CN105364304A - Multi-direction welding head for laser welding robot - Google Patents
Multi-direction welding head for laser welding robot Download PDFInfo
- Publication number
- CN105364304A CN105364304A CN201510910930.5A CN201510910930A CN105364304A CN 105364304 A CN105364304 A CN 105364304A CN 201510910930 A CN201510910930 A CN 201510910930A CN 105364304 A CN105364304 A CN 105364304A
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- China
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- electromagnet
- main
- laser
- main electromagnet
- laser nozzle
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Classifications
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
Abstract
The invention belongs to the field of welding robots, and specifically discloses a multi-direction welding head for a laser welding robot. The multi-direction welding head comprises a laser nozzle and a rectangular swinging drum; the laser nozzle is located within the rectangular swinging drum; mounting bases are arranged on two opposite sides of an inner wall of the rectangular swinging drum; a first main electromagnet and two auxiliary electromagnets are arranged on each mounting base, and the two auxiliary electromagnets are symmetrical relative to the first main electromagnet; second main electromagnets are mounted on the other two side surfaces of the inner wall of the rectangular swinging drum; an annular magnet is mounted on a tail of the laser nozzle and located within a magnetic field cavity formed by the first main electromagnets and the second main electromagnets; an elastic piece is arranged on each first main electromagnet; anti-collision columns are arranged on the first main electromagnets and the second main electromagnets. A welding robot provided with the multi-direction welding head for the laser welding robot is relatively low in energy consumption relative to a welding robot provided with a traditional welding head when crisscross tiny straight joints are welded.
Description
Technical field
The present invention relates to welding robot field, be specifically related to a kind of multi-direction plumb joint for laser welding robot.
Background technology
Welding is the process of a kind of necessity in modern mechanical manufacturing industry, is used widely in automobile making.Along with the progress of science and technology, the Welding Problems of clad steel sheet, light metal material proposes new challenge to Automobile Welding.Robot in Automobile Welding process and automatic laser solder technology make Automobile Welding looks greatly take on a new look.The develop rapidly of auto industry, makes laser welding technology open the New Times of Automobile Welding.
Different from spot-welding technology traditional at present, the molecule that laser weld can reach between two block plates combines, and the steel plate hardness after popular welding is exactly equivalent to a monoblock steel plate, thus bus body strength is promoted 30%, equally greatly promoting in conjunction with precision of vehicle body.Certainly, the actual use meaning of laser weld is also not only in this.In general, from the torsional motion test vehicle body that can convert thousands of times per minute to that jolts on ground when vehicle is advanced on road, if vehicle body is in conjunction with precision, insufficient strength, light then in car frequent, the noise of abnormal sound large, serious may cause being arranged on parts on vehicle as the damage of gearbox, front-rear axle or vehicle body fracture.The spot welding that laser weld is relatively traditional as can be seen here has greater significance.
At present, in order to better improve automobile metal plate work welding efficiency normally laser welding robot sheet metal component is welded.It is large that laser welding robot has radius of action, the feature that the welding free degree is large, is widely used.As shown in Figure 1, laser welding robot is mainly made up of base 10, main rotary electric machine 20, main rotary shaft 30, secondary rotary electric machine 40 and secondary turning cylinder 50 etc. usually, base 10 is connected by main rotary electric machine 20 with main rotary shaft 30, main rotary shaft 30 is connected by secondary rotary electric machine 40 with secondary turning cylinder 50, the free end of secondary turning cylinder 50 is provided with plumb joint 60, and plumb joint 60 is connected by micro servo motor with secondary turning cylinder 50.Because the plumb joint motion on existing laser welding robot is all rotate synthesis by a series of revolution, but some panel beatings to be carried out to small straight line welding very difficult, particularly for crisscross straight line seam, robot is needed to do a series of resultant motion, power consumption is comparatively large, and kinematic accuracy is lower.
Now need as can be seen here to design and a kind ofly reduce the plumb joint of laser welding robot to crisscross small straight line seam welding energy consumption.
Summary of the invention
The object of the present invention is to provide and a kind ofly reduce the plumb joint of laser welding robot to crisscross small straight line seam welding energy consumption.
For achieving the above object, base case of the present invention is: for the multi-direction plumb joint of laser welding robot, the rectangle swing tube comprising laser nozzle and be rotationally connected with secondary turning cylinder, described laser nozzle is positioned at rectangle swing tube, two on the wherein inwall of described rectangle swing tube relative sides are equipped with mount pad, this mount pad is provided with first main electromagnet and two secondary electromagnet, and described two secondary electromagnet are symmetrical relative to the first main electromagnet; Other two sides of described rectangle swing tube inwall are all provided with the second main electromagnet; The afterbody of described laser nozzle is provided with annular magnet, and annular magnet is positioned at the chamber, magnetic field of the first main electromagnet and the formation of the second main electromagnet; Be provided with elastic component between described annular magnet and the first main electromagnet, described first main electromagnet and the second main electromagnet are equipped with bumping post on the end face of laser nozzle.
Operation principle and the advantage of this programme are: during for crisscross small straight line seam welding, first start the machine people, and plumb joint is positioned at above weld seam.Then controlled electrical current size and the frequency of coil on the first main electromagnet, the second main electromagnet and secondary electromagnet by regulation control plate, and then reach the magnetic force object of adjustment first main electromagnet, the second main electromagnet and secondary electromagnet.When the magnetic force that annular magnet is subject to is uneven, annular magnet can move thereupon, and then reaches the object of laser nozzle movement.In the process of annular magnet movement, elastic component plays action weaken to annular magnet on the one hand, avoids the obstruction of air-flow to laser nozzle in welding surroundings to cause laser nozzle to shake, affects welding quality; On the other hand, when the moment of electromagnet energising, now annular magnet can produce magnetic field instantaneously, and annular magnet can be subject to the moment impact of magnetic force, and elastic component can overcome the impact that moment impact causes laser nozzle preferably.In addition, bumping post can avoid operating personnel to cause laser nozzle to strike on rectangle swing tube because of maloperation, affects the service life of laser nozzle.When side seam is welded, regulate the magnetic force of the second main electromagnet; When vertical welded seam is welded, regulate the magnetic force of the first main electromagnet; When inclination weld seam is welded, regulate the magnetic force of secondary electromagnet.
The ingenious annular magnet that utilizes of this programme is in the magnetic field of the first main electromagnet, the second main electromagnet and secondary electromagnet formation, and when the field is changing, laser nozzle moves with annular magnet.During for small straight line seam welding, the magnetic force size of corresponding just right electromagnet only need be regulated can to realize laser nozzle rectilinear movement, the laser welding system overcoming transmission wants robot to do complicated gyration synthesis, a difficult problem for respective straight motion could be realized, reduce the motion of robot critical piece, and then reach the object reducing energy consumption.In addition, the mobile accuracy due to laser nozzle mainly samples in the Current Control of control panel to electromagnet, reduces corresponding part alignment error to the impact of laser nozzle mobile accuracy, indirectly improves welding precision high.
Preferred version two: the preferably preferred version of: described first main electromagnet is provided with some coilings electricity circle.Can magnetic field be formed after the energising of coiling electricity circle, by coiling electricity circle, small correction be carried out to the movement of annular magnet, and then improve the precision of laser nozzle movement.
Preferred version three: the preferably preferred version of two: afterbody and the annular magnet of described laser nozzle are fixed by expansion sleeve.Expansion sleeve is convenient to the fixing of laser nozzle and annular magnet, when laser nozzle need repairing change time, facilitate laser nozzle to dismantle from annular magnet.
Preferred version four: the preferably preferred version of three: described expansion sleeve is rubber swelling cover, described coiling electricity circle is matrix distribution at the first main electromagnet near the end of laser nozzle.Coiling electricity circle, in matrix distribution, reduces the turbulent flow in magnetic field, advantageously does rectilinear motion in annular magnet.
Accompanying drawing explanation
Fig. 1 is the structural representation of prior art laser welding robot;
Fig. 2 is the structural representation of the present invention for the multi-direction plumb joint embodiment of laser welding robot.
Detailed description of the invention
Below by detailed description of the invention, the present invention is further detailed explanation:
Reference numeral in Figure of description comprises: base 10, main rotary electric machine 20, main rotary shaft 30, secondary rotary electric machine 40, secondary turning cylinder 50, plumb joint 60, rectangle swing tube 61, first main electromagnet 62, control panel 63, stage clip 64, rubber swelling cover 65, coiling electricity circle 66, annular magnet 67, laser nozzle 68, bumping post 69, secondary electromagnet 70, second main electromagnet 71.
Embodiment is substantially as shown in Figure 2: for the multi-direction plumb joint 60 of laser welding robot, the rectangle swing tube 61 comprising laser nozzle 68 and be rotationally connected with secondary turning cylinder 50, laser nozzle 68 is positioned at rectangle swing tube 61.Two on the inwall up and down of rectangle swing tube 61 relative sides are equipped with mount pad, and this mount pad is provided with first main electromagnet 62 and two secondary electromagnet, 70, two secondary electromagnet 70 are symmetrical relative to the first main electromagnet 62.Two, the left and right inwall of rectangle swing tube 61 is all provided with the second main electromagnet 71.First main electromagnet 62, second main electromagnet 71 and secondary electromagnet 70 are all connected on same control panel 63.The afterbody of laser nozzle 68 is provided with annular magnet 67, and annular magnet 67 is positioned at the chamber, magnetic field of the first main electromagnet 62 and the formation of the second main electromagnet 71; Be provided with elastic component between annular magnet 67 and the first main electromagnet 62, this elastic component can be rubber strip, stage clip 64 or extension spring, and the present embodiment selects stage clip 64.First main electromagnet 62 and the second main electromagnet 71 are equipped with and avoid annular magnet 67 to strike bumping post 69 on the first main electromagnet 62 or the second main electromagnet 71.In addition, the first main electromagnet 62 being provided with some is matrix distribution coiling electricity circle 66, and the afterbody of laser nozzle 68 and annular magnet 67 overlap 65 by rubber swelling to be fixed.
During for crisscross small straight line seam welding, first start the machine people, and plumb joint 60 is positioned at above weld seam.Then controlled electrical current size and the frequency of coil on the first main electromagnet 62, second main electromagnet 71 and secondary electromagnet 70 by regulation control plate 63, and then reach the magnetic force object of adjustment first main electromagnet 62, second main electromagnet 71 and secondary electromagnet 70.When the magnetic force that annular magnet 67 is subject to is uneven, annular magnet 67 can move thereupon, and then reaches the object of laser nozzle 68 movement.
In the process of annular magnet 67 movement, elastic component, on the one hand to annular magnet 67 action weakens, is avoided the obstruction of air-flow to laser nozzle 68 in welding surroundings to cause laser nozzle 68 to shake, is affected welding quality; On the other hand, when the moment of electromagnet energising, now annular magnet 67 can produce magnetic field instantaneously, and annular magnet 67 can be subject to the moment impact of magnetic force, and elastic component can overcome the impact that moment impact causes laser nozzle 68 preferably.In addition, bumping post 69 can avoid operating personnel to cause laser nozzle 68 to strike on rectangle swing tube 61 because of maloperation, affects the service life of laser nozzle 68.
When side seam is welded, regulate the magnetic force of the second main electromagnet 71; When vertical welded seam is welded, regulate the magnetic force of the first main electromagnet 62; When inclination weld seam is welded, regulate the magnetic force of secondary electromagnet 70.
The ingenious annular magnet 67 that utilizes of this programme is in the magnetic field of the first main electromagnet 62, second main electromagnet 71 and secondary electromagnet 70 formation, and when the field is changing, laser nozzle 68 moves with annular magnet 67.During for small straight line seam welding, only the magnetic force size of corresponding just right electromagnet need be regulated can to realize laser nozzle 68 to move linearly, the laser welding system 60 overcoming transmission wants robot to do complicated gyration synthesis, a difficult problem for respective straight motion could be realized, reduce the motion of robot critical piece, and then reach the object reducing energy consumption.In addition, the mobile accuracy due to laser nozzle 68 mainly samples the Current Control in control panel 63 pairs of electromagnet, reduces corresponding part alignment error to the impact of laser nozzle 68 mobile accuracy, indirectly improves welding precision high.
Above-described is only embodiments of the invention, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.The protection domain that this application claims should be as the criterion with the content of its claim, and the detailed description of the invention in description etc. record the content that may be used for explaining claim.
Claims (4)
1. for the multi-direction plumb joint of laser welding robot, it is characterized in that, the rectangle swing tube comprising laser nozzle and be rotationally connected with secondary turning cylinder, described laser nozzle is positioned at rectangle swing tube, two on the wherein inwall of described rectangle swing tube relative sides are equipped with mount pad, this mount pad is provided with first main electromagnet and two secondary electromagnet, and described two secondary electromagnet are symmetrical relative to the first main electromagnet; Other two sides of described rectangle swing tube inwall are all provided with the second main electromagnet; The afterbody of described laser nozzle is provided with annular magnet, and annular magnet is positioned at the chamber, magnetic field of the first main electromagnet and the formation of the second main electromagnet; Be provided with elastic component between described annular magnet and the first main electromagnet, described first main electromagnet and the second main electromagnet are equipped with bumping post on the end face of laser nozzle.
2. the multi-direction plumb joint for laser welding robot according to claim 1, is characterized in that, described first main electromagnet is provided with some coilings electricity circle.
3. the multi-direction plumb joint for laser welding robot according to claim 2, is characterized in that, afterbody and the annular magnet of described laser nozzle are fixed by expansion sleeve.
4. the multi-direction plumb joint for laser welding robot according to claim 3, is characterized in that, described expansion sleeve is rubber swelling cover, and described coiling electricity circle is matrix distribution at the first main electromagnet near the end of laser nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510910930.5A CN105364304B (en) | 2015-12-10 | 2015-12-10 | For the multi-direction plumb joint of laser welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510910930.5A CN105364304B (en) | 2015-12-10 | 2015-12-10 | For the multi-direction plumb joint of laser welding robot |
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| CN105364304A true CN105364304A (en) | 2016-03-02 |
| CN105364304B CN105364304B (en) | 2017-06-13 |
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| CN201510910930.5A Active CN105364304B (en) | 2015-12-10 | 2015-12-10 | For the multi-direction plumb joint of laser welding robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181164A (en) * | 2018-02-22 | 2019-08-30 | 澁谷工业株式会社 | Laser processing device |
| CN111215759A (en) * | 2018-11-23 | 2020-06-02 | 沈阳新松机器人自动化股份有限公司 | Mixed reflection type three-dimensional linkage laser cutting head |
Citations (5)
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| JPH02224887A (en) * | 1989-02-28 | 1990-09-06 | Komatsu Ltd | Laser processing device |
| US20110297654A1 (en) * | 2009-03-13 | 2011-12-08 | Nissan Motor Co., Ltd. | Laser welding apparatus |
| US20120267352A1 (en) * | 2011-04-21 | 2012-10-25 | Messer Cutting Systems Gmbh | Apparatus for the thermal processing of a workpiece |
| CN202571597U (en) * | 2011-12-31 | 2012-12-05 | 武汉金运激光股份有限公司 | Laser cutting head provided with focus control device |
| CN104227244A (en) * | 2014-09-17 | 2014-12-24 | 沈阳工业大学 | Electromagnetic drive permanent magnet self-resetting laser cutting head |
-
2015
- 2015-12-10 CN CN201510910930.5A patent/CN105364304B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02224887A (en) * | 1989-02-28 | 1990-09-06 | Komatsu Ltd | Laser processing device |
| US20110297654A1 (en) * | 2009-03-13 | 2011-12-08 | Nissan Motor Co., Ltd. | Laser welding apparatus |
| US20120267352A1 (en) * | 2011-04-21 | 2012-10-25 | Messer Cutting Systems Gmbh | Apparatus for the thermal processing of a workpiece |
| CN202571597U (en) * | 2011-12-31 | 2012-12-05 | 武汉金运激光股份有限公司 | Laser cutting head provided with focus control device |
| CN104227244A (en) * | 2014-09-17 | 2014-12-24 | 沈阳工业大学 | Electromagnetic drive permanent magnet self-resetting laser cutting head |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181164A (en) * | 2018-02-22 | 2019-08-30 | 澁谷工业株式会社 | Laser processing device |
| CN110181164B (en) * | 2018-02-22 | 2022-05-13 | 澁谷工业株式会社 | Laser processing apparatus |
| CN111215759A (en) * | 2018-11-23 | 2020-06-02 | 沈阳新松机器人自动化股份有限公司 | Mixed reflection type three-dimensional linkage laser cutting head |
| CN111215759B (en) * | 2018-11-23 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | Mixed reflection type three-dimensional linkage laser cutting head |
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| CN105364304B (en) | 2017-06-13 |
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Address after: 401120, No. 6, Lang long road, Yubei District Airport Industrial Park, Chongqing Applicant after: Chongqing radium laser technology Co., Ltd. Address before: 401120 Chongqing City, Yubei District Airport Industrial Park Langyue road standard factory building 1 unit Applicant before: CHONGQING LEIBAO LASER INTELLIGENT ROBOT MANUFACTURING CO., LTD. |
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