Summary of the invention
The invention provides a kind of robot welding equipment, to solve existing robot welding workstation, Zhi Nengman
The automatic welding of the indivedual similar products of foot, and the big workpiece of multi items structure, differentiation is based on human weld, causes weldering
Connect the technical problem that concordance is poor, welding quality unstable, welding efficiency is low, Automation of Welding degree is low.
The present invention provides a kind of robot welding equipment, including the fixed mechanism fixing for bottom support and use
In the welding robot of weld job, fixed mechanism enters provided with straight line moving track and to synchronization-moving cable
The walking track of row protection and being loaded in walking track for controlling welding robot vertically mobile regulation and along being perpendicular to
The horizontal direction of walking track moves regulation the c-type rack device protecting synchronization-moving cable；Set on c-type rack device
Have during moving regulation and weld job at control welding robot and slided by weight and rotate autobalance cable
Balance crane assembly.
Further, balance crane assembly includes the pillar being fixed on c-type rack device, the rocking arm being rotationally connected with on pillar
And it is slidably connected on rocking arm the balance crane for lifting by crane cable.
Further, balance crane is provided with multiple, and multiple balance cranes are embedded in and are axially opened in the cunning on rocking arm along rocking arm
In groove；Chute is provided with the stop component of the sliding scale being hung in chute for limiting balance.
Further, the revolution sleeve of the revolution axle bed and top that are in bottom is used mutually to overlap between rocking arm and pillar
Closing, be connected by many group floating bearings between revolution axle bed with revolution sleeve, the radial dimension of floating bearing is the most gradually
Increase；The bottom of revolution sleeve is provided with and is removably assemblied on revolution sleeve upper opening and for safeguarding the lid of floating bearing
Further, walking track includes that at least one is axially layed in along fixed mechanism on fixed mechanism for by nibbling
Close walking rack, at least one laying parallel with walking rack for guiding c-type rack device coordinated to carry out moving along a straight line
The line slideway moved along a straight line and at least one laying parallel with walking rack in c-type rack device moving process
Synchronization-moving cable carries out the track torr chain protected.
Further, the weldering bits during preventing weld job that are laterally provided with of line slideway drop and are bonded in straight line
Guide rail backplate on guide rail；The weldering bits during preventing weld job that are laterally provided with of track torr chain drop and are bonded in torr chain
On torr chain backplate；The two ends of line slideway are provided with for limiting c-type rack device linear motion range on line slideway
Track block seat, track block seat surface is provided with for buffering the c-type rack device buffer stopper to the impulsive force of track block seat.
Further, the two ends of line slideway be provided with c-type rack device for controlling movement on line slideway slow down and
The mobile second level stroke switch stopped.
Further, c-type rack device include mobile link in walking track on column and vertically mobile link in
On column and be perpendicular to walk track lay cursor slide, welding robot moves axially along cursor slide and is connected on cursor slide, balance crane
Assembly is located on cursor slide；At least one vertically it is laid with for being coordinated by engagement vertically to transport on the side wall surface of column
Dynamic vertical tooth bar and at least one for the vertical guide guiding cursor slide to move along a straight line, vertical guide two ends be provided with for
Limit the vertical block seat of cursor slide moving range, stud sides wall is additionally provided with the welding wire cylinder for providing welding wire for welding robot
And for providing the welding machine of the energy for the welding gun of welding robot；Column bottom is provided with for engaging to order about with walking track
Column along walking track move axially track gear, for order about track pinion rotation column driving means, for row
Walk the track torr chain in track to be attached dragging the track torr chain bearing of track torr chain protection cable and for sensing c-type
The sense base of rack device shift position；Cursor slide is connected with column by cursor slide carriage saddle, and cursor slide carriage saddle is provided with for perpendicular
To the vertical gear of tooth bar engagement, for the vertical guide slide being slidably matched with vertical guide and for ordering about vertical gear
The cursor slide driving means rotated.
Further, the side wall surface of cursor slide is axially arranged with at least one for being coordinated by engagement to carry out water along cursor slide
Put down to motion horizontal rack, at least one for the horizontal guide rail guiding welding robot horizontally to move, at least one
In butt welding machine device people's moving process, synchronization-moving cable carries out the level torr chain protected and is located at the bottom of level torr chain
Portion is for the level torr chain support of support level torr chain, and horizontal guide rail two ends are provided with for limiting welding robot moving range
Horizontal block seat；Welding robot is provided with the level torr for being attached dragging level torr chain protection cable with level torr chain
Further, welding robot by carriage saddle mobile link in horizontal rack and horizontal guide rail, on carriage saddle
It is connected with the aluminium alloy post that installation position is provided for being provided as welding robot auxiliary device；Carriage saddle is filled by slide rail slide
Being assigned on horizontal guide rail, carriage saddle is engaged in horizontal rack by support gear, and support gear is connected with for ordering about bracket teeth
The carriage drive device that wheel rotates；Welding robot is provided with the rapid switcher for quick-replaceable welding gun, and rapid switcher is by location
Alignment pin on seat is fixed positioned on welding robot；Aluminium alloy post is provided with for regularly clearing up torch neck inner surface
The weldering bits adhered to and the clear rifle cutting off the balling that welding wire produces cut silk device and for the wire-feed motor to welding gun output welding wire；Weldering
Being additionally provided with the laser instrument for guiding welding gun to advance along weld seam all the time on welding robot, laser instrument is connected in weldering by fixing seat
The method have the advantages that
Robot welding equipment of the present invention, carries out the stationary positioned of whole device, it is ensured that structure by fixed mechanism
Structural stability during weld job；Fixed mechanism arranges walking track, to form straight line moving track, simultaneously
The cable of mobile welding robot on straight line moving track is protected, reduces the obstruction that cable butt welding machine device people moves；
Welding robot is laid on c-type rack device, by c-type rack device realize welding robot spatially vertically movable and
Along being perpendicular to moving horizontally of straight line moving track, the control portable cord controlling shiftable haulage line and c-type rack device of walking track
Road constitutes the three-dimensional coordinate system that welding robot space is moved, thus realizes welding robot and fasten along X-axis, Y at spatial coordinate
Moving freely on axle and Z axis；By arranging balance crane assembly on c-type rack device, move regulation controlling welding robot
With slided by weight during weld job and rotate autobalance gravity, thus improve welding robot in mobile and welding
Stability during operation, it is ensured that the precision of welding and welding quality.Be applicable to multi items structure, workpiece that differentiation is big automatic
Change weld job.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, and the present invention's is schematic real
Execute example and illustrate for explaining the present invention, being not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the robot welding equipment of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of the balance crane assembly of the preferred embodiment of the present invention；
Fig. 3 is the rocking arm structural representation with pillar binding site of the preferred embodiment of the present invention；
Fig. 4 is the structural representation of the walking track of the preferred embodiment of the present invention；
Fig. 5 is one of structural representation of c-type rack device of the preferred embodiment of the present invention；
Fig. 6 is the two of the structural representation of the c-type rack device of the preferred embodiment of the present invention.
1, fixed mechanism；101, walking underframe；102, regulation bolt；103, screw is tightened；104, chemical anchor bolts；105,
Sole；2, welding robot；201, aluminium alloy post；202, carriage saddle；203, slide rail slide；204, support gear；205, weldering
Rifle；206, rapid switcher；207, positioning seat；2071, alignment pin；208, silk device cut by clear rifle；209, wire-feed motor；210, laser instrument；
211, fixing seat；212, carriage drive device；3, walking track；301, walking rack；302, line slideway；303, track torr
Chain；304, guide rail backplate；305, torr chain backplate；306, track block seat；307, buffer stopper；308, second level stroke switch；4, c-type frame
Device；401, column；402, cursor slide；4021, horizontal rack；4022, horizontal guide rail；4023, level torr chain；4024, level torr
Chain bearing；4025, level torr chain support；4026, horizontal block seat；403, vertical tooth bar；404, vertical guide；405, vertically keep off
Seat；406, welding wire cylinder；407, welding machine；408, track gear；409, column driving means；410, track torr chain bearing；411, sense
Answer seat；412, cursor slide carriage saddle；413, vertical gear；414, cursor slide driving means；415, vertical guide slide；5, balance crane group
Part；501, pillar；502, rocking arm；503, balance crane；504, stop component；505, revolution axle bed；506, revolution sleeve；507, return
Rotating shaft is held；508, cover plate.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can be limited by following and
The multitude of different ways covered is implemented.
Fig. 1 is the structural representation of the robot welding equipment of the preferred embodiment of the present invention；Fig. 2 is that the present invention is preferred
The structural representation of the balance crane assembly of embodiment；Fig. 3 is the rocking arm knot with pillar binding site of the preferred embodiment of the present invention
Structure schematic diagram；Fig. 4 is the structural representation of the walking track of the preferred embodiment of the present invention；Fig. 5 is the C of the preferred embodiment of the present invention
One of structural representation of type frame device；Fig. 6 is the two of the structural representation of the c-type rack device of the preferred embodiment of the present invention.
As it is shown in figure 1, the robot welding equipment of the present embodiment, including the fixed mechanism fixing for bottom support
1 and for the welding robot 2 of weld job, provided with straight line moving track and to synchronizing to move on fixed mechanism 1
Dynamic cable carries out the walking track 3 protected and is loaded in walking track 3 for controlling that welding robot 2 is vertically mobile to be adjusted
Joint and edge are perpendicular to the horizontal direction of walking track and move regulation the c-type rack device 4 protecting synchronization-moving cable；
C-type rack device 4 is provided with during moving regulation and weld job at control welding robot 2 and is slided by weight and turn
The balance crane assembly 5 of dynamic autobalance cable.Robot welding equipment of the present invention, carries out whole device by fixed mechanism
Stationary positioned, it is ensured that structure structural stability during weld job.Fixed mechanism arranges walking track 3, with
Form straight line moving track, the cable of mobile welding robot on straight line moving track is protected simultaneously, reduce cable pair
The obstruction that welding robot moves.Welding robot is laid on c-type rack device 4, realizes welding robot by c-type rack device 4
People vertically movable and edge spatially is perpendicular to moving horizontally of straight line moving track, the control portable cord of walking track 3
Road constitutes, with the shiftable haulage line that controls of c-type rack device 4, the three-dimensional coordinate system that welding robot space is moved, thus realizes bonding machine
Device people fastens moving freely along X-axis, Y-axis and Z axis at spatial coordinate.By arranging balance crane assembly on c-type rack device 4
5, slided by weight during control welding robot moves regulation and weld job and rotate autobalance gravity, thus
Improve the welding robot stability when moving with weld job, it is ensured that the precision of welding and welding quality.It is applicable to many product
Kind structure, the automatic welding operation of the workpiece that differentiation is big.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, balance crane assembly 5 includes the pillar being fixed on c-type rack device 4
501, the Rocker arm 5 02 that is rotationally connected with on pillar 501 and being slidably connected on Rocker arm 5 02 for lifting by crane the balance crane of cable
503.Alternatively, what balance crane 503 was swingable hangs on Rocker arm 5 02, controls degree of balance by freely swinging.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, balance crane 503 is provided with multiple.Multiple balance cranes 503 are embedded in
Axially it is opened in the chute on Rocker arm 5 02 along Rocker arm 5 02.Chute is provided with and hangs 503 cunnings in chute for limiting balance
The stop component 504 of dynamic scope.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, between Rocker arm 5 02 and pillar 501, use the revolution being in bottom
Axle bed 505 and the mutual fit of revolution sleeve 506 on top.By organizing gyroaxis between revolution axle bed 505 and revolution sleeve 506 more
Hold 507 connections.The radial dimension of floating bearing 507 is from top to bottom gradually increased.The bottom of revolution sleeve 506 is provided with removably
It is assemblied on revolution sleeve 506 upper opening and for safeguarding the cover plate 508 of floating bearing 507.
As shown in Figure 1 and Figure 4, in the present embodiment, walking track 3 includes that at least one is axially layed in along fixed mechanism 1
For coordinating to carry out the walking rack 301, at least one and the walking rack 301 that move along a straight line by engagement on fixed mechanism 1
Parallel laying and for guide line slideway that c-type rack device 4 moves along a straight line 302 and at least one with walking rack 301
Parallel laying is also used for the track torr chain 303 protecting synchronization-moving cable in c-type rack device 4 moving process.
As shown in Figure 1 and Figure 4, in the present embodiment, line slideway 302 be laterally provided with during preventing weld job
The guide rail backplate 304 that weldering bits drop and are bonded on line slideway 302.Laterally being provided with for preventing welding of track torr chain 303
In operation process, weldering bits drop and are bonded in the torr chain backplate 305 on torr chain.The two ends of line slideway 302 are provided with for limiting C
The track block seat 306 of the type frame device 4 linear motion range on line slideway 302.Track block seat 306 surface is provided with for delaying
Rush the c-type rack device 4 buffer stopper 307 to the impulsive force of track block seat 306.
As shown in Figure 1 and Figure 4, in the present embodiment, the two ends of line slideway 302 are provided with for controlling at line slideway 302
The c-type rack device 4 of upper movement slows down and moves the second level stroke switch 308 stopped.
As shown in Fig. 1, Fig. 5 and Fig. 6, in the present embodiment, c-type rack device 4 includes mobile link standing in walking track 3
Post 401 and vertically mobile link are on column 401 and are perpendicular to the cursor slide 402 that walking track 3 is laid.Welding robot 2
Move axially along cursor slide 402 and be connected on cursor slide 402.Balance crane assembly 5 is located on cursor slide 402.Edge on the side wall surface of column 401
Vertically be laid with at least one for coordinated by engagement the vertical tooth bar 403 to carry out vertical motion and at least one for
Guide the vertical guide 404 that cursor slide 402 moves along a straight line.Vertical guide 404 two ends are provided with for limiting cursor slide 402 moving range
Vertical block seat 405.It is additionally provided with on column 401 side wall surface for providing the welding wire cylinder 406 of welding wire for welding robot 2 and using
The welding machine 407 of the energy is provided in the welding gun 205 for welding robot 2.It is provided with bottom column 401 for engaging with walking track 3
With order about column 401 along walking track 3 move axially track gear 408, for order about track gear 408 rotate column drive
Dynamic device 409, protect the ground of cable for being attached dragging track torr chain 303 with the track torr chain 303 in walking track 3
Rail torr chain bearing 410 and for sensing the sense base 411 of c-type rack device 4 shift position.Cursor slide 402 is by cursor slide carriage saddle
412 are connected with column 401.Cursor slide carriage saddle 412 be provided with the vertical gear 413 for engaging with vertical tooth bar 403, for
Vertical guide slide 415 that vertical guide 404 is slidably matched and for ordering about the cursor slide driving means that vertical gear 413 rotates
414.Vertical guide 404 is line slideway.
As shown in Fig. 1, Fig. 5 and Fig. 6, in the present embodiment, the side wall surface of cursor slide 402 is axially arranged with at least along cursor slide 402
Article one, for coordinating to carry out the level horizontal rack 4021, at least one to motion for guiding welding robot by engagement
The horizontal guide rail 4022, at least one that 2 horizontally move is synchronization-moving cable in butt welding machine device people 2 moving process
Carry out the level torr chain 4023 protected and be located at bottom level torr chain 4023 the level torr chain for support level torr chain 4023
Support 4025.Horizontal guide rail 4022 two ends are provided with the horizontal block seat 4026 for limiting welding robot 2 moving range.Bonding machine
Device people 2 is provided with and protects the level torr chain bearing of cable for being attached dragging level torr chain 4023 with level torr chain 4023
As shown in Fig. 1, Fig. 5 and Fig. 6, in the present embodiment, welding robot 2 passes through carriage saddle 202 mobile link in level
On tooth bar 4021 and horizontal guide rail 4022.It is connected with on carriage saddle 202 for being provided as welding robot 2 auxiliary device offer peace
The aluminium alloy post 201 of dress position.Carriage saddle 202 is assemblied on horizontal guide rail 4022 by slide rail slide 203.Carriage saddle 202 leads to
Cross support gear 204 to be engaged in horizontal rack 4021.Support gear 204 is connected with for ordering about propping up of support gear 204 rotation
Frame driving means 212.Welding robot 2 is provided with the rapid switcher 206 for quick-replaceable welding gun 205.Rapid switcher 206 is by fixed
Alignment pin 2071 on the seat 207 of position is fixed positioned on welding robot 2.Aluminium alloy post 201 is provided with for regularly clearing up
The weldering that welding gun 205 inner nozzle surface adheres to is considered and is cut off the clear rifle of the balling that welding wire produces to be worth doing and cuts silk device 208 and for weldering
Rifle 205 exports the wire-feed motor 209 of welding wire.It is additionally provided with on welding robot 2 for guiding welding gun 205 to advance along weld seam all the time
Laser instrument 210.Laser instrument 210 is connected on welding gun 205 by fixing seat 211.Horizontal guide rail 4022 is line slideway.
During enforcement, it is provided that a kind of cross slide rail robot welding equipment, servomotor start decelerator, by solely
The drive technology that some rack-and-pinion are seamless, makes welding robot X-direction, Y along three-dimensional coordinate system on line slide rail
In direction of principal axis, Z-direction walk, extend welding robot up to welding scope and flexibility ratio, the servomotor of employing
Being the outside axle welded with servo-drive, servomotor, servo-drive and welding robot can realize linkage, and welding robot exists
While linearly walking in X, Y, Z-direction on slide rail, workpiece can be welded by welding robot, can realize cross slide rail work
Make the automatization of device, thus obtain the fully automation of robot welding workstation.
Cross slide rail robot welding equipment, including c-type rack device 4 and and walking track 3, be integrated with machinery, electricity
Gas, control, the polytechnic robot equipment such as welding.Can make institute's welder's part in the operating radius of welding robot 2,
Robot control cabinet controls welding robot 2 and performs the servo-drive in various actions and X, Y, Z-direction, and welding robot 2 can
Linearly in slide rail X, Y, Z-direction walk, extend welding robot 2 up to welding scope and flexibility ratio, chi can be met
The needs of very little differentiation big structural member welding, servo-drive and welding robot 2 realize linkage.
Walking track 3, including track block seat 306, nylon block (buffer stopper 307), torr chain backplate 305, track torr chain 303,
Two travel switches (second level stroke switch 308), line slideway 302, walking rack 301, track block seat 306, Guide rail shield (are led
Rail backplate 304).
Fixed mechanism 1, including walking underframe 101, regulation bolt 102, tightens screw 103, base anchor 105 and chemical anchor bolts
Walking underframe 101 has enough intensity, rigidity, hardness, it is possible to bear various power during c-type rack device 4 travels
Effect and abrasion, stability is high, and damping capaicty is strong.Line slideway 302 and walking rack 301 are connected in walking underframe by bolt
On 101, positioned through the boss of polish by walking underframe 101.Track block seat 306 is arranged in walking rack 301
Two ends, c-type rack device 4 can be supported, play position-limiting action, prevent from skidding off line slideway 302.Nylon block (buffer stopper
307) it is arranged on track block seat 306 by bolt, plays the effect of buffering.Straight line is led by Guide rail shield (guide rail backplate 304)
Rail 302 plays the effect of protection, prevents spatter to be bonded on line slideway 302.Second level stroke switch 308 (open by the first stroke
Close and the second travel switch, and third trip switch switch with fourth line journey) by being connected in walking underframe 101 by bolt
On.First travel switch and the second travel switch are positioned at the front position of walking underframe 101.Second travel switch can make c-type
Rack device 4 slows down, and the first travel switch can make c-type rack device 4 stop.Third trip switch is positioned at row with fourth line journey switch
Walk the back-end location of underframe 101.Third trip switch can make described c-type rack device 4 slow down, and fourth line journey switch can make C
Type frame device 4 stops.Base anchor 105 is fixed on ground by chemical anchor bolts 104.Regulation bolt 102 can be by underframe of walking
101 are adjusted to horizontal level, facilitate c-type rack device 4 even running.Tightening screw 103 can make walking underframe 101 be fastened on lower margin
On plate 105.Track torr chain 303 is placed in torr chain backplate 305, is connected to the trachea on c-type rack device 4, electric wire is placed on ground
Rail torr chain 303 is internal, can drag with c-type rack device 4.
C-type rack device 4, its structure is as follows:
C-type rack device 4, including welding robot 2, welding gun 205, fixing seat 211, laser instrument 210, rapid switcher 206, level
Block seat 4026, cursor slide 402, level torr chain support 4025, level torr chain 4023, level torr chain bearing 4024, balance crane assembly 5,
Aluminium alloy post 201, wire-feed motor 209, positioning seat 207, alignment pin 2071, clear rifle cut silk device 208, horizontal guide rail 4022, water
Flat tooth bar 4021, vertical block seat 405, cursor slide carriage saddle 412, column 401, welding wire cylinder 406, mounting seat, upright column sliding platform seat, vertical
Gear 413, vertical guide slide 415, motor+reductor (cursor slide driving means 414), vertical guide 404, vertical tooth bar 403,
Digital welding machine (welding machine 407), motor+reductor (column driving means 409), track torr chain bearing 410, track gear 408, sense
Answer seat 411, Rocker arm 5 02, balance crane 503, stop component 504, location backing pin, revolution axle bed 505, pillar 501, motor+deceleration
Machine (carriage drive device 212), slide rail slide 203, support gear 204, carriage saddle 202, floating bearing 507, cover plate 508.
Welding robot 2 is by being connected in the effect of track gear 408 straight line in Y-direction in column driving means 409
Walking.Track gear 408 engages driving with walking rack 301, flat to promote on the direction of upright column sliding platform seat linearly guide rail 302
Move.Welding robot 2 is by being connected in cursor slide driving means 414 effect straight line moving in Z-direction of vertical gear 413.
Vertical gear 413 engages driving with vertical tooth bar 403, flat to promote on the direction of cursor slide carriage saddle 412 vertically guide rail 404
Move.Being respectively arranged at the two ends with for supporting with cursor slide carriage saddle 412 in case on-slip arm carriage saddle 412 skids off vertically of vertical tooth bar 403
The vertical block seat 405 of guide rail 404.Vertical guide 404 mates three row vertical guide slides 415, and sliding in vertical guide 404
Dynamic.Welding robot 2 goes up straight line moving in X direction by being connected in the effect of carriage drive device 212 upper bracket gear 204.
Support gear 204 engages driving with horizontal rack 4021, to promote carriage saddle 202 to translate up along the side of horizontal guide rail 4022.
Being respectively arranged at the two ends with for supporting with carriage saddle 202 in case on-slip pedestal 202 skids off horizontal guide rail 4022 of horizontal rack 4021.Water
Level gauge 4022 mates two row slide rail slides 203, and slides on horizontal guide rail 4022.Same at straight line moving of c-type rack device 4
Time can link with welding robot 2.
Welding robot 2 is fastened on carriage saddle 202 by bolt and alignment pin.Welding gun 205 is connected by rapid switcher 206
On the 6th axle of welding robot 2.C-type rack device 4, comprises 206, two different welding guns 205 of two set rapid switchers.Rapid switcher
206 are positioned by alignment pin 2071 on positioning seat 207, and after having positioned, welding robot 2 receives signal, automatically from soon
Disengage on parallel operation 206, be automatically performed the mutual replacing of different welding gun 205, two kinds of different welding procedures can be met.This device is also
Two or more welding guns can be contained, can automatically change welding gun, meet multiple different welding procedure.
Laser instrument 210 is connected on welding gun 205 by fixing seat 211, and laser instrument 210 can guide welding gun 205 edge all the time
Weld seam to walk.
Balance crane assembly 5, including Rocker arm 5 02, balance crane 503, stop component 504, backing pin, revolution axle bed 505, pillar
501, floating bearing 507, cover plate 508.Balance crane 503 can slide in the chute of Rocker arm 5 02.Stop component 504 is to balance crane
503 play spacing effect.Revolution axle bed 505 and Rocker arm 5 02 are provided with two groups of floating bearings 507.Bottom floating bearing 507 chi
Very little specification is bigger than top floating bearing 507, can facilitate installation and the maintenance of balance crane assembly 5.Rocker arm 5 02 is by two groups of gyroaxises
Holding the effect of 507, the axis of rotation along revolution axle bed 505 turns round.Two backing pins are installed, to shaking on revolution axle bed 505
Spacing effect is played in arm 502 angle of revolution.The various welding positions that balance crane assembly 5 can be shown according to welding robot 2,
Automatic adjusting position, reaches the effect of balance.
Aluminium alloy post 201, clear rifle are cut silk device 208 and are fastened by bolts on carriage saddle 202, and with carriage saddle 202
Side along horizontal guide rail 4022 translates up together.By the control (existing program and control method thereof) of program, silk cut by clear rifle
Device 208 can timing Butt welding gun 205 inner nozzle surface adhere to spatter thing be purged, and cut off welding wire produce
Balling.Balance crane assembly 5, wire-feed motor 209, positioning seat 207 are fastened on aluminium alloy post 201 by tight fixed bolt.Used tight
Determining bolt is aluminium alloy extrusions special bolt, can slide in aluminium alloy extrusions groove, i.e. balance crane assembly 5, wire-feed motor 209, fixed
Position seat 207 can adjust in the relative position of aluminium alloy post 201.
Welding wire cylinder 406 is fastened on column 401 by mounting seat, can meet the welding of slab workpiece, it is to avoid the most more
Change welding wire, improve welding production efficiency.Digital welding machine (welding machine 407) is fastened on column 401 by installing rack, shorten with
The flexible cable length that welding robot 2 connects, has saved cost.Digital welding machine (welding machine 407) and welding wire cylinder 406 are with column 401
Linearly the side of guide rail 302 translates up.
One end of track torr chain 303 is bolted track torr chain bearing 410, and on the direction of linearly guide rail 302
Drag.Level torr chain support 4025 is bolted on cursor slide 402, and level torr chain 4023 is placed on level torr chain support
In 4025.Level torr chain 4023 is fastened by bolts on level torr chain bearing 4024, drags along the direction of horizontal guide rail 4022
Sense base 411 contacts with second level stroke switch 308 sensing, controls c-type rack device 4 and slows down and stop motion.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.