CN104249452A - Multihead five-axis ultrasonic plastic spot welding machine - Google Patents

Abstract

The invention relates to a multihead five-axis ultrasonic plastic spot welding machine. A plurality of sound heads are respectively fixed on respective servo rams, and all the sound heads are in time-sharing of a drive ram, which is connected to or separated from the servo rams through an automatic clutch. The left end and the right end of a movable cross beam are both equipped with an extension segment, which is uniformly equipped with positioning locks in the X direction to lock standby sound heads. A work sound head is driven by a driver to make numerical control displacement along the X direction and the Z direction. A workbench is composed of a cradle and a rotary table, and performs numerical control rotation around the A axis and the C axis. A cradle support is in float connection with an equipment base through a horizontal moving pair, and is driven by a numerical control driver along the Y axis to make forward and backward horizontal numerical control displacement, thus realizing movement of the sound heads and a workpiece relative to the five axes, and simultaneously realizing rapid interchange of various sound heads. And after structure optimization, the cost is low. The spot welding machine provided by the invention is suitable for rapid multipoint automatic welding of different varieties of three-dimensional space curved surfaces, and can rapidly adapt to the welding requirements of new products only by modify the program, thus realizing flexible manufacturing.

Description

Bull five axle Ultrasonic Plastic mash welder

Art

The present invention relates to a kind of mash welder, be especially applicable to the intelligent flexible multi-axis ultrasonic ripple plastics mash welder of three-dimensional space curved surface multi-point welding.

Background technology

Patent ZL201320298631.7 discloses a kind of five axle Ultrasonic Plastic mash welders, the advantage of comprehensive cradle-type five shaft mechanical machining center and planer-type five shaft mechanical machining center, again in conjunction with operation principle and the design of stress characteristic innovation structure of Ultrasonic Plastic mash welder, this invention solves the technical scheme that its technical problem adopts: sound head assembly is secondary with moved cross beam floating connection by moving horizontally, and to be driven along X-axis by digital controlled driver and do horizontal movement; Moved cross beam by vertical moving sets and planer-type movable machine frame column floating connection, and is moved up and down along the driving of W axle by driver; Planer-type movable machine frame by moving horizontally secondary and plant bottom case floating connection, and does horizontal movement by digital controlled driver along Y-axis driving; Cradle-type workbench is made up of cradle and rotating disk, cradle is direct and base is hinged, and driven around hinged axis of rotation by digital controlled driver, the rotating disk on cradle is driven around C to axis of rotation by digital controlled driver, and C is orthogonal all the time with the horizontally hinged rotating shaft of described cradle to rotating shaft.

The patent ZL201320298631.7 beneficial effect of the invention is: under the prerequisite realizing three-dimensional space curved surface intelligent multipoint flexible welding, significantly reduce equipment cost, significantly reduces simultaneously and takes up an area space, be beneficial to universal.But, often need in practical application to weld difform solder joint on a set of product, namely need the sound head changing different structure shape, and ultrasonic wave sound head is different from miscellaneous part, ultrasonic wave sound head needs to do acoustics with transducer and is coupled, and is generally adopt high-strength bolt to tighten under special process, is difficult to realize automation, even if realize automatically changing sound head after dropping into larger cost, also therefore production efficiency can be affected; Current welding manipulator generally adopts the way changing whole sound head assembly to reach the object changing sound head, and sound head modular construction complexity causes automatic catching robot manufacturing cost higher.

In addition, the Y-axis of the five axle Ultrasonic Plastic mash welders that patent ZL201320298631.7 announces moves as dynamic pole structure, although its portal frame has done light-weight design, but still have larger deadweight, if add the weight of multiple sound head for subsequent use, gross weight is bigger than normal, and center of gravity is higher, the stability causing Y-axis to be moved and mobility poor.

summary of the invention

In order to overcome the deficiency of existing Ultrasonic Plastic mash welder, the invention provides a kind of bull five axle Ultrasonic Plastic mash welder, on the one five axle Ultrasonic Plastic mash welder basis that patent ZL201320298631.7 announces, realize multi items sound head quick-replaceable, optimize stability and the mobility of Y-axis motion simultaneously.

The technical solution adopted for the present invention to solve the technical problems is: sound head ram is divided into initiatively ram and servo-actuated ram two parts, multiple sound head is separately fixed on respective servo-actuated ram, the time sharing shared active ram of all sound heads, initiatively ram and servo-actuated ram respectively by X to moving sets and moved cross beam floating connection, initiatively ram and servo-actuated ram are connected by automatic clutch or are separated, initiatively ram is driven by digital controlled driver and drives combined servo-actuated ram and sound head to do left and right horizontal numerical control displacement along X-axis, work sound head assembly is called with the synchronization-moving sound head assembly of active ram, initiatively ram be separated with servo-actuated ram after in X-direction without movement interference, now servo-actuated ram no longer moves with active ram, sound head assembly not with the movement of active ram is called sound head assembly for subsequent use, Jun You extension, two ends, moved cross beam left and right, and the effective length of extension, two ends is all more than or equal to whole sound head element width sum for subsequent use, extension, moved cross beam two ends has along X to uniform positioning lock, the X of positioning lock is more than or equal to the width of sound head assembly for subsequent use to centre-to-centre spacing, all servo-actuated rams all have the location structure matched with positioning lock, and all sound head assemblies for subsequent use are all locked on moved cross beam extension, portal frame is fixed on base rear portion, abdicates leading space and is convenient to pick and place workpiece, and moved cross beam by vertical moving sets and gantry pillar floating connection, and does lifting displacement by driver along the driving of W axle, workbench is made up of cradle support, cradle and rotating disk, rotating disk by C to revolute pair and cradle floating connection, and by digital controlled driver drive rotate around C Shaft and NC Machining Test, cradle by A to jointed shaft and cradle support hinged, and by digital controlled driver drive around A to jointed shaft numerical control rotate, C axle is orthogonal all the time with A axle, cradle support by moving horizontally secondary and plant bottom case floating connection, and does anterior-posterior horizontal numerical control displacement by digital controlled driver along Y-axis driving.

Definition " X, Y, Z axis " is based upon the linear axis that cartesian coordinate fastens, and meets right-hand rule.For vertical multi-head five axle Ultrasonic Plastic mash welder, definition X-axis is the trunnion axis of left and right directions, and Y-axis is the trunnion axis of fore-and-aft direction, and Z axis is vertical axes; Definition " Z axis " is main shaft, and namely Z axis overlaps with sound head center line, and this peripheral hardware " W axle " is parallel with Z axis.

Definition " A, B, C axle " is rotating shaft, and A axle is parallel to X-axis, and B axle is parallel to Y-axis, and C axle is perpendicular to A (or B) axle.For vertical multi-head five axle Ultrasonic Plastic mash welder, horizontal cradle rotating shaft based on A axle rotates around X-axis, C axle remains grade separation mutual to A axle as floating rotating axle, and the rotation of A axle can change the orientation of C axle, and the rotation of C axle does not change the orientation of A axle.

Described " sound head assembly " comprises sound head, ultrasonic transformer, transducer and guard housing thereof on conventional meaning, here transducer guard housing can double as servo-actuated ram, increase independent servo-actuated ram if desired, and between servo-actuated ram and transducer guard housing, increase weld cylinder (or spring) and moving sets.Preferably adopt lead screw pair serial spring to drive moved cross beam along the elevating movement of W axle, or adopt serial cylinders to drive moved cross beam along the elevating movement of W axle, independently servo-actuated ram can be saved like this, and double as servo-actuated ram with transducer guard housing.

Described " extension " refer to piecemeal activity crossbeam outside moved cross beam normal operation region (containing moving sets, drive secondary etc.), when described moved cross beam normal operation region is work sound head components welding workpiece on moved cross beam along the region of X-axis activity.

Described " clutch " in conjunction with time there is the function limiting initiatively ram and servo-actuated ram and misplace in X-direction, include but not limited to mechanical bayonet lock, the forms such as electromagnetic coupled, preferably mechanical clamping pin structure is adopted: initiatively ram has the moving sets perpendicular to X-axis, there is dop (front end refers to this component one end towards servo-actuated ram) described moving sets movable part front end, servo-actuated ram correspondence position all has the bayonet socket matched with described dop, initiatively ram is along X to after moving to servo-actuated ram position, the linear actuator be fixed on active ram drives dop to insert bayonet socket, now clutch combines, servo-actuated ram is with active ram synchronizing moving, when active ram drive servo-actuated ram move to positioning lock position, moved cross beam extension locked after, linear actuator drives dop to exit bayonet socket, now clutch separation, and servo-actuated ram does not move with active ram.Described " bayonet socket " includes but not limited to U-shaped draw-in groove, circular hole, square hole or taper hole etc., described " dop " front end is stretched into bayonet socket part and is matched to bayonet socket at X, have equivalent efficacy after described dop and bayonet socket orientation exchange, preferably dop is on active ram.

Cylinder or circular cone pin is more preferably adopted to make the dop of clutch, pin is by air cylinder driven, there is the advantages such as structure is simple, positioning and guiding is good: initiatively ram has the guide pin bushing perpendicular to X-axis, clutch air cylinder is fixed on active ram, guide pillar rear end is connected with clutch air cylinder piston rod, pin shape is made in guide pillar front end, servo-actuated ram correspondence position all has the pin hole matched with described pin, initiatively ram is along X to after moving to servo-actuated ram position, air cylinder driven pin inserts pin hole, now clutch combines, and servo-actuated ram is with active ram synchronizing moving.Even cylinder piston rod itself can be used as guide pillar during concrete enforcement, pin shape is made in its front end, directly coordinate with the pin hole on servo-actuated ram and form clutch.

Described " positioning lock " has the function limiting servo-actuated ram and moved cross beam extension and misplace in X-direction when locking, positioning lock can adopt the clamping pin structure similar with " clutch ", preferably adopt the floating clamp linked with clutch pin or elasticity positioning bead as the positioning lock of sound head assembly for subsequent use, there is structure simple, without the need to advantages such as drive.

Described clutch and positioning lock mutual linking, have at least one to be in combination or lock-out state between the two.

Described " X-axis moving sets " includes but not limited to ball line slide rail, optical axis, special-shaped slide bar, chute etc., and preferably adopt ball line slide rail, have side direction antitorque, damping is little, kinematic accuracy advantages of higher.

Preferably drive X, Y two linear axis motions by lead screw pair, can driving power be reduced, stable movement, accurate positioning; Drive A, C two rotating shaft motions by worm gear, larger disturbing moment can be overcome with smaller power.

It is preferred that from A to jointed shaft axis direction, cradle support is convex shape or L shape structure, A is positioned at protruding high point to jointed shaft, convex shape or L shape structure can alleviate cradle support weight to greatest extent, reduce equipment cost, can also avoid moved cross beam and cradle support high interference simultaneously.

The invention has the beneficial effects as follows: under the prerequisite realizing three-dimensional space curved surface intelligent multipoint flexible welding, realize multi items sound head quick-replaceable at lower cost, enhance productivity, optimize stability and the mobility of Y-axis motion simultaneously.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the present invention is further described.

Fig. 1 is the structural principle front view of the present invention's first specific embodiment.

Fig. 2 is the side direction view of Fig. 1.

Fig. 3 is that the F-F of Fig. 1 is to sectional view.

Fig. 4 is the partial enlarged drawing of Fig. 2.

Fig. 5 is the structural principle side view of the present invention's second specific embodiment.

Fig. 6, Fig. 7 are the partial enlarged drawings of Fig. 5.

Fig. 8, Fig. 9 are the partial enlarged drawings of the 3rd specific embodiment.

1. bases in figure, 2. optical axis column holds concurrently W to moving sets, 3. descend X to moving sets, 4. sound head assembly for subsequent use, 5. moved cross beam, 6.X axle lead screw pair, 7. go up X to moving sets, 8. fixed cross beam, 9.W axle servomotor, 10.W axle lead screw pair, 11. clutch air cylinders, 12. active rams, 13. clutch pins, 14.X axle servomotor, 15. servo-actuated rams, 16. work sound heads, 17.A is to jointed shaft, 18. cradle supports, 19.Y is to moving sets, 20. cradles, 21.Y axle servomotor, 22.Y axle lead screw pair, 23.A axle servomotor, 24.A axle worm gear, 25. rotating disks, 26.C axle servomotor, 27.C axle worm gear, 28. workpiece, 29.Z axle welding spring, 30. elasticity positioning beads, 31.Z axle weld cylinder, 32.W axle lift cylinder, 33. dops, 34. floating clamps, 35. stage clips, 36. push rods, 37. bayonet sockets, 38. rotating shafts.

Detailed description of the invention

In Fig. 1, Fig. 2 and Fig. 3, X-axis is left and right horizontal linear axis, and Y-axis is anterior-posterior horizontal linear axis, and Z axis is upper and lower vertical straight bobbin, and W axle is parallel to Z axis, rotating shaft based on A axle, and A axle is parallel to X-axis, and C axle is floating rotating axle, and C axle is perpendicular to A axle; In employing, sheet cold-bending channel-section steel does moved cross beam (5), Jun You extension, two ends, moved cross beam left and right, and the effective length of extension, two ends is all more than or equal to whole four groups of sound head for subsequent use (4) width sums; Moved cross beam there are two groups of X of upper and lower parallel arrangement to moving sets, four groups of sound head assemblies for subsequent use and one group of work sound head assembly pass through lower X to moving sets (3) and moved cross beam floating connection, initiatively ram (12) is by upper X to moving sets (7) and moved cross beam floating connection, and is driven along X-axis numerical control displacement by X-axis lead screw pair (6) by X-axis servomotor (14); Initiatively ram there is clutch pin (13), this clutch pin is driven up and down by the clutch air cylinder (11) be fixed on active ram, work sound head assembly is made up of the sound head that works (16) and servo-actuated ram (15), servo-actuated ram has the pin hole matched with clutch pin on active ram; Moved cross beam extension has along X to uniform elasticity positioning bead (30), the centre-to-centre spacing of elasticity positioning bead is more than or equal to the width of sound head assembly for subsequent use, and the servo-actuated ram of all sound head assemblies all has the locating hole matched with elasticity positioning bead.During work, the sound head of different structure is selected successively according to putting in order of sound head, for original state four groups of sound heads for subsequent use all in left end extension, initiatively ram is welded in conjunction with low order end one group of sound head assembly by clutch pin, after completing this bond pads, this sound head assembly is moved to moved cross beam low order end, and by this sound head assembly of elasticity positioning bead temporary locking on moved cross beam right-hand member extension, unclamp clutch pin, this work sound head is just transformed to sound head for subsequent use, drive in active ram to left end four groups sound head assembly for subsequent use above end one group of sound head assembly of keeping right, drive clutch pin descending, in conjunction with this sound head assembly, overcome the temporary locking of elasticity positioning bead to this group sound head assembly, working region is entered along X-axis displacement, this group sound head for subsequent use is just transformed to work sound head and welds, now state as shown in Figure 1, change sound head assembly by that analogy from right to left successively and complete whole welding, complete successively from left to right conversely again during the welding of next part.Portal frame is by optical axis column (2, hold concurrently W to moving sets) and top fixed cross beam (8) formation, moved cross beam by W to moving sets (2) and gantry pillar floating connection, Z axis welding spring (29) upper end is connected with W axle lead screw pair (10) nut lower end, lower spring end is connected with moved cross beam, W axle lead screw pair nut is by vertical moving sets and moved cross beam floating connection, W axle servomotor (9) welds Spring driving moved cross beam along W axial displacement by W axle lead screw pair series connection Z axis, cradle-type workbench is by cradle support (18), cradle (20) and rotating disk (25) are formed, cradle support is by Y-direction moving sets (19) and plant bottom case (1) floating connection, and drive anterior-posterior horizontal to move by Y-axis lead screw pair (22) along Y-axis by Y-axis servomotor (21), cradle is hinged to jointed shaft (17) and cradle support by A, and rotated to jointed shaft around A by A axle worm gear (24) driving by A axle servomotor (23), rotating disk on cradle is driven around himself rotating shaft 360 degree rotation by C axle worm gear (27) by C axle servomotor (26), and rotating disk own torque is orthogonal all the time to jointed shaft with A, from A to jointed shaft axis direction, cradle support is convex shape structure, and A is positioned at protruding high point to jointed shaft, and convex shape structure can alleviate cradle support weight to greatest extent, reduce equipment cost, moved cross beam (5) and cradle support high interference can also be avoided simultaneously, during work, first will workpiece (28) need that point welded rotate around C axle, the normal of this point is made to be in Y-Z plane, rotate to jointed shaft around A again, make the normal parallel of this point in Z axis, then along this pad of Y-axis translation in the X-Z plane of sound head place, directly over simultaneously along X-axis translation sound head to this pad, move down moved cross beam along W axle again, complete setting pressure welding when the reaction force of sound head after work sound head contact workpiece overcomes Z axis welding spring pressure along Z axis displacement.

Fig. 4 is the partial enlarged drawing of Fig. 2, in employing, sheet cold-bending channel-section steel does moved cross beam (5), moved cross beam there are two groups of X of upper and lower parallel arrangement to moving sets, sound head assembly for subsequent use and work sound head assembly pass through lower X to moving sets (3) and moved cross beam floating connection, moved cross beam extension have along X to uniform elasticity positioning bead (30), all servo-actuated rams all there is the locating hole matched with elasticity positioning bead, sound head assembly for subsequent use, by elasticity positioning bead temporary locking, can not depart from desired location because of equipment vibrations, clutch air cylinder (11) is fixed in active ram (12), its piston rod front end connects clutch pin (13), initiatively ram there is Z-direction guide pin bushing, the double clutch pin of guide pillar that does is through this guide pin bushing, work sound head assembly is made up of the sound head that works (16) and servo-actuated ram (15), all servo-actuated rams all there is the pin hole matched with aforementioned clutch pin, initiatively ram passes through upper X to moving sets (7) and moved cross beam floating connection, and after being displaced to the servo-actuated ram position of sound head assembly for subsequent use by X-axis lead screw pair (6) driving along X-axis numerical control by X-axis servomotor, clutch air cylinder drives clutch pin descending insertion pin hole in conjunction with servo-actuated ram, the driving force of X-axis servomotor is much larger than the temporary locking power of elasticity positioning bead, drive sound head assembly for subsequent use to enter welding job region by force and become work sound head assembly, and along the synchronous numerical control displacement of X-axis, during welding, W axle servomotor drives moved cross beam along W axial displacement by W axle lead screw pair (10) series connection Z axis welding spring (29), setting pressure welding is completed along Z axis displacement when the reaction force of sound head after work sound head contact workpiece overcomes Z axis welding spring pressure, when work sound head assembly to move to active ram positioning lock position, moved cross beam extension by the locking of elasticity positioning bead after, clutch air cylinder drives on-of pin to nail on row and exits pin hole, now initiatively ram and servo-actuated ram are in X-direction without movement interference, and this servo-actuated ram no longer moves with active ram.

In Figure 5, portal frame is by optical axis column (2, hold concurrently W to moving sets) and top fixed cross beam (8) formation, in employing, sheet cold-bending unequal angle does moved cross beam (5), moved cross beam by W to moving sets (2) and gantry pillar floating connection, W axle lift cylinder (32) front end is arranged on fixed cross beam that (described cylinder " front end " refers to cylinder piston rod one end downwards, otherwise be " tail end "), Z axis weld cylinder (31) piston rod is connected with W axle lift cylinder piston rod, and Z axis weld cylinder tail end is connected with moved cross beam; Cradle-type workbench is made up of cradle support (18), cradle (20) and rotating disk (25), cradle support by Y-direction moving sets (19) and plant bottom case (1) floating connection, and drives anterior-posterior horizontal to move by Y-axis lead screw pair (22) along Y-axis by Y-axis servomotor (21); From A to jointed shaft axis direction, the L-shaped structure of cradle support, A is positioned at protruding high point to jointed shaft, and L shape structure can alleviate cradle support weight to greatest extent, reduce equipment cost, moved cross beam (5) and cradle support high interference can also be avoided simultaneously; During work, W axle lift cylinder and Z axis weld cylinder tandem drive moved cross beam along W axial displacement, and drive that sound head is descending completes welding.

In figure 6, moved cross beam (5) extension, two ends is evenly equipped with multiple dop (33), servo-actuated ram (15) there is the floating clamp (34) linked with clutch pin (13), the bayonet socket of floating clamp front end matches to aforementioned dop at X, the push rod (36) being positioned at pin hole is fixedly connected with floating clamp rear end, and supported by stage clip (35), clutch pin is descending presses down push rod in conjunction with while servo-actuated ram, and overcome the floating clamp of stage clip elastic force pressure further, make floating clamp upper surface lower than edge under dop, now servo-actuated ram unlocks from moved cross beam extension and with active ram (12) synchronizing moving, because push rod upper end does not exceed pin hole upper surface, therefore before floating clamp unlocks with dop clutch pin first in conjunction with servo-actuated ram, sound head module position for subsequent use can be avoided out of control, in the figure 7, on-of pin nails on release push rod while row is separated servo-actuated ram, and the clamp that floats goes back up to initial position under the bounce effect of stage clip, floating clamp height is overlapped with dop, thus is locked on moved cross beam extension by servo-actuated ram.

In fig. 8, clutch air cylinder is fixed in active ram (12), its piston rod front end is made taper bolt spike and is directly doubled as clutch pin (13), servo-actuated ram (15) there is the pin hole matched with this clutch pin, moved cross beam (5) extension, two ends is evenly equipped with multiple bayonet socket (37), servo-actuated ram there is the floating clamp (34) linked with clutch pin, the dop of floating clamp front end matches to aforementioned bayonet socket at X, the clamp front weight that floats is greater than rearward weight and produces the moment (torsion spring or magnet also can be utilized to generate above-mentioned flywheel moment) making its (38) turning anticlockwise around the shaft, the push rod (36) being positioned at servo-actuated ram pin hole is fixedly connected with floating clamp, clutch pin is descending presses down push rod in conjunction with while servo-actuated ram, and overcome further floating clamp flywheel moment drive float clamp turn clockwise around the shaft, its front end dop is made to upwarp disengaging bayonet socket, now servo-actuated ram unlocks from moved cross beam extension and with active ram synchronizing moving, in fig .9, on-of pin nails on release push rod while row is separated servo-actuated ram, and the clamp that floats is turned back to initial position counterclockwise under aforementioned flywheel moment effect, dop position is overlapped with bayonet socket, thus is locked on moved cross beam extension by servo-actuated ram.

Claims (8)

1. a bull five axle Ultrasonic Plastic mash welder, by frame, workbench and many group sound head assemblies are formed, it is characterized in that: sound head ram is divided into initiatively ram and servo-actuated ram two parts, multiple sound head is separately fixed on respective servo-actuated ram, the time sharing shared active ram of all sound heads, initiatively ram and servo-actuated ram respectively by X to moving sets and moved cross beam floating connection, initiatively ram and servo-actuated ram are connected by automatic clutch or are separated, initiatively ram is driven by digital controlled driver and drives combined servo-actuated ram and sound head to do left and right horizontal numerical control displacement along X-axis, initiatively ram be separated with servo-actuated ram after in X-direction without movement interference, portal frame is fixed on base rear portion, and moved cross beam by vertical moving sets and gantry pillar floating connection, and does lifting displacement by driver along the driving of W axle, workbench is made up of cradle support, cradle and rotating disk, rotating disk by C to revolute pair and cradle floating connection, and by digital controlled driver drive rotate around C Shaft and NC Machining Test: cradle by A to jointed shaft and cradle support hinged, and driven around A to jointed shaft numerical control rotation by digital controlled driver, C axle is orthogonal all the time with A axle, cradle support by moving horizontally secondary and plant bottom case floating connection, and does anterior-posterior horizontal numerical control displacement by digital controlled driver along Y-axis driving.

2. bull five axle Ultrasonic Plastic mash welder according to claim 1, it is characterized in that: Jun You extension, two ends, moved cross beam left and right, and the effective length of extension, two ends is all more than or equal to whole sound head element width sum for subsequent use, extension, moved cross beam two ends has along X to uniform positioning lock, the X of positioning lock is more than or equal to the width of sound head assembly for subsequent use to centre-to-centre spacing, all servo-actuated ram correspondence positions all have the location structure matched with positioning lock.

3. bull five axle Ultrasonic Plastic mash welder according to claim 1, it is characterized in that: initiatively ram has the moving sets perpendicular to X-axis, there is dop described moving sets movable part front end, all servo-actuated ram correspondence positions all have the bayonet socket matched with described dop, dop matches to bayonet socket at X, moving sets movable part is driven automatically by the linear actuator be fixed on active ram, and described dop and bayonet socket orientation can exchange.

4. bull five axle Ultrasonic Plastic mash welder according to claim 1, it is characterized in that: initiatively ram has the guide pin bushing perpendicular to X-axis, clutch air cylinder is fixed on active ram, guide pin bushing internal diameter and clutch air cylinder piston rod external diameter match, cylinder or taper bolt spike are made in clutch air cylinder piston rod front end, all servo-actuated ram correspondence positions all have the pin hole matched with clutch air cylinder piston rod front end clutch pin, and clutch pin and pin hole match.

5. bull five axle Ultrasonic Plastic mash welder according to claim 1, is characterized in that: from the hinged shaft axis direction of cradle, and cradle support is convex shape or L shape structure, and the hinged rotating shaft of cradle is positioned at protruding high point.

6. bull five axle Ultrasonic Plastic mash welder according to claim 1, is characterized in that: drive X, Y two linear axis motions by lead screw pair, and screw turns, nut translation; A, C two rotating shaft motions are driven by worm gear.

7. bull five axle Ultrasonic Plastic mash welder according to claim 2, it is characterized in that: positioning lock adopts mechanical clamping pin structure, moved cross beam extension has along X to uniform dop, the X of dop is more than or equal to the width of sound head assembly for subsequent use to centre-to-centre spacing, all servo-actuated ram correspondence positions all have the floating clamp linked with clutch pin, there is the bayonet socket matched with aforementioned dop floating clamp front end, floating clamp rear end has push rod to be positioned at pin hole, and push rod upper end does not exceed pin hole upper surface, returning place force or flywheel moment is had to act on floating clamp, the direction of this returning place force or flywheel moment with drive clutch pin contrary and be less than the active force driving clutch pin in conjunction with servo-actuated ram in conjunction with the force direction of servo-actuated ram, described returning place force or flywheel moment include but not limited to elastic force, gravity and magnetic force, described dop and bayonet socket orientation can exchange.

8. bull five axle Ultrasonic Plastic mash welder according to claim 2, it is characterized in that: adopt elasticity positioning bead to do positioning lock, moved cross beam extension have along X to uniform elasticity positioning bead, the X of elasticity positioning bead is more than or equal to the width of sound head assembly for subsequent use to centre-to-centre spacing, all servo-actuated ram correspondence positions all have the locating hole matched with elasticity positioning bead.