CN104816112A - Five-axis linkage numerically-controlled mechanical hand welding machine - Google Patents
Five-axis linkage numerically-controlled mechanical hand welding machine Download PDFInfo
- Publication number
- CN104816112A CN104816112A CN201510136430.0A CN201510136430A CN104816112A CN 104816112 A CN104816112 A CN 104816112A CN 201510136430 A CN201510136430 A CN 201510136430A CN 104816112 A CN104816112 A CN 104816112A
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- CN
- China
- Prior art keywords
- axis
- axle
- numerical control
- welding
- servomotor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
Abstract
The invention relates to a five-axis linkage numerically-controlled mechanical hand welding machine and aims to solve the problem of welding of hardware parts, which are different in shape and complex in weld face. The five-axis linkage numerically-controlled mechanical hand welding machine is characterized by comprising an X axis arranged horizontally and a Z axis, wherein the bottom end of the Z axis is positioned on the X axis and the Z axis is perpendicular to the X axis; a Y axis module capable of moving on the Z axis vertically is arranged on the Z axis, and comprises a horizontal transverse frame; a telescopic frame moving in the Y axis direction is arranged on the horizontal transverse frame; the end part of the telescopic frame is connected with a C axis perpendicular to the Y axis; an A axis perpendicular to the C axis is arranged at the lower end of the C axis by taking the C axis as a basis; a rotary mechanical hand and a welding gun are arranged on the A axis; and a workpiece rotating platform is arranged at a position corresponding to the working part of the welding gun. By adopting the five-axis linkage numerically-controlled mechanical hand welding machine, welding of multiple workpieces can be completed in one time, and a good welding effect is achieved during welding of complicated surfaces.
Description
Technical field
The present invention relates to welding equipment technology, especially a kind of 5-shaft linkage numerical control manipulator bonding machine.
Background technology
Hardware process often need carry out welding processing to it, and due to diversity, the scrambling of hardware, traditional welding procedure is mostly by manually completing.Although manual operations is simple, higher to operator's skill set requirements, and weld seam position often occurs rat, later stage work amount is large, and efficiency is also low.The multi-axis numerical control Series Welder device designed in prior art, is mainly used in the welding to periphery, plane, some position, still few to the welding processing of complicated batch workpiece, many curve forms.If patent publication No. is CN102091851A, a kind of Three-axis linkage numerical control welding machine of design, frame is provided with Three-axis drive mechanism, welding gun is installed by Three-axis drive mechanism, and drive welding gun to assigned address according to the control instruction received, along the driving mechanism of X-axis, Y-axis, Z axis self-movement, make the movement that welding gun realizes on three-dimensional.And for example patent publication number is CN103962761A, a kind of ready-package digital-control two-head three-dimensional curve bonding machine provided, comprise three-jaw or chuck that one is used for connecting tubing or excellent class part, at least one welding support, the lower end of welding support is connected with plumb joint, the upper end of scroll chuck is connected with slewing equipment, is connected, is connected with lifting device above slewing equipment between slewing equipment with described welding support by transverse movement beam; Coordinating for rolling between welding support with described transverse movement beam, transverse movement beam being provided with the transverse movement drive unit controlling the motion of described welding support; The output of lifting device is provided with the angle-adjusting mechanism controlling welding wire direction; This device is mainly arranged on pipe part, connects for two tubings or excellent class part the continuous line welding formed.
Summary of the invention
The object of the invention is, in order to solve different, that the face of weld is complicated hardware Welding Problems, to provide a kind of reasonable in design, the multiple workpiece of disposable clamping, the five-shaft numerical control once welded machinery hand bonding machine.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals: a kind of 5-shaft linkage numerical control manipulator bonding machine, it is characterized in that comprising horizontally disposed X-axis, bottom is positioned at Z axis in X-axis and vertical with X-axis, Z axis is provided with the Y-axis module that can move up and down along Z axis, Y-axis module comprises horizontal crossbearer, be provided with the expansion bracket along Y direction movement in horizontal crossbearer, expansion bracket end connects the C axle vertical with Y-axis; Based on C axle, be provided with the A axle vertical with C axle in C axle lower end, A axle is provided with rotary machine hand and connects welding gun; Workpiece turntable is provided with corresponding to welding gun working position.
The technical program cooperating platform (i.e. fixed frame) is by the linear drives module of X-axis, Y-axis, Z axis, and C axle rotating mechanism, A axle rotating mechanism and work piece holder turntable realize task jointly.Wherein, Y-axis place module is based upon on the basis of Z axis place module, and Z axis module is based upon on the basis of X-axis place module, and X-axis is arranged in frame, C axle rotating mechanism is arranged on the basis of Y-axis place module, and A axle rotating mechanism is arranged on the basis of C axle rotating mechanism.Welding gun is arranged on below binding clasp that A axle is arranged, rotates, carry out operation to welding position centered by A axle.
As preferably, Z axis is placed in vertical type shelf, and the lower end of vertical type shelf is provided with X-axis slide block, and X-axis is placed in Y-axis module, and Y-axis module is provided with the X-axis guide rail coordinated with slide block.
As preferably, be provided with driving screw mandrel in described Y-axis module, in vertical type shelf, bottom is provided with and the drive nut driving screw mandrel to coordinate.
As preferably, described vertical type shelf top is provided with servomotor, and described servomotor drives the driving screw mandrel be arranged in vertical type shelf by Timing Belt.
As preferably, described horizontal crossbearer is tubular structure, is provided with guide rail in Y-axis module in horizontal crossbearer, and expansion bracket is provided with the Y-axis module inner slide coordinated with guide rail in described Y-axis module.
As preferably, be provided with servomotor below the horizontal crossbearer one end in described Y-axis module, this servomotor coordinates with the driving screw mandrel of expansion bracket tail end.
As preferably, be also provided with Y-axis servomotor below the described horizontal crossbearer of Y-axis module, Z axis servomotor drives Z axis to move by the screw mandrel in Z axis Timing Belt and vertical type shelf.Y-axis mould composition level is based upon on the basis of Z axis.
As preferably, described A axle is perpendicular to C axle, parallel with X-axis, and A axle rotary machine hand provides the spinning movement that welding gun is pivot with A axle.
Effective effect of the present invention is: by the multiple workpiece of clamping disposable in welding gun scope of activities, the disposable welding job completing multiple workpiece; By the linkage structure of five-shaft numerical control machinery hand, can weld complex-curved, flexibility is high, and can guarantee welding quality; The welding campaign of rotation arbitrarily can be done relative to curved surface, make tip maintenance relative to the forward leaning angle of curved surface, obtain good welding effect; Can automated job be realized, reduce labor intensity of operating staff, and applied widely, security good.
Accompanying drawing explanation
Fig. 1 is a kind of perspective view of the present invention.
Fig. 2 is the main TV structure schematic diagram of one of the present invention.
Fig. 3 is the plan structure schematic diagram of Fig. 2 of the present invention.
In figure: 1. X-axis Timing Belt, 2. X-axis servomotor, 3. slide block, 4. guide rail, 5. vertical type shelf, 6. Z axis servomotor, 7. Z axis Timing Belt, 8. Y-axis module, 9. Y-axis servomotor, 10. C axle servomotor, 11. A axle Timing Belts, 12. welding guns, 13. workpiece, 14. workpiece turntables, 15. workpiece frames, 16. welding gun frames, 17. Z axis slide blocks, 18. Z axis guide rails, 19. Y-axis Timing Belts, 20. Y-axis servomotors, guide rail in 21. Y-axis modules, 22. Y-axis module inner slides, 23. expansion brackets, 24. rotary machine hands.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
A kind of 5-shaft linkage numerical control manipulator of the present embodiment bonding machine, see Fig. 1 to Fig. 3, is provided with two frames, one be that welding gun frame 16, two is workpiece frames 15, X, Y, Z, A, C five axle all come by respective module driving mechanism.
Welding gun frame 16 first arranges horizontally disposed X-axis module driving mechanism, and X-axis module driving mechanism comprises horizontally disposed driving screw mandrel, drives screw mandrel to realize displacement by X-axis servomotor 2 through X-axis Timing Belt 1.The Z axis module driving mechanism vertical with X-axis, bottom is provided with the nut coordinated with the driving screw mandrel in X-axis, and carries out mobile guide by X-axis slide block 3, X-axis guide rail 4 on a mating.
On Z axis, Z axis servomotor 6 is equipped with at Z axis module driving mechanism top, and Z axis servomotor 6 drives the driving screw mandrel in it by Z axis Timing Belt 7.Guide pass is equipped with in Z axis module driving mechanism side, guide pass is provided with Z axis guide rail 18, this guide pass is arranged the Y-axis module 8 that can move up and down along Z axis, Y-axis module 8 comprises horizontal crossbearer, and the end of horizontal crossbearer is provided with the Z axis slide block 17 coordinated with Z axis guide rail 18.Horizontal crossbearer is tubular structure, and arranges retractable expansion bracket in its one end along Y-axis.Particularly, horizontal crossbearer inside is provided with guide rail 21 in Y-axis module.Y-axis module 8 is provided with the Y-axis servomotor 20 of drive nut, and the driving screw mandrel that Y-axis servomotor 20 is connected with expansion bracket tail end coordinates.Be provided with servomotor 9 below horizontal crossbearer in Y-axis module 8, drive screw mandrel to do spinning movement by Y-axis Timing Belt 19.
Expansion bracket is provided with the Y-axis module inner slide 22 coordinated with guide rail 21 in Y-axis module.Expansion bracket end connects one and has vertical direction C axle, and plumb joint top is provided with C axle servomotor 10, C axle servomotor 10 provides C axle driving mechanism to rotate centered by C axle, and the C axle anglec of rotation reaches positive and negative 180 degree.It is positive and negative 90 degree that C axle lower end is provided with welding gun 12, the A axle anglec of rotation connected by A axle rotating mechanism.A axle is vertical with C axle, and A axle rotating mechanism is provided with servomotor, drives the folder rifle spindle nose in A axle rotating mechanism to rotate by A axle Timing Belt 11.
Correspond to welding gun working position installation workpiece turntable 14, according to the size of the design parameter setting workpiece turntable 14 of single unit system, be used for fixing multiple workpiece 13.
The controller of Five Axis CNC System is arranged in frame 16 by this device, and arranges display screen, and operation is directly perceived.Be applied in argon arc welding technique, in welding process, automatically add silk, welded workpiece surfacing brilliance, reliable welding quality, postwelding scarfing cinder treating capacity is little.
Above-described embodiment is to explanation of the present invention, is not limitation of the invention, anyly all belongs to protection scope of the present invention to the structure after simple transformation of the present invention, method.
Claims (8)
1. a 5-shaft linkage numerical control manipulator bonding machine, it is characterized in that comprising horizontally disposed X-axis, bottom is positioned at Z axis in X-axis and vertical with X-axis, Z axis is provided with the Y-axis module (8) that can move up and down along Z axis, Y-axis module comprises horizontal crossbearer, be provided with the expansion bracket (23) along Y direction movement in horizontal crossbearer, expansion bracket end connects the C axle vertical with Y-axis; Based on C axle, be provided with the A axle vertical with C axle in C axle lower end, A axle is provided with rotary machine hand (24) and connects welding gun (12); Workpiece turntable (14) is provided with corresponding to welding gun working position.
2. a kind of 5-shaft linkage numerical control manipulator bonding machine according to claim 1, it is characterized in that described Z axis is placed in vertical type shelf (5), the lower end of vertical type shelf is provided with X-axis slide block (3), and X-axis is placed in Y-axis module (8), and Y-axis module is provided with the X-axis guide rail (4) coordinated with slide block.
3. a kind of 5-shaft linkage numerical control manipulator bonding machine according to claim 2, is characterized in that being provided with driving screw mandrel in described Y-axis module (8), and in vertical type shelf (5), bottom is provided with and the drive nut driving screw mandrel to coordinate.
4. a kind of 5-shaft linkage numerical control manipulator bonding machine according to claim 3, is characterized in that described vertical type shelf (5) top is provided with servomotor, and described servomotor drives the driving screw mandrel be arranged in vertical type shelf by Timing Belt.
5. a kind of 5-shaft linkage numerical control manipulator bonding machine according to claim 1 or 2 or 3 or 4, it is characterized in that described horizontal crossbearer is tubular structure, be provided with guide rail (21) in Y-axis module in horizontal crossbearer, expansion bracket is provided with the Y-axis module inner slide (22) coordinated with guide rail in described Y-axis module.
6. a kind of 5-shaft linkage numerical control manipulator bonding machine according to claim 5, it is characterized in that being provided with servomotor below the horizontal crossbearer one end in described Y-axis module (8), this servomotor coordinates with the driving screw mandrel of expansion bracket tail end.
7. a kind of 5-shaft linkage numerical control manipulator bonding machine according to claim 5, it is characterized in that also being provided with Y-axis servomotor (9) below described Y-axis module (8) horizontal crossbearer, Z axis servomotor (6) drives Z axis to move by Z axis Timing Belt (7) and the screw mandrel in vertical type shelf (5).
8. a kind of 5-shaft linkage numerical control manipulator bonding machine according to claim 1 or 2 or 3 or 4, it is characterized in that described A axle is perpendicular to C axle, parallel with X-axis, A axle rotary machine hand (24) provides the spinning movement that welding gun (12) is pivot with A axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510136430.0A CN104816112A (en) | 2015-03-27 | 2015-03-27 | Five-axis linkage numerically-controlled mechanical hand welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510136430.0A CN104816112A (en) | 2015-03-27 | 2015-03-27 | Five-axis linkage numerically-controlled mechanical hand welding machine |
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| Publication Number | Publication Date |
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| CN104816112A true CN104816112A (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510136430.0A Pending CN104816112A (en) | 2015-03-27 | 2015-03-27 | Five-axis linkage numerically-controlled mechanical hand welding machine |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105562512A (en) * | 2016-02-25 | 2016-05-11 | 山东蓝天首饰有限公司 | Automatic sand nailing machine |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN106002026A (en) * | 2016-07-16 | 2016-10-12 | 江苏瑞伯特智能科技股份有限公司 | Automatic five-axis welding manipulator |
| CN106624510A (en) * | 2016-12-09 | 2017-05-10 | 昆山拓誉自动化科技有限公司 | Multi-shaft multi-station full-automatic welding equipment |
| CN106697832A (en) * | 2015-11-17 | 2017-05-24 | 无锡同联机电工程有限公司 | Fast model-replacing device and method applied to automatic production line |
| CN107243685A (en) * | 2017-08-08 | 2017-10-13 | 安庆帆盛机电科技有限公司 | A kind of six-axis linkage material controlling manipulator |
| CN107335935A (en) * | 2017-07-17 | 2017-11-10 | 苏州晓炎自动化设备有限公司 | A kind of welding system for vehicle dormer window |
| CN107470996A (en) * | 2017-09-18 | 2017-12-15 | 钟斌海 | A kind of processing unit (plant) and processing method of fine alloy material |
| CN107627052A (en) * | 2017-08-28 | 2018-01-26 | 浙江斯柯特科技有限公司 | A kind of welding manipulator |
| CN108213136A (en) * | 2017-12-28 | 2018-06-29 | 齐齐哈尔二机床(集团)有限责任公司 | A kind of laser pivot angle head for five-axle linkage flexibility heat forming equipment |
| CN109483027A (en) * | 2018-11-22 | 2019-03-19 | 无锡市迪索数控焊接设备有限公司 | A kind of full-automatic tube plate welder |
| CN109894778A (en) * | 2019-03-28 | 2019-06-18 | 青岛康润源工贸有限公司 | Hoisting type roller processing unit (plant) |
| CN110666306A (en) * | 2019-11-12 | 2020-01-10 | 成都环龙智能机器人有限公司 | High-precision five-axis argon arc welding machine |
| CN111715962A (en) * | 2020-06-23 | 2020-09-29 | 安徽三优光电科技有限公司 | Wire bonding machine for SMD electronic component and working method |
| CN115770986A (en) * | 2022-11-30 | 2023-03-10 | 常州宝奇电源科技有限公司 | Welding machine for LED switch production |
| CN115846956A (en) * | 2022-12-16 | 2023-03-28 | 苏州晴森汽车部件有限公司 | Positioning device for production welding of automotive interior parts |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697832A (en) * | 2015-11-17 | 2017-05-24 | 无锡同联机电工程有限公司 | Fast model-replacing device and method applied to automatic production line |
| CN105562512A (en) * | 2016-02-25 | 2016-05-11 | 山东蓝天首饰有限公司 | Automatic sand nailing machine |
| CN105855769B (en) * | 2016-06-08 | 2019-06-25 | 江门金力五金实业有限公司 | A kind of Intelligent welding robot |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN106002026A (en) * | 2016-07-16 | 2016-10-12 | 江苏瑞伯特智能科技股份有限公司 | Automatic five-axis welding manipulator |
| CN106624510A (en) * | 2016-12-09 | 2017-05-10 | 昆山拓誉自动化科技有限公司 | Multi-shaft multi-station full-automatic welding equipment |
| CN107335935A (en) * | 2017-07-17 | 2017-11-10 | 苏州晓炎自动化设备有限公司 | A kind of welding system for vehicle dormer window |
| CN107243685A (en) * | 2017-08-08 | 2017-10-13 | 安庆帆盛机电科技有限公司 | A kind of six-axis linkage material controlling manipulator |
| CN107627052A (en) * | 2017-08-28 | 2018-01-26 | 浙江斯柯特科技有限公司 | A kind of welding manipulator |
| CN107470996A (en) * | 2017-09-18 | 2017-12-15 | 钟斌海 | A kind of processing unit (plant) and processing method of fine alloy material |
| CN108213136A (en) * | 2017-12-28 | 2018-06-29 | 齐齐哈尔二机床(集团)有限责任公司 | A kind of laser pivot angle head for five-axle linkage flexibility heat forming equipment |
| CN109483027A (en) * | 2018-11-22 | 2019-03-19 | 无锡市迪索数控焊接设备有限公司 | A kind of full-automatic tube plate welder |
| CN109894778A (en) * | 2019-03-28 | 2019-06-18 | 青岛康润源工贸有限公司 | Hoisting type roller processing unit (plant) |
| CN110666306A (en) * | 2019-11-12 | 2020-01-10 | 成都环龙智能机器人有限公司 | High-precision five-axis argon arc welding machine |
| CN111715962A (en) * | 2020-06-23 | 2020-09-29 | 安徽三优光电科技有限公司 | Wire bonding machine for SMD electronic component and working method |
| CN115770986A (en) * | 2022-11-30 | 2023-03-10 | 常州宝奇电源科技有限公司 | Welding machine for LED switch production |
| CN115770986B (en) * | 2022-11-30 | 2024-03-22 | 常州宝奇电源科技有限公司 | Welding machine for LED switch production |
| CN115846956A (en) * | 2022-12-16 | 2023-03-28 | 苏州晴森汽车部件有限公司 | Positioning device for production welding of automotive interior parts |
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Application publication date: 20150805 |