CN104308332A - Numerical control welding manipulator - Google Patents
Numerical control welding manipulator Download PDFInfo
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- CN104308332A CN104308332A CN201410440203.2A CN201410440203A CN104308332A CN 104308332 A CN104308332 A CN 104308332A CN 201410440203 A CN201410440203 A CN 201410440203A CN 104308332 A CN104308332 A CN 104308332A
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- rotating disc
- slide unit
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- welding
- numerical control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
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- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
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Abstract
The invention provides a numerical control welding manipulator and belongs to the technical field of welding equipment. The technical problem in the prior art that the welding accuracy of a welding manipulator is high is solved. The welding manipulator comprises a mounting base, wherein a rotating arm is arranged below the mounting base and comprises a rotating part and a connecting part which are fixedly connected with each other; the connecting part is positioned below the rotating part; the mounting base is connected with the rotating part through a first driving mechanism capable of driving the horizontal rotation of the rotating part; the connecting part is positioned on one side of the rotating center line of the rotating part; a lower rotating disk is arranged on the connecting part; a second driving mechanism capable of driving the rotation of the lower rotating disk is arranged on the rotating arm; a mounting frame which is used for mounting a welding gun is arranged on the lower rotating disk; the rotating central lines of the rotating part and the lower rotating disk are intersected with each other. The numerical control welding manipulator has the advantages of high welding accuracy, practicality and universality.
Description
Technical field
The invention belongs to technical field of welding equipment, relate to a kind of numerical control bonding machine tool hand.
Background technology
Numerical control bonding machine is a kind of equipment for industrial welding, and along with the fast development of computer technology, Numeric Control Technology, numerical control bonding machine technology is increasingly mature.Due to numerical control welding according to have welding quality high, labour intensity can be reduced, the advantage such as to enhance productivity, therefore obtained in all trades and professions and used widely.
Numerical control bonding machine mainly comprises the part compositions such as welding manipulator, machine driven system, welding gun.Welding gun is fixed on electroplating equipment wielding machine on hand, and machine driven system has X, Y, Z tri-direction transfer mechanism, and welding manipulator can be driven to move integrally any position to working space.The welding precision of numerical control bonding machine is an important indicator of its performance of reflection, different welding positions and welding procedure, the optimum soldering angle of welding gun is also different, therefore, in order to ensure that there is higher welding precision, when welding different welding positions, the soldering angle of Butt welding gun is needed to regulate.More existing numerical control bonding machines also have the function that angle of welding gun regulates, but still there is many deficiencies in actual process.
Particularly, as Chinese patent literature discloses a kind of five-axle linkage welding manipulator (application number: 201320269616.X), comprise, frame is arranged with two X-axis guide rails in parallel, two X-axis guide rails are respectively equipped with X-axis slide block, X-axis slide block is fixed on two corresponding column lower ends, Y-axis guide rail is fixed with between two column upper ends, Y-axis guide rail is provided with Y-axis slide block, Y-axis slide block and Z axis slide block fix, described Z axis slide block is arranged on Z axis guide rail, and described Z axis guide rail is provided with fixed support, and fixed support is provided with servomotor one and hollow rotating mechanism.Operationally, this welding manipulator controls by control system the translation that welding gun realizes X, Y, Z axis and moves, and welding gun is under the drive of servomotor one and servomotor two in addition, realizes the adjustment of welding gun soldering angle.Although this manipulator also can carry out the adjustment of welding gun soldering angle, there is a feature in this adjustment process, is exactly that while welding gun soldering angle regulates, solder joint can change thereupon.Such design, when the soldering angle of the different adjustment welding gun according to welding position, needs to be recovered by X, Y, Z transfer mechanism difference after solder joint change.So not only cause welding sequence complicated, welding efficiency is low.And difference benefit program is complicated, and technical requirement is very high, current domestic and international state-of-the-art technology is also difficult to, to ensure that the solder joint after difference benefit is positioned at accurate position, therefore often cause the actual solder joint deviation theory position of welding gun, cause welding error.Secondly, by belt transmission between the runing rest of this welding manipulator and servomotor, belt has elasticity, and after of long duration, belt there will be the situation of skidding, causes the anglec of rotation to occur deviation, affects welding precision.In addition, the driven pulley of this welding manipulator is rotatably connected in housing by bearing, bearing be against coordinating between driven pulley, housing, such set-up mode less stable, service time for a long time after, the cooperate degree between bearing and driven pulley, housing reduces, and can cause bearing's looseness, so runing rest rotates just unstable, also can cause welding error.
Summary of the invention
The object of the invention is to there are the problems referred to above for existing technology, propose a kind of numerical control bonding machine tool hand, technical problem to be solved by this invention how to improve welding precision.
Object of the present invention realizes by following technical proposal: a kind of numerical control bonding machine tool hand, this welding manipulator comprises mount pad, it is characterized in that, the below of described mount pad is provided with turning arm, described turning arm comprises the rotation section and connecting portion that are mutually connected, described connecting portion is below rotation section, driving mechanism one by rotation section can be driven to horizontally rotate between described mount pad with described rotation section is connected, described connecting portion is in rotation centerline side, rotation section, described connecting portion is provided with lower rotating disc, described turning arm is provided with the driving mechanism two that lower rotating disc can be driven to rotate, described lower rotating disc is provided with the installing rack for installing welding gun, described rotation section is crossing with the rotation centerline of described lower rotating disc.
Lower rotating disc is obliquely installed, and the angle between rotation section and lower rotating disc rotation centerline is 45 degree.Because rotation section and connecting portion are connected, driving mechanism one is when driving rotation section to rotate, and whole turning arm can rotate in the horizontal direction, thus regulates the soldering angle of welding gun from horizontal direction.Installing rack is positioned at lower rotating disc rotation centerline side, is rotated by driving mechanism two driven rotary dish, installing rack can be made overall around the rotation of rotating disc rotation centerline, realize the soldering angle regulating welding gun from incline direction.Due to the rotation section of this welding manipulator and the rotation centerline of lower rotating disc crossing, in use, welding gun is fixed on installing rack, regulate welding torch position simultaneously, rotation section can be made, the joining of both lower rotating discs rotation centerline overlaps with solder joint, so no matter how driving mechanism one, driving mechanism two regulate the angle of welding gun, the solder joint of welding gun can not change all the time, therefore added to different workpiece positions man-hour, without the need to being recovered by X, Y, Z transfer mechanism difference, welding precision improves greatly, and welding efficiency is also promoted greatly.
In above-mentioned numerical control bonding machine tool hand, described driving mechanism two comprises motor two, output shaft two and rotary flange, described motor two is fixed on connecting portion also can drive output shaft two rotation, the middle part of described rotary flange has locating hole, described output shaft two is fixedly located in described locating hole, described rotary flange has inclination installed surface down, and described lower rotating disc is fixed on this installed surface.
As preferably, motor two is servomotor, is connected with reductor with motor two, and motor two drives output shaft two rotation again through the speed change of reductor.The output shaft two of this welding manipulator is not directly be connected on rotating disc two, but power is transmitted by rotary flange between output shaft two and rotating disc two, the benefit of such design is: the locating hole in the middle part of rotary flange with between output shaft two for face, face coordinates, also for face, face coordinates between lower rotating disc with rotary flange, therefore, between rotary flange and output shaft, between lower rotating disc and rotary flange, all there is larger location area, make to locate each other very stable, output shaft two can stably drive lower rotating disc to rotate, make welding gun soldering angle modification stability reliable, greatly improve welding precision.Driving mechanism two also can be arrange motor on connecting portion, and the output shaft of motor is directly connected with lower rotating disc and drives lower rotating disc to rotate.
In above-mentioned numerical control bonding machine tool hand, the hole wall of described rotary flange locating hole offers annular groove along locating hole circumference, the expansion sleeve of annular is provided with in described annular groove, the internal perisporium resilient abutment of described expansion sleeve is on the outer wall of output shaft two, and the periphery wall resilient abutment of described expansion sleeve is on the cell wall of annular groove.Due to the elastic reaction of expansion sleeve, all mutual movement can not be produced between expansion sleeve internal perisporium and output shaft two, between expansion sleeve periphery wall and the cell wall of annular groove, the situation occurring between output shaft two and rotary flange skidding can be avoided, therefore can ensure output shaft two rotates how many angles, rotary flange is corresponding also rotates identical angle, angle of welding gun is regulated precisely, and welding precision is high.In above-mentioned numerical control bonding machine tool hand, described installing rack comprises connecting cylinder, slide unit upper plate, slide unit lower plate and slide unit cylinder, one end of described connecting cylinder tilts to be connected on lower rotating disc, the other end of described connecting cylinder is vertically connected on slide unit upper plate, described slide unit cylinder is arranged between slide unit upper plate and slide unit lower plate, this slide unit cylinder comprises the cylinder and slide unit that are mutually slidably connected, described cylinder is connected mutually with slide unit upper plate, one plate face of described slide unit lower plate is connected on slide unit, another plate face of slide unit lower plate is also provided with and is also provided with welding gun fixation kit.Angle between the center line of connecting cylinder and the rotation centerline of lower rotating disc is 45 degree.The piston rod of slide unit cylinder is connected on slide unit, and slide unit cylinder is accurate slide unit cylinder, and slide unit cylinder is prior art, can commercially directly buy, and just there is sale in the dynamo-electric Co., Ltd of inscription scholar as good in Shenzhen.Owing to having the very high guide rail of quality of fit between the cylinder of slide unit cylinder and slide unit, therefore slide unit cylinder has the excellent linearity and slip precision.The piston rod of slide unit cylinder stretches, and slide unit can be driven to move, then change welding torch position.Accurate slide unit cylinder has certain cushioning effect, welding gun tip can be made to push down workpiece all the time, when workpiece seam track is uneven, play floating tracer action, therefore make this welding manipulator have higher welding precision to common workpiece and special-shaped workpiece provisional capital.In addition, accurate slide unit cylinder makes when position while welding and welding gun receive arc, to leave position while welding during the welding gun starting the arc, has good welding precision when ensureing the welding gun starting the arc and receive arc.
In above-mentioned numerical control bonding machine tool hand, the motor one that described driving mechanism one comprises pinion, gear wheel, bearing, output shaft one, upper rotating disc and output shaft one can be driven to rotate, described motor one is arranged on mount pad, described output shaft one straight down and be connected with pinion, described gear wheel is meshed with pinion, described bearing is arranged between rotating disc and gear wheel, the inner ring of bearing is connected on mount pad, the outer ring of bearing is connected with gear wheel, upper rotating disc respectively, and the rotation section of above-mentioned turning arm is connected on described upper rotating disc.
As preferably, motor one is also connected with reductor, and the power of motor one is delivered to output shaft one again through the speed change of reductor.As preferentially, described mount pad slides and is provided with adjustable plate, described motor one is connected on adjustable plate, is also provided with the adjustment screw that adjustable plate can be driven to gear wheel far-end or near-end movement at mount pad.The accuracy of gear of this welding manipulator design is GB 7 grades, but the gear drive accuracy class high clearance issues that all there is gear and coordinate again.Therefore adjustable plate is set, gap between gear wheel and pinion can be adjusted by adjustment screw, ensure that there is between large pinion higher fit clearance precision, thus ensure welding precision, regulate rear locking adjustment screw.The operation principle of driving mechanism one is: the pinion rotation during motor one drives and exports on, thus drives bull gear drive, because the outer ring of gear wheel and upper rotating disc are connected, therefore goes up rotating disc also along with rotation.The advantage of mechanism design is: first, the mode of gears meshing transmits power, has that transmission accuracy is high, the advantage of stable transmission, can ensure that motor one drives welding gun to rotate accurate angle, ensures welding precision.Secondly, inner ring due to bearing is connected on mount pad, and the outer ring of bearing is connected with gear wheel, upper rotating disc respectively, can ensure all can not to produce between bearing and mount pad, gear wheel, upper rotating disc loosening, therefore not only bearing fixing-stable, and all stablize connection between each component and can not loosen, ensure that the moment of gear wheel stably passes to rotating disc, finally make motor one stably driven rotary arm rotation, ensure that there is higher welding precision.In addition, bearing is preferably accurate crossed roller bearing, and the Internal and external cycle end face run-out precision of accurate crossed roller bearing, Internal and external cycle circular runout precision are all within 0.01mm, very accurate.Because there is certain space length at actuating station welding gun distance gear drive position, distance is far away, and the transmission accuracy of welding gun point is poorer, and therefore the precision of accurate crossed roller bearing can head it off, guarantee welding precision.Driving mechanism one also can be arrange motor on mount pad, and the output shaft of motor is directly connected with upper rotating disc and drives rotating disc to rotate.
In above-mentioned numerical control bonding machine tool hand, the inner ring of described bearing offers some interconnecting holes along its circumference, the outer ring of bearing offers some outer connecting holes along its circumference, described mount pad offers some screwed holes one relative one by one with interconnecting hole, described gear wheel offers the screwed hole two that some and outer connecting hole is relative one by one, upper rotating disc also offers the through hole that some and outer connecting hole is relative one by one, at interconnecting hole, the bolt one that bearing inner race and mount pad are connected mutually is equipped with in screwed hole one, connecting hole outside, be equipped with between screwed hole two and through hole and make bearing outer ring, gear wheel, the bolt two that upper rotating disc is connected mutually.The quantity of interconnecting hole, outer connecting hole, screwed hole one, screwed hole one, through hole is equal, is preferably 10 ~ 14.More above-mentioned each hole is set, can ensures that between bearing, mount pad, gear wheel, upper rotating disc, cooperation is fixing more stable, ensures the accuracy that welding gun regulates, thus improves welding precision.
In above-mentioned numerical control bonding machine tool hand, described welding gun fixation kit comprises fixture block one and fixture block two, described fixture block one is connected in slide unit lower plate, described fixture block one offers jaws one, jaws two relative with jaws one on described fixture block two, is connected with the screw that can regulate spacing between the two between described fixture block one and fixture block two.Described jaws one and jaws two surround the installing hole for fixing welding gun, and the rotation centerline of the center line of installing hole, the rotation centerline of rotation section, lower rotating disc intersects at a point.Because the center line of installing hole, the rotation centerline of rotation section, the rotation centerline of lower rotating disc intersect at a point, therefore only need through the position of simple adjustment welding gun, just can realize the rotation centerline of solder joint and rotation section, the rotation centerline of lower rotating disc intersects at a point, adjustment process is simple, avoid the regulating error because loaded down with trivial details adjustment process causes, thus ensure welding precision.When installing welding gun, first wearing in installing hole by welding gun, regulating the position of welding gun, making rotation section, the joining of both lower rotating discs rotation centerline overlaps with solder joint, to realize that angle of welding gun arbitrarily regulates, solder joint is constant all the time.Spacing between this welding manipulator fixture block one and fixture block two can regulate, and therefore can be fixed for the welding gun of different size, kind, highly versatile.Preferably argon-arc welding gun is chosen as when the selection of welding gun; in fact this welding manipulator is applicable to comprising gas protective welding gun, plasma gun, plasma cutting gun, all kinds of spray guns etc.; to welding, cutting, spraying rifle without special restriction requirement, as long as be bundle of circles staight shank structure.
In above-mentioned numerical control bonding machine tool hand, described welding gun fixation kit comprises one can by anchor ear fixing for welding gun obvolvent.Anchor ear commercially directly can be bought and obtain.
In above-mentioned numerical control bonding machine tool hand, described connecting portion entirety is L-shaped, and described connecting portion from top to bottom first tilts again to lateral buckling in the rotation centerline of rotation section outside the rotation centerline of rotation section.Such design, when motor two drives installing rack to rotate, can not produce with the rotation space of installing rack and interfere, and make the 360 degree of rotations of installing rack energy, therefore the soldering angle adjustable range of welding gun increases.
In above-mentioned numerical control bonding machine tool hand, have installation cavity in described connecting portion, described motor two is arranged in described installation cavity.Such design can be avoided motor two to produce with the rotation space of installing rack interfering, make the 360 degree of rotations of installing rack energy, the adjustable range of increase soldering angle equally.
Compared with prior art, the present invention has the following advantages:
1, when needing different welding position to regulate welding gun soldering angle, because this welding manipulator not only can carry out the adjustment of welding gun soldering angle, and in the process regulated, the bond pad locations of welding gun ensures inconvenience all the time, therefore ensure that welding precision higher.
2, this welding manipulator welding gun adjustable range is large, has the advantage of practicality and highly versatile.
3, stable cooperation between each drive disk assembly of this welding manipulator, can ensure the stability in welding gun welding process, and the accuracy of welding gun soldering angle adjustment, makes this welding manipulator have higher welding precision.
4, this welding manipulator also has convenient welding, welding efficiency advantages of higher.
Accompanying drawing explanation
Fig. 1 is the perspective view of this numerical control bonding machine tool hand.
Fig. 2 is the perspective view of this numerical control bonding machine tool hand duty.
Fig. 3 is the sectional structure schematic diagram of this numerical control bonding machine tool hand.
Fig. 4 is the partial enlarged drawing of Fig. 3.
Fig. 5 is the enlarged drawing at A place in Fig. 3.
Fig. 6 is the top view of this numerical control bonding machine tool hand.
Fig. 7 is the partial exploded view of this numerical control bonding machine tool hand.
In figure, 1, mount pad; 2, turning arm; 2a, rotation section; 2b, connecting portion; 2c, installation cavity; 3, lower rotating disc; 4, installing rack; 41, connecting cylinder; 42, slide unit upper plate; 43, slide unit lower plate; 44, slide unit cylinder; 44a, cylinder; 44b, slide unit; 5, motor two; 6, output shaft two; 7, rotary flange; 71, locating hole; 72, installed surface; 73, annular groove; 8, expansion sleeve; 9, pinion; 10, gear wheel; 11, output shaft one; 12, upper rotating disc; 13, motor one; 14, bearing; 15, interconnecting hole; 16, outer connecting hole; 17, screwed hole one; 18, screwed hole two; 19, through hole; 20, bolt one; 21, bolt two; 22, fixture block one; 221, jaws one; 23, fixture block two; 231, jaws two; 24, screw; 25, welding gun; 26, reductor; 27, adjustable plate; 28, adjustment screw.
Detailed description of the invention
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiments.
Embodiment one
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 6, this numerical control bonding machine manipulator comprises mount pad 1, the below of mount pad 1 is provided with turning arm 2, turning arm 2 comprises the rotation section 2a and connecting portion 2b that are mutually connected, connecting portion 2b is positioned at below the 2a of rotation section, connecting portion 2b entirety is L-shaped, interferes in order to avoid producing with the position of welding gun 25 in welding gun 25 adjustment process, and connecting portion 2b from top to bottom first tilts again to lateral buckling in the 2a rotation centerline of rotation section outside the 2a rotation centerline of rotation section.
Driving mechanism one by rotation section 2a can be driven to horizontally rotate between mount pad 1 with rotation section 2a is connected.As shown in Figure 3 and Figure 4, this driving mechanism one comprises the motor 1 that driving mechanism one comprises pinion 9, gear wheel 10, output shaft 1, upper rotating disc 12, reductor 26 and output shaft 1 can be driven to rotate, motor 1 is arranged on mount pad 1, motor 1 is connected with output shaft 1 by reductor 26, output shaft 1 straight down and be connected with pinion 9, gear wheel 10 is meshed with pinion 9, and bearing 14 is arranged between rotating disc 12 and gear wheel 10.As preferentially, mount pad 1 offers gathering sill, slide in gathering sill and be provided with adjustable plate 27, reductor 26 and motor 1 are all connected on adjustable plate 27, are also provided with the adjustment screw 28 that adjustable plate 27 can be driven to gear wheel 10 far-end or near-end movement at mount pad 1.The accuracy of gear of this welding manipulator design is GB 7 grades, but the gear drive accuracy class high clearance issues that all there is gear and coordinate again.Therefore adjustable plate 27 is set, gap between large pinion can be adjusted by adjustment screw 28, ensure that there is between large pinion higher fit clearance precision, regulated rear locking adjustment screw 28.
The inner ring of bearing 14 is connected on mount pad 1, and the outer ring of bearing 14 is connected with gear wheel 10, upper rotating disc 12 respectively, and the rotation section 2a of turning arm 2 is connected on rotating disc 12.As shown in figs. 4 and 7, the inner ring of bearing 14 offers some interconnecting holes 15 along its circumference, the outer ring of bearing 14 offers some outer connecting holes 16 along its circumference, mount pad 1 offers some screwed holes one 17 relative one by one with interconnecting hole 15, gear wheel 10 offers the screwed hole 2 18 that some and outer connecting hole 16 is relative one by one, upper rotating disc 12 also offers some and outer connecting hole 16 through hole 19 relative one by one, at interconnecting hole 15, the bolt 1 that bearing 14 inner ring and mount pad 1 are connected mutually is equipped with in screwed hole 1, connecting hole 16 outside, be equipped with between screwed hole 2 18 and through hole 19 and make bearing 14 outer ring, gear wheel 10, the bolt 2 21 that upper rotating disc 12 is connected mutually.The quantity of interconnecting hole 15, outer connecting hole 16, screwed hole 1, screwed hole 1, through hole 19 is equal is 10 ~ 14, is preferably 12.More each hole is set, can ensures that between bearing 14, mount pad 1, gear wheel 10, upper rotating disc 12, cooperation is fixing more stable, ensures the accuracy that welding gun 25 regulates, thus improves welding precision.Inner ring due to bearing 14 is connected on mount pad 1, and the outer ring of bearing 14 is connected with gear wheel 10, upper rotating disc 12 respectively, can ensure all can not to produce between bearing 14 and mount pad 1, gear wheel 10, upper rotating disc 12 loosening, therefore not only bearing 14 fixing-stable, and all stablize connection between each component and can not loosen, ensure that the moment of gear wheel 10 stably passes to rotating disc 12, finally make motor 1 stably driven rotary arm 2 rotate, ensure there is higher welding precision.Meanwhile, bearing 14 is preferably accurate crossed roller bearing, and the Internal and external cycle end face run-out precision of accurate crossed roller bearing, Internal and external cycle circular runout precision are all within 0.01mm, very accurate.Because there is certain space length at actuating station welding gun distance gear drive position, distance is far away, and the transmission accuracy of welding gun point is poorer, and therefore the precision of accurate crossed roller bearing can head it off.
As shown in Figure 3, connecting portion 2b is positioned at 2a rotation centerline side, rotation section, and connecting portion 2b is provided with lower rotating disc 3, and lower rotating disc 3 is obliquely installed, and the angle between both rotation section 2a and lower rotating disc 3 rotation centerline is 45 degree.Turning arm 2 is provided with the driving mechanism two that lower rotating disc 3 can be driven to rotate.As shown in Figure 5, driving mechanism two comprises motor 25, output shaft 26, reductor 26 and rotary flange 7, and motor 25 is servomotor, has installation cavity 2c in connecting portion 2b, and motor 25 and reductor 26 are arranged in installation cavity 2c.Such design can be avoided motor 25 to produce with the rotation space of installing rack 4 interfering, make the 360 degree of rotations of installing rack 4 energy, the adjustable range of increase soldering angle.Motor 25 drives output shaft 26 to rotate through the speed change of reductor 26 again, the middle part of rotary flange 7 has locating hole 71, output shaft 26 is fixedly located in locating hole 71, the hole wall of rotary flange 7 locating hole 71 also offers annular groove 73 along locating hole 71 circumference, the expansion sleeve 8 of annular is provided with in annular groove 73, the internal perisporium resilient abutment of expansion sleeve 8 is on the outer wall of output shaft 26, and the periphery wall resilient abutment of expansion sleeve 8 is on the cell wall of annular groove 73.Due to the elastic reaction of expansion sleeve 8, the situation occurring between output shaft 26 and rotary flange 7 skidding can be avoided, therefore can ensure output shaft 26 rotates how many angles, and rotary flange 7 is corresponding also rotates identical angle, make welding gun 25 angular adjustment accurate, welding precision is high.Rotary flange 7 has inclination installed surface 72 down, and lower rotating disc 3 is fixed on this installed surface 72.The output shaft 26 of this welding manipulator is not directly be connected on rotating disc two, but power is transmitted by rotary flange 7 between output shaft 26 and rotating disc two, the benefit of such design is: the locating hole 71 in the middle part of rotary flange 7 with between output shaft 26 for face, face coordinates, also for face, face coordinates between lower rotating disc 3 with rotary flange 7, therefore, between rotary flange 7 and output shaft, between lower rotating disc 3 and rotary flange 7, all there is larger location area, make to locate each other very stable, output shaft 26 can stably drive lower rotating disc 3 to rotate, make welding gun 25 soldering angle modification stability reliable, greatly improve welding precision.
As shown in Figure 1, Figure 2 and Figure 3, lower rotating disc 3 is provided with the installing rack 4 for installing welding gun 25.This installing rack 4 comprises connecting cylinder 41, slide unit upper plate 42, slide unit lower plate 43 and slide unit cylinder 44, and one end of connecting cylinder 41 tilts to be connected on lower rotating disc 3, and the angle between the center line of connecting cylinder 41 and the rotation centerline of lower rotating disc 3 is 45 degree.The other end of connecting cylinder 41 is vertically connected on slide unit upper plate 42, slide unit cylinder 44 is arranged between slide unit upper plate 42 and slide unit lower plate 43, this slide unit cylinder 44 comprises the cylinder 44a and slide unit 44b that are mutually slidably connected, cylinder 44a is connected mutually with slide unit upper plate 42, one plate face of slide unit lower plate 43 is connected on slide unit 44b, and another plate face of slide unit lower plate 43 is also provided with welding gun fixation kit.The piston rod of slide unit cylinder 44 stretches, and slide unit can be driven to move, and then changes welding gun 25 position.As shown in Figure 1, welding gun 25 fixation kit comprises fixture block 1 and fixture block 2 23, described fixture block 1 is connected in slide unit lower plate 43, fixture block 1 offers jaws 1, jaws 2 231 relative with jaws 1 on fixture block 2 23, is connected with the screw 24 that can regulate spacing between the two between fixture block 1 and fixture block 2 23.Jaws 1 and jaws 2 231 surround the installing hole for fixing welding gun 25, and jaws 1 is greater than the length of jaws 2 231 along installing hole center line along the length of installing hole center line.The rotation centerline of the center line of installing hole, the rotation centerline of rotation section 2a, lower rotating disc 3 intersects at a point.Because the center line of installing hole, the rotation centerline of rotation section 2a, the rotation centerline of lower rotating disc 3 intersect at a point, therefore only common welding gun 25 need be adopted, regulate through simple, just can realize the rotation centerline of solder joint and rotation section 2a, the rotation centerline of lower rotating disc 3 intersects at a point, adjustment process is simple, avoid the regulating error because loaded down with trivial details adjustment process causes, thus ensure welding precision.
The operation principle of this welding manipulator is: first, carries out the installation of welding gun 25, first wears in installing hole by welding gun 25, regulates the position of welding gun 25, makes rotation section 2a, the joining of both lower rotating discs 3 rotation centerline overlaps with solder joint.After welding gun 25 fixes, workpiece to be processed is positioned over position suitable on workbench, switches on power.On the one hand, pinion 9 during motor 1 drives and exports on one rotates, thus drive gear wheel 10 to rotate, because the outer ring of gear wheel 10 and upper rotating disc 12 are connected, therefore go up rotating disc 12 and be fixed on rotating disc 12 also along with rotation, realize soldering angle horizontal direction regulating welding gun 25.On the other hand, motor 25 driven rotary flange 7 rotates, and lower rotating disc 3 is also along with rotation, and make installing rack 4 entirety be fixed on lower rotating disc 3, installing rack 4 entirety is rotated around rotating disc rotation centerline, realizes regulating welding gun 25 angle from incline direction.Rotation centerline due to both the rotation section 2a of this welding manipulator and lower rotating disc 3 intersects at the solder joint of welding gun 25, therefore how the soldering angle regardless of welding gun 25 regulates, the solder joint of welding gun 25 can not change all the time, therefore added to different workpiece positions man-hour, without the need to being recovered by X, Y, Z transfer mechanism difference, welding precision improves greatly, and welding efficiency is also promoted greatly.
Embodiment two
The present embodiment with the structure of embodiment one and principle substantially identical, different place is: driving mechanism one for arrange motor on mount pad 1, and the output shaft of motor is directly connected with upper rotating disc 12 and drives rotating disc 12 to rotate.
Embodiment three
The present embodiment with the structure of embodiment one or embodiment two and principle substantially identical, different place is: driving mechanism two for arrange motor on connecting portion 2b, and the output shaft of motor is directly connected with lower rotating disc 3 and drives lower rotating disc 3 to rotate.
Embodiment four
The present embodiment with the structure of embodiment one, embodiment two or embodiment three and principle substantially identical, different place is: welding gun 25 fixation kit comprises one can by anchor ear fixing for welding gun 25 obvolvent.Anchor ear commercially directly can be bought and obtain.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ 1 herein, mount pad; 2, turning arm; 2a, rotation section; 2b, connecting portion; 2c, installation cavity; 3, lower rotating disc; 4, installing rack; 41, connecting cylinder; 42, slide unit upper plate; 43, slide unit lower plate; 44, slide unit cylinder; 44a, cylinder; 44b, slide unit; 5, motor two; 6, output shaft two; 7, rotary flange; 71, locating hole; 72, installed surface; 73, annular groove; 8, expansion sleeve; 9, pinion; 10, gear wheel; 11, output shaft one; 12, upper rotating disc; 13, motor one; 14, bearing; 15, interconnecting hole; 16, outer connecting hole; 17, screwed hole one; 18, screwed hole two; 19, through hole; 20, bolt one; 21, bolt two; 22, fixture block one; 221, jaws one; 23, fixture block two; 231, jaws two; 24, screw; 25, welding gun; 26, the term such as reductor, but do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (9)
1. a numerical control bonding machine tool hand, this welding manipulator comprises mount pad (1), it is characterized in that, the below of described mount pad (1) is provided with turning arm (2), described turning arm (2) comprises the rotation section (2a) and connecting portion (2b) that are mutually connected, described connecting portion (2b) is positioned at below, rotation section (2a), driving mechanism one by rotation section (2a) can be driven to horizontally rotate between described mount pad (1) with described rotation section (2a) is connected, described connecting portion (2b) is positioned at rotation section (2a) rotation centerline side, described connecting portion (2b) is provided with lower rotating disc (3), described turning arm (2) is provided with the driving mechanism two that lower rotating disc (3) can be driven to rotate, described lower rotating disc (3) is provided with the installing rack (4) for installing welding gun (25), described rotation section (2a) is crossing with described lower rotating disc (3) both rotation centerlines.
2. numerical control bonding machine tool hand according to claim 1, it is characterized in that, described driving mechanism two comprises motor two (5), output shaft two (6) and rotary flange (7), described motor two (5) is fixed on connecting portion (2b) and above also output shaft two (6) can be driven to rotate, the middle part of described rotary flange (7) has locating hole (71), described output shaft two (6) is fixedly located in described locating hole (71), described rotary flange (7) has inclination installed surface down (72), described lower rotating disc (3) laminating is fixed on this installed surface (72).
3. numerical control bonding machine tool hand according to claim 2, it is characterized in that, the hole wall of described rotary flange (7) locating hole (71) offers annular groove (73) along locating hole (71) circumference, the expansion sleeve (8) of annular is provided with in described annular groove (73), the internal perisporium resilient abutment of described expansion sleeve (8) is on the outer wall of output shaft two (6), and the periphery wall resilient abutment of described expansion sleeve (8) is on the cell wall of annular groove (73).
4. numerical control bonding machine tool hand according to claim 3, it is characterized in that, described installing rack (4) comprises connecting cylinder (41), slide unit upper plate (42), slide unit lower plate (43) and slide unit cylinder (44), one end of described connecting cylinder (41) tilts to be connected on lower rotating disc (3), the other end of described connecting cylinder (41) is vertically connected on slide unit upper plate (42), described slide unit cylinder (44) is arranged between slide unit upper plate (42) and slide unit lower plate (43), this slide unit cylinder (44) comprises the cylinder (44a) and slide unit (44b) that are mutually slidably connected, described cylinder (44a) is connected mutually with slide unit upper plate (42), one plate face of described slide unit lower plate (43) is connected on slide unit (44b), another plate face of slide unit lower plate (43) is also provided with welding gun fixation kit.
5. numerical control bonding machine tool hand according to claim 4, it is characterized in that, described driving mechanism one comprises pinion (9), gear wheel (10), bearing (14), output shaft one (11), upper rotating disc (12) and the motor one (13) that output shaft one (11) can be driven to rotate, described motor one (13) is arranged on mount pad (1), described output shaft one (11) straight down and be connected with pinion (9), described gear wheel (10) is meshed with pinion (9), described bearing (14) is arranged between rotating disc (12) and gear wheel (10), the inner ring of bearing (14) is connected on mount pad (1), the outer ring of bearing (14) respectively with gear wheel (10), upper rotating disc (12) is connected, the rotation section (2a) of above-mentioned turning arm (2) is connected on described upper rotating disc (12).
6. numerical control bonding machine tool hand according to claim 5, it is characterized in that, the inner ring of described bearing (14) offers some interconnecting holes (15) along its circumference, the outer ring of bearing (14) offers some outer connecting holes (16) along its circumference, described mount pad (1) offers some screwed holes one (17) relative one by one with interconnecting hole (15), described gear wheel (10) offers the screwed hole two (18) that some and outer connecting hole (16) is relative one by one, upper rotating disc (12) also offers the through hole (19) that some and outer connecting hole (16) is relative one by one, in interconnecting hole (15), the bolt one (20) that bearing (14) inner ring and mount pad (1) are connected mutually is equipped with in screwed hole one (17), connecting hole (16) outside, be equipped with between screwed hole two (18) and through hole (19) and make bearing (14) outer ring, gear wheel (10), the bolt two (21) that upper rotating disc (12) is connected mutually.
7. numerical control bonding machine tool hand according to claim 6, it is characterized in that, described welding gun fixation kit comprises fixture block one (22) and fixture block two (23), described fixture block one (22) is connected in slide unit lower plate (43), described fixture block one (22) offers jaws one (221), the upper jaws two (231) relative with jaws one (221) of described fixture block two (23), is connected with the screw (24) that can regulate spacing between the two between described fixture block one (22) and fixture block two (23).
8. according to the numerical control bonding machine tool hand in claim 1 to 7 described in any one, it is characterized in that, described connecting portion (2b) is overall L-shaped, and described connecting portion (2b) from top to bottom first tilts again to lateral buckling in rotation section (2a) rotation centerline outside rotation section (2a) rotation centerline.
9. numerical control bonding machine tool hand according to claim 2, is characterized in that, has installation cavity (2c) in described connecting portion (2b), and described motor two (5) is arranged in described installation cavity (2c).
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| CN201410440203.2A CN104308332A (en) | 2014-09-01 | 2014-09-01 | Numerical control welding manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410440203.2A CN104308332A (en) | 2014-09-01 | 2014-09-01 | Numerical control welding manipulator |
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| CN105057943A (en) * | 2015-08-22 | 2015-11-18 | 浙江巨霸焊接设备制造有限公司 | Mounting structure of welding gun of welding manipulator |
| CN106583986A (en) * | 2016-12-29 | 2017-04-26 | 武汉市工程科学技术研究院 | Fine position regulating assembly for welding robot |
| CN109093237A (en) * | 2017-06-20 | 2018-12-28 | 天津玛斯特车身装备技术有限公司 | Thermoforming part welds spot welding automated system |
| CN114043140A (en) * | 2021-12-17 | 2022-02-15 | 湖北工业大学 | Rotating device for vehicle machining |
| CN114161072A (en) * | 2021-12-23 | 2022-03-11 | 湖北工业大学 | Clamping device is used in vehicle bearing processing |
| CN114750128A (en) * | 2022-06-16 | 2022-07-15 | 中铁工程服务有限公司 | Robot and duct piece assembling system |
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Application publication date: 20150128 |