes at the first clamping station, first servomotor drive column casing rotates-180 ° again makes second generation welder part near welding robot, and interlock the 4th servomotor and the 5th servomotor weld second generation welder part at the second clamping station.Now, the welded first workpiece to be welded is disassembled from the first clamping station, continue the workpiece to be welded that clamping is follow-up, so analogize circulation, repeat clamping, welding, dismounting continuously, thus realize the continuous operation of welding robot, to improve welding efficiency.
Because technique scheme is used, the present invention compared with prior art has following advantages: the present invention is provided with the double of variable bit, can realize the continuous operation of welding robot, and saving is produced consuming time, improve production efficiency, rotating accuracy and repetitive positioning accuracy high; Meanwhile, each station can realize freely converting of workpiece to be welded, is convenient to carrying out smoothly of welding.
Accompanying drawing explanation
Accompanying drawing 1 is the stereogram of accurate five axle double positioners of the present invention.
Accompanying drawing 2 is the front view of accurate five axle double positioners of the present invention.
Accompanying drawing 3 is the top view of accurate five axle double positioners of the present invention.
Accompanying drawing 4 is the left view of accurate five axle double positioners of the present invention.
In above accompanying drawing: 1, rotary table; 2, column casing; 3, the first servomotor; 4, the first clamping device; 5, the second clamping device; 6, arc light protecting screen; 7, the first rocking arm; 8, the second servomotor; 9, first headstock; 10, the first tailstock; 11, the 3rd servomotor; 12, the first terminal pad; 13, the first headstock body; 14, the first headstock rotating disk; 15, the first tailstock body; 16, the first tailstock rotating disk; 17, the second rocking arm; 18, the 4th servomotor; 19, second headstock; 20, the second tailstock; 21, the 5th servomotor; 22, the second terminal pad; 23, the second headstock body; 24, the second headstock rotating disk; 25, the second tailstock body; 26, the second tailstock rotating disk.
Detailed description of the invention
Below in conjunction with embodiment shown in the drawings, the invention will be further described.
Embodiment one: shown in accompanying drawing 1 to accompanying drawing 4.
A kind of accurate five axle double positioners, for assisted automated welding.The first servomotor 3, relative the first clamping device 4 and the second clamping device 5 being arranged at column casing 2 both sides that are arranged at column casing 2 on rotary table 1, drive column casing 2 to rotate that accurate five axle double positioners comprise rotary table 1, can horizontally rotate, the middle part of column casing 2 is provided with the arc light protecting screen 6 of separation first clamping device 4 and the second clamping device 5.
First clamping device 4 comprises the first rocking arm 7 in " Jiong " font, connect column casing 2 with the first rocking arm 7 and the second servomotor 8, relative first headstock 9 being arranged at the both ends of the first rocking arm 7 and the first tailstock 10 that drive the first rocking arm 7 vertically to rotate, the 3rd servomotor 11 that drives first headstock 9 to rotate.The arranged outside of column casing 2 has the first terminal pad 12, first rocking arm 7 of being connected with the output shaft of the second servomotor 8 and the first terminal pad 12 to be fixedly connected and at vertical rotation in surface under the drive of the second servomotor 8.First rocking arm 7, first headstock 9, first tailstock 10 surrounds the first clamping station.
First headstock 9 comprises the first headstock body 13, rotate with the first headstock body 13 the first headstock rotating disk 14 be connected; 3rd servomotor 11 is connected with the first headstock rotating disk 14 and drives the first headstock rotating disk 14 to rotate.First tailstock 10 comprises the first tailstock body 15, rotate with the first tailstock body 15 the first tailstock rotating disk 16 be connected.First headstock rotating disk 14 is relative with the first tailstock rotating disk 16.When clamping workpiece to be welded is in this first clamping station, the 3rd servomotor 11 is rotated by drive first headstock rotating disk 14 and drives workpiece to be welded to rotate, and the first tailstock rotating disk 16 also rotates with the rotation of workpiece to be welded.When treating welder's part and welding, the first rocking arm 7 and on first headstock 9 and the rotation of the first tailstock 10 can realize the rotation of workpiece to be welded, be convenient to weld it.
Second clamping device 5 comprises the second rocking arm 17 in " Jiong " font, connect column casing 2 with the second rocking arm 17 and the 4th servomotor 18, relative second headstock 19 being arranged at the both ends of the second rocking arm 17 and the second tailstock 20 that drive the second rocking arm 17 vertically to rotate, the 5th servomotor 21 that drives second headstock 19 to rotate.The arranged outside of column casing 2 has the second terminal pad 22, second rocking arm 17 of being connected with the output shaft of the 4th servomotor 18 and the second terminal pad 22 to be fixedly connected and at vertical rotation in surface under the drive of the 4th servomotor 18.Second rocking arm 17, second headstock 19, second tailstock 20 surrounds the second clamping station.
Second headstock 19 comprises the second headstock body 23, rotate with the second headstock body 23 the second headstock rotating disk 24 be connected; 5th servomotor 21 is connected with the second headstock rotating disk 24 and drives the second headstock rotating disk 24 to rotate.Second tailstock 20 comprises the second tailstock body 25, the second tailstock rotating disk 26, second headstock rotating disk 24 that is connected of rotating with the second tailstock body 25 is relative with the second tailstock rotating disk 26.In like manner, when clamping workpiece to be welded is in this second clamping station, the 5th servomotor 21 is rotated by drive second headstock rotating disk 24 and drives workpiece to be welded to rotate, and the second tailstock rotating disk 26 also rotates with the rotation of workpiece to be welded.When treating welder's part and welding, the second rocking arm 17 and on second headstock 19 and the rotation of the second tailstock 20 can realize the rotation of workpiece to be welded, be convenient to weld it.
Accurate five axle double positioners of the present invention in use, alternately can complete welding and dismounting, clamping workpiece to be welded respectively, thus can realize the continuous operation of welding robot, improve welding efficiency between the first clamping station and the second clamping station.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (1)
1. a precision five axle double positioner, for assisted automated welding, it is characterized in that: described precision five axle double positioner comprise rotary table, can horizontally rotate be arranged at column casing on described rotary table, drive described in column casing the first servomotor, the first clamping device being arranged at described column casing both sides and the second clamping device that rotate; The middle part of described column casing is provided with the arc light protecting screen of the first clamping device described in separation and the second described clamping device;
The first described clamping device comprises the first rocking arm, connect described in column casing and the first described rocking arm and the first rocking arm described in driving vertically rotate the second servomotor, relative be arranged at first headstock on the first described rocking arm and the first tailstock, drive described in the 3rd servomotor that rotates of first headstock, the first described rocking arm, the first described headstock, the first described tailstock surround the first clamping station; The first described headstock comprises the first headstock body, rotate with the first described headstock body the first headstock rotating disk be connected, and the 3rd described servomotor is connected with the first described headstock rotating disk and the first headstock dial rotation described in driving; The first described tailstock comprises the first tailstock body, rotate with the first described tailstock body the first tailstock rotating disk be connected;
The second described clamping device comprises the second rocking arm, connect described in column casing and the second described rocking arm and the second rocking arm described in driving vertically rotate the 4th servomotor, relative be arranged at second headstock on the second described rocking arm and the second tailstock, drive described in the 5th servomotor that rotates of second headstock, the second described rocking arm, the second described headstock, the second described tailstock surround the second clamping station; The second described headstock comprises the second headstock body, rotate with the second described headstock body the second headstock rotating disk be connected, and the 5th described servomotor is connected with the second described headstock rotating disk and the second headstock dial rotation described in driving; The second described tailstock comprises the second tailstock body, rotate with the second described tailstock body the second tailstock rotating disk be connected;
The first described rocking arm, the second described rocking arm are all in " Jiong " font, the both ends of what the first described headstock was relative with the first described tailstock be arranged at the first described rocking arm, the both ends of what the second described headstock was relative with the second described tailstock be arranged at the second described rocking arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210189118.4A CN102699612B (en) | 2012-06-11 | 2012-06-11 | Precision five-axis double-station position changing machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210189118.4A CN102699612B (en) | 2012-06-11 | 2012-06-11 | Precision five-axis double-station position changing machine |
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| Publication Number | Publication Date |
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| CN102699612A CN102699612A (en) | 2012-10-03 |
| CN102699612B true CN102699612B (en) | 2015-07-15 |
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| CN201210189118.4A Active CN102699612B (en) | 2012-06-11 | 2012-06-11 | Precision five-axis double-station position changing machine |
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| CN103769790A (en) * | 2012-10-18 | 2014-05-07 | 徕斯机器人（昆山）有限公司 | Double-shaft positioner |
| CN103028870A (en) * | 2012-12-11 | 2013-04-10 | 南京熊猫电子股份有限公司 | Welding robot system |
| CN103817447B (en) * | 2014-03-06 | 2015-08-26 | 上海电气钠硫储能技术有限公司 | A kind of sodium-sulphur battery laser weld Double-station clamp |
| CN104759808A (en) * | 2015-03-16 | 2015-07-08 | 广西大学 | Multi-station welding work table |
| CN104874958A (en) * | 2015-05-27 | 2015-09-02 | 安徽普伦智能装备有限公司 | Automatic positioning welding system for box |
| CN104889660B (en) * | 2015-06-08 | 2016-06-22 | 苏州市吴中区胥口广博模具加工厂 | The clamping device of punch welding production line |
| CN104924007B (en) * | 2015-06-08 | 2016-08-17 | 苏州市吴中区胥口广博模具加工厂 | First clamping device of punch welding production line |
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| CN107538171A (en) * | 2016-06-29 | 2018-01-05 | 大连瑞嘉恒机器人有限公司 | Horizontal rotation positioner |
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| CN106346187A (en) * | 2016-11-17 | 2017-01-25 | 苏州澳冠智能装备股份有限公司 | Multi-station universal type robot welding positioner |
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| CN107598419A (en) * | 2017-09-12 | 2018-01-19 | 广州瑞松智能科技股份有限公司 | Welder |
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| CN110328487A (en) * | 2019-07-17 | 2019-10-15 | 广州创研智能科技有限公司 | A kind of positioner |
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| CN115609123B (en) * | 2022-12-20 | 2023-04-04 | 香河海潮制件有限公司 | Rotary welding device and control method thereof |
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| CN102699612A (en) | 2012-10-03 |
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