CN105057944A - Lifting structure of welding manipulator vertical shaft - Google Patents
Lifting structure of welding manipulator vertical shaft Download PDFInfo
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- CN105057944A CN105057944A CN201510520806.8A CN201510520806A CN105057944A CN 105057944 A CN105057944 A CN 105057944A CN 201510520806 A CN201510520806 A CN 201510520806A CN 105057944 A CN105057944 A CN 105057944A
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- vertical shaft
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- shaft
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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
-
- 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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Abstract
The invention provides a lifting structure of a welding manipulator vertical shaft and belongs to the technical field of welding. The technical problem that as the precision of an existing lifting structure of a welding manipulator vertical shaft is poor, the welding quality is low is solved. A welding manipulator comprises a lifting base; the vertical shaft vertically penetrates through the lifting base and can freely move vertically. The lifting structure of the welding manipulator vertical shaft comprises a motor, a worm and gear reduction box and a gear, wherein the worm and gear reduction box is fixed outside the lifting base; a rotary shaft is arranged inside the lifting base; the gear is fixed to the rotary shaft; one end of the rotary shaft is connected to the lifting base; the rotary shaft can rotate along the axis line of the rotary shaft; the other end of the rotary shaft penetrates out of the lifting base to be connected with an output shaft of the worm and gear reduction box; the motor is fixed to the worm and gear reduction box; the shaft face of the vertical shaft is fixedly provided with a rack engaged with the gear in the axial direction of the vertical shaft; gear teeth, engaged with the rack, of the gear keep abutting against the tooth faces of the corresponding upward teeth on the rack. The lifting structure of the welding manipulator vertical shaft has the advantage of improving the welding precision.
Description
Technical field
The invention belongs to welding technology field, relate to a kind of welding manipulator, particularly a kind of lifting structure of welding manipulator vertical shaft.
Background technology
At present, in business organization's production, need the coupling part of some metalworks or metallic plate to be fixed connection, namely weld.The general mode adopting human weld of welding, but human weld's efficiency is low, cost is higher, the mode of production of pipeline system cannot be adapted to, therefore, automatic welding machinery hand arises at the historic moment, and welding manipulator can design according to actual production demand, there is production efficiency high, the advantage of welding quality stable.
Welding manipulator generally has multiple free degree, realizes moving freely of manipulator by multiple rocking arm, and the rocking arm being positioned at end is connected with a vertical shaft, and this vertical shaft can move along the vertical direction, and welding gun is then fixed on the lower end of vertical shaft.Such as welding manipulator disclosed in Chinese patent literature [Authorization Notice No. CN201371332Y], by motor direct-drive pinion rotation in this patent, moved up and down by gear driven vertical shaft, this structure controls the movement of vertical shaft by means of only the rotation of motor, control accuracy is poor, control accuracy easily loses step, when welding, vertical shaft is actionless, motor is without auto-lock function, long-time energising is needed to make the motor shaft of motor keep the state of not rotating, the state being motor in electric current appearance fluctuation also can be unstable, thus vertical shaft can be caused to there will be the situation of movement, the quality of welding is have impact on when welding, this patent neutral axis carries out mobile guide by means of only one-sided guide rail to vertical shaft simultaneously, and when welding, the end of vertical shaft there will be the situation of rocking, shaking, and affects welding quality, the rotating shaft being used for connecting gear in this patent is cantilever design, and the turning cylinder as motor connects, and structural strength is lower, poor stability, thus causes transmission accuracy not high, also have impact on welding quality.
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 lifting structure of welding manipulator vertical shaft, the technical problem that the present invention solves is how stable driving vertical shaft is elevated and the location vertical shaft stable when welding.
Object of the present invention realizes by following technical proposal:
A kind of lifting structure of welding manipulator vertical shaft, welding manipulator comprises elevating bracket, it is characterized in that, vertical shaft passes vertically through elevating bracket and can vertically move freely, this lifting structure comprises motor, worm-gear speed reducer and gear, rotating shaft is provided with in described elevating bracket, described gear is fixed in rotating shaft, one end of rotating shaft is connected on elevating bracket and rotating shaft can be rotated along its axial line, the other end of rotating shaft passes elevating bracket, described worm-gear speed reducer is fixed on outside elevating bracket, the output shaft of described worm-gear speed reducer is connected with the other end of rotating shaft, described motor is fixed on worm-gear speed reducer, the output shaft of motor is connected with the power shaft of worm-gear speed reducer, on described vertical shaft axial plane along the axial restraint of vertical shaft have can with the tooth bar of gears meshing, the gear teeth of wheel and rack engagement all the time with the flank of tooth upward of corresponding teeth on tooth bar against.
Specific works principle is as follows: elevating bracket and rocking arm are fixed; Motor is connected with worm-gear speed reducer, and the output shaft of worm-gear speed reducer drives axis of rotation, thus the pinion rotation in drive shaft, wheel and rack engages thus drives the vertical shaft oscilaltion fixing with tooth bar; Worm-gear speed reducer has auto-lock function, the power supply of motor only need be cut off when vertical shaft needs to keep static, therefore by worm-gear speed reducer can when welding the position of stable location vertical shaft, make the weld locations of the welding gun on vertical shaft accurate, thus improve welding precision; Because vertical shaft is setting up and down, vertical shaft is subject to the effect of gravity all the time, therefore the gear teeth of wheel and rack engagement all the time with the flank of tooth upward of corresponding teeth on tooth bar against state, this result eliminates the relatively low problem of Worm Wheel System precision, make motor by keeping vertical shaft oscilaltion high-precision control during worm-gear speed reducer transmission, thus ensure that welding precision; The two ends of rotating shaft are connected with the output shaft of elevating bracket and worm-gear speed reducer respectively, and syndeton is stablized, and the position of gear and vertical shaft keeps stable, gear drive is stablized, ensure that transmission accuracy, improve welding precision; Tooth bar is Machine Tool Standard tooth bar, relatively existing on vertical shaft the method for manufacturing gear strip greatly reduce cost, also improve transmission accuracy.
In the lifting structure of above-mentioned welding manipulator vertical shaft, described elevating bracket side is fixed with bearing cap, one end of described rotating shaft is stretched into bearing cap and is connected by bearing with between bearing cap, described elevating bracket opposite side is fixed with locating ring, worm-gear speed reducer is fixed on the lateral wall of elevating bracket opposite side, and the other end of described rotating shaft passes locating ring and stretches in worm-gear speed reducer and is coaxially connected with the output shaft of worm-gear speed reducer.Vertical shaft move up and down or static time its weight be all pressed on gear by tooth bar, the weight of vertical shaft can all be applied in rotating shaft by gear, the two ends of rotating shaft are respectively by bearing and locating ring location, make rotating shaft can keep the stable of rotation when bearing vertical shaft weight, thus static stability when ensure that vertical shaft mobile accuracy and welding, thus ensure that welding precision.
In the lifting structure of above-mentioned welding manipulator vertical shaft, the axial plane of described vertical shaft is also fixed with two one slide rails, two described slide rails are axial arranged along vertical shaft, the center line of two relative vertical shafts of described slide rail is symmetrical, described elevating bracket internal fixtion has and two one slide rails, two groups of guide pad groups one to one, and two described slide rails can slide up and down along corresponding guide pad group respectively.The structure of double sided slider bar makes the contact area axially and between guide pad group of vertical shaft larger, thus stability is better when vertical shaft is elevated; In addition because lifting stability is better, there is the situation of rocking in the one end that vertical shaft can be prevented to be fixed with welding gun, improves the precision of welding torch position, thus improve welding quality when welding; Two one slide rails add the thickness of vertical shaft simultaneously, also the intensity of vertical shaft is just added, the vibration effect that vertical shaft is subject to can be reduced, and in the lifting of vertical shaft major part to when being positioned at below elevating bracket, ensure that vertical shaft is fixed with one end intensity of welding gun also enough, thus further reduce the situation that to rock appear in one end that vertical shaft is fixed with welding gun, improve welding quality.
In the lifting structure of above-mentioned welding manipulator vertical shaft, described guide pad group comprises at least two pieces of guide pads vertically arranged, the guide pad being positioned at the top is fixed on the upper port of elevating bracket, and the guide pad be positioned at bottom is fixed on the lower port of elevating bracket.This structure makes guide pad group axially have maximum guiding length with slide rail along vertical shaft, also ensure that to have maximum contact area, makes slide rail can stable sliding up and down, and improves the stability of vertical shaft lifting; Guide pad vertically step-by-step arrangement can reduce the total quality of guide pad, realizes the lightweight of welding manipulator.
In the lifting structure of above-mentioned welding manipulator vertical shaft, the axial plane of described vertical shaft has vertically two elongated fixed grooves, the side of described slide rail and the cell wall of fixed groove against and be fixed on fixed groove.Fixed groove can fast and the accurate position of positioning slide on vertical shaft, make the fixed position of slide rail accurate, thus lifting stability when ensureing vertical shaft lifting and lifting displacement accuracy, thus improve welding quality.
In the lifting structure of above-mentioned welding manipulator vertical shaft, the axial plane of described vertical shaft there is the installing plate in bar shaped along the axial restraint of vertical shaft, the cross section of described installing plate is L-type, described tooth bar is fixing on a mounting board, the bottom surface of tooth bar and a side fit with two madial walls of installing plate respectively against.Tooth bar is standard component, and the axial plane of vertical shaft is the face of cylinder, therefore directly tooth bar is fixed on the lower and less stable of installation accuracy on vertical shaft; Tooth bar is fixed on vertical shaft by installing plate can improve installation accuracy and installation stability, thus improves stability and the lifting displacement accuracy of vertical shaft lifting; The structure of installing plate, by tooth bar half parcel, can be located the fixed position of tooth bar and installing plate when mounted fast, accurately, also further increase the installation accuracy of tooth bar, improve welding quality.
In the lifting structure of above-mentioned welding manipulator vertical shaft, the axial plane of described vertical shaft has the fixed notch of strip along the axis of vertical shaft, described fixed notch has a long sidewall arranged along its length and is positioned at the short sidewall at long sidewall two ends, described installing plate is fixed in fixed notch, one side and the long sidewall of installing plate recline, and short sidewall reclines the both ends of the surface of installing plate with two respectively.The fixed notch of this structure can the fixed position of the relative vertical shaft of quick position installing plate when mounted, improve the installation accuracy of tooth bar, fixed notch can make installing plate stable and firmly be fixed on vertical shaft simultaneously, thus make the lifting of vertical shaft stable and lifting displacement accuracy is high, thus improve the precision of welding.
In the lifting structure of above-mentioned welding manipulator vertical shaft, the side of described tooth bar has some fixing holes along the distribution of tooth bar length direction, described installing plate and tooth bar side against sidewall on have and above-mentioned fixing hole installing hole one to one, described tooth bar is fixed through fixing hole and installing hole by bolt.This structure also can easily remove and install tooth bar on a mounting board by firmly fixing for tooth bar, can fix according to the requirement of the different welding precisions of client or change the tooth bar of different accuracy simultaneously, improve the applicability of this welding manipulator.
Compared with prior art, the lifting structure of this welding manipulator vertical shaft passes through the position of the location vertical shaft being with the worm-gear speed reducer of auto-lock function stable when welding, and improves welding precision; Combine by the arrangement of vertical shaft and the arrangement of rotating shaft and tooth bar the transmission accuracy that improve vertical shaft lifting displacement simultaneously, reach the advantage that improve welding precision.
Accompanying drawing explanation
Fig. 1 is the perspective view of this lifting structure.
Fig. 2 is the sectional structure schematic diagram of this lifting structure.
Fig. 3 is the perspective view of vertical shaft.
Fig. 4 is the structure for amplifying schematic diagram in A portion in Fig. 3.
In figure, 1, elevating bracket; 11, guide pad; 2, vertical shaft; 21, slide rail; 22, fixed notch; 221, long sidewall; 222, short sidewall; 23, fixed groove; 3, motor; 4, worm-gear speed reducer; 5, rotating shaft; 51, bearing cap; 52, bearing; 53, locating ring; 6, gear; 7, tooth bar; 71, fixing hole; 8, installing plate; 9, welding gun.
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.
As shown in Figures 1 to 4, welding manipulator comprises the elevating bracket 1 fixing with rocking arm to the present embodiment, and vertical shaft 2 passes vertically through elevating bracket 1 and can vertically move freely.Specifically, the axial plane of vertical shaft 2 is also fixed with two one slide rails 21, two one slide rails 21 are axial arranged along vertical shaft 2, the center line of the relative vertical shaft 2 of two one slide rails 21 is symmetrical, the axial plane of vertical shaft 2 has vertically two elongated fixed grooves 23, the side of slide rail 21 and the cell wall of fixed groove 23 against and be fixed on fixed groove 23.Elevating bracket 1 internal fixtion has and two one slide rails 21, two groups of guide pad groups one to one, guide pad group comprises at least two pieces of guide pads vertically arranged 11, the guide pad 11 being positioned at the top is fixed on the upper port of elevating bracket 1, and the guide pad 11 be positioned at bottom is fixed on the lower port of elevating bracket 1.Two one slide rails 21 can slide up and down along corresponding guide pad group respectively, are slidably connected between slide rail 21 and guide pad 11 by oat tail groove structure.
The lifting structure of this welding manipulator vertical shaft comprises motor 3, worm-gear speed reducer 4 and gear 6, in the present embodiment, motor 3 adopts AC servo motor, the control accuracy of AC servo motor is high, be conducive to the lifting precision improving vertical shaft 2, the output shaft of motor 3 is connected with the power shaft of worm-gear speed reducer 4.
Rotating shaft 5 is provided with in elevating bracket 1, gear 6 is fixed in rotating shaft 5, fall a side and be fixed with bearing cap 51, one end of rotating shaft 5 is stretched into bearing cap 51 and is connected by bearing 52 with between bearing cap 51, elevating bracket 1 opposite side is fixed with locating ring 53, worm-gear speed reducer 4 is fixed on the lateral wall of elevating bracket 1 opposite side, and the other end of rotating shaft 5 passes locating ring 53 and stretches in worm-gear speed reducer 4 and is coaxially connected with the output shaft of worm-gear speed reducer 4.
Vertical shaft 2 axial plane has the tooth bar 7 that can engage with gear 6 along the axial restraint of vertical shaft 2, the gear teeth that gear 6 engages with tooth bar 7 all the time with the corresponding teeth flank of tooth upward on tooth bar 7 against.
The axial plane of vertical shaft 2 has the fixed notch 22 of strip along the axis of vertical shaft 2, fixed notch 22 has a long sidewall arranged along its length 221 and is positioned at the short sidewall 222 at long sidewall 221 two ends, the installing plate 8 in bar shaped is had along the axial restraint of vertical shaft 2 in fixed notch 22, one side and the long sidewall 221 of installing plate 8 recline, and short sidewall 222 reclines the both ends of the surface of installing plate 8 with two respectively.The cross section of installing plate 8 is L-type, and tooth bar 7 is fixed on installing plate 8, the bottom surface of tooth bar 7 and a side fit with two madial walls of installing plate 8 respectively against.The side of tooth bar 7 has some fixing holes 71 along the distribution of tooth bar 7 length direction, installing plate 8 and tooth bar 7 side against sidewall on have and above-mentioned fixing hole 71 installing hole one to one, tooth bar 7 is fixed through fixing hole 71 and installing hole by bolt.
Specific works principle is as follows: motor 3 is connected with worm-gear speed reducer 4, the output shaft of worm-gear speed reducer 4 drives rotating shaft 5 to rotate, thus the gear 6 in drive shaft 5 rotates, gear 6 engages with tooth bar 7 thus drives vertical shaft 2 oscilaltion fixing with tooth bar 7; Worm-gear speed reducer 4 has auto-lock function, the power supply of motor 3 only need be cut off when vertical shaft 2 needs to keep static, therefore by worm-gear speed reducer 4 can when welding the position of stable location vertical shaft 2, make the pad of the welding gun 9 on vertical shaft 2 accurate, thus improve welding precision; Because vertical shaft 2 is setting up and down, vertical shaft 2 is subject to the effect of gravity all the time, therefore the gear teeth that engage with tooth bar 7 of gear 6 all the time with the corresponding teeth flank of tooth upward on tooth bar 7 against state, this result eliminates the relatively low problem of Worm Wheel System precision, make motor 3 by keeping during worm-gear speed reducer 4 transmission the high-precision control of vertical shaft 2 oscilaltion, thus ensure that welding precision; The two ends of rotating shaft 5 are connected with the output shaft of elevating bracket 1 and worm-gear speed reducer 4 respectively, and syndeton is stablized, and gear 6 and the position of vertical shaft 2 keep stable, make gear 6 stable transmission, ensure that transmission accuracy, improve welding precision; Tooth bar 7 is Machine Tool Standard tooth bar 7, and the method for relatively existing manufacturing gear strip 7 on vertical shaft 2 greatly reduces cost, also improves transmission accuracy.
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.
Claims (8)
1. the lifting structure of a welding manipulator vertical shaft, welding manipulator comprises elevating bracket (1), it is characterized in that, vertical shaft (2) passes vertically through elevating bracket (1) and can vertically move freely, this lifting structure comprises motor (3), worm-gear speed reducer (4) and gear (6), rotating shaft (5) is provided with in described elevating bracket (1), described gear (6) is fixed in rotating shaft (5), one end of rotating shaft (5) is connected to the upper and rotating shaft (5) of elevating bracket (1) and can rotates along its axial line, the other end of rotating shaft (5) passes elevating bracket (1), described worm-gear speed reducer (4) is fixed on elevating bracket (1) outward, the output shaft of described worm-gear speed reducer (4) is connected with the other end of rotating shaft (5), described motor (3) is fixed on worm-gear speed reducer (4), the output shaft of motor (3) is connected with the power shaft of worm-gear speed reducer (4), described vertical shaft (2) axial plane there is the tooth bar (7) that can engage with gear (6) along the axial restraint of vertical shaft (2), the gear teeth that gear (6) engages with tooth bar (7) all the time with tooth bar (7) the upper corresponding teeth flank of tooth upward against.
2. the lifting structure of welding manipulator vertical shaft according to claim 1, it is characterized in that, described elevating bracket (1) side is fixed with bearing cap (51), one end of described rotating shaft (5) is stretched into bearing cap (51) and is connected by bearing (52) with between bearing cap (51), described elevating bracket (1) opposite side is fixed with locating ring (53), worm-gear speed reducer (4) is fixed on the lateral wall of elevating bracket (1) opposite side, the other end of described rotating shaft (5) passes locating ring (53) and stretches in worm-gear speed reducer (4) and is coaxially connected with the output shaft of worm-gear speed reducer (4).
3. the lifting structure of welding manipulator vertical shaft according to claim 1 and 2, it is characterized in that, the axial plane of described vertical shaft (2) is also fixed with two one slide rails (21), two described slide rails (21) are axial arranged along vertical shaft (2), the center line of two relative vertical shafts (2) of described slide rail (21) is symmetrical, described elevating bracket (1) internal fixtion has and two one slide rails (21), two groups of guide pad groups one to one, and two described slide rails (21) can slide up and down along corresponding guide pad group respectively.
4. the lifting structure of welding manipulator vertical shaft according to claim 3, it is characterized in that, described guide pad group comprises at least two pieces of guide pads vertically arranged (11), the guide pad (11) being positioned at the top is fixed on the upper port of elevating bracket (1), and the guide pad (11) be positioned at bottom is fixed on the lower port of elevating bracket (1).
5. the lifting structure of welding manipulator vertical shaft according to claim 3, it is characterized in that, the axial plane of described vertical shaft (2) has vertically two elongated fixed grooves (23), the side of described slide rail (21) and the cell wall of fixed groove (23) against and be fixed on fixed groove (23).
6. the lifting structure of welding manipulator vertical shaft according to claim 1 and 2, it is characterized in that, the axial plane of described vertical shaft (2) there is the installing plate (8) in bar shaped along the axial restraint of vertical shaft (2), the cross section of described installing plate (8) is L-type, described tooth bar (7) is fixed on installing plate (8), the bottom surface of tooth bar (7) and a side fit with two madial walls of installing plate (8) respectively against.
7. the lifting structure of welding manipulator vertical shaft according to claim 6, it is characterized in that, the axial plane of described vertical shaft (2) has the fixed notch (22) of strip along the axis of vertical shaft (2), described fixed notch (22) has a long sidewall (221) arranged along its length and the short sidewall (222) being positioned at long sidewall (221) two ends, described installing plate (8) is fixed in fixed notch (22), one side and the long sidewall (221) of installing plate (8) recline, short sidewall (222) reclines the both ends of the surface of installing plate (8) with two respectively.
8. the lifting structure of welding manipulator vertical shaft according to claim 6, it is characterized in that, the side of described tooth bar (7) has some fixing holes (71) along the distribution of tooth bar (7) length direction, described installing plate (8) and tooth bar (7) side against sidewall on have and above-mentioned fixing hole (71) installing hole one to one, described tooth bar (7) is fixed through fixing hole (71) and installing hole by bolt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510520806.8A CN105057944B (en) | 2015-08-22 | 2015-08-22 | A kind of lifting structure of welding manipulator vertical shaft |
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| CN201510520806.8A CN105057944B (en) | 2015-08-22 | 2015-08-22 | A kind of lifting structure of welding manipulator vertical shaft |
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| CN105057944A true CN105057944A (en) | 2015-11-18 |
| CN105057944B CN105057944B (en) | 2017-03-01 |
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| CN105665974A (en) * | 2016-03-30 | 2016-06-15 | 大连奥托股份有限公司 | Flexible mechanism for switching, translating and feeding automobile body workpieces on automobile production line |
| CN106826077A (en) * | 2015-12-04 | 2017-06-13 | 重庆银聪科技有限公司 | A kind of automobile frame fixture |
| CN107052651A (en) * | 2017-05-20 | 2017-08-18 | 上汽通用五菱汽车股份有限公司 | A kind of automatic welding manual switching adjusting means and method |
| CN107931942A (en) * | 2017-11-28 | 2018-04-20 | 佛山市程显科技有限公司 | A kind of weld fixture apparatus |
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| CN108000024A (en) * | 2017-01-15 | 2018-05-08 | 珠海微点焊电子工业有限公司 | A kind of microminiature welder that lifting is adjusted with handwheel |
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Address after: 317523 Ze Guo Zhen Wen Chang Lu Jiang Jia Cun, Wenling City, Taizhou City, Zhejiang Province Patentee after: Zhejiang Juba Electromechanical Technology Co.,Ltd. Address before: 317523 Ze Guo Zhen Wen Chang Lu Jiang Jia Cun, Wenling City, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG JUBA WELDING EQUIPMENTS MANUFACTURING Co.,Ltd. |