CN106271277A - Robot welding equipment - Google Patents

Robot welding equipment Download PDF

Info

Publication number
CN106271277A
CN106271277A CN201610828406.8A CN201610828406A CN106271277A CN 106271277 A CN106271277 A CN 106271277A CN 201610828406 A CN201610828406 A CN 201610828406A CN 106271277 A CN106271277 A CN 106271277A
Authority
CN
China
Prior art keywords
welding
track
robot
welding robot
moving
Prior art date
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.)
Granted
Application number
CN201610828406.8A
Other languages
Chinese (zh)
Other versions
CN106271277B (en
Inventor
董世忠
华文孝
龙小军
王尚荣
蒋雷
杨星
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changsha Chaint Robotics Co Ltd
Original Assignee
Changsha Chaint Robotics Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Changsha Chaint Robotics Co Ltd filed Critical Changsha Chaint Robotics Co Ltd
Priority to CN201610828406.8A priority Critical patent/CN106271277B/en
Publication of CN106271277A publication Critical patent/CN106271277A/en
Application granted granted Critical
Publication of CN106271277B publication Critical patent/CN106271277B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008Balancing devices
    • B25J19/002Balancing devices using counterweights

Abstract

The invention discloses a kind of robot welding equipment; including the fixed mechanism fixing for bottom support and for the welding robot of weld job, the walking track that synchronization-moving cable provided with straight line moving track and is protected by fixed mechanism and be loaded in walking track and vertically move regulation and the horizontal direction along the track that is perpendicular to walk moves the c-type rack device regulating and protecting synchronization-moving cable for controlling welding robot;C-type rack device is provided with at the balance crane assembly controlling to be slided by weight during welding robot moves regulation and weld job and rotate autobalance cable.Realize welding robot and fasten moving freely along X-axis, Y-axis and Z axis at spatial coordinate;The welding robot stability when moving with weld job is high.Be applicable to multi items structure, the automatic welding operation of workpiece that differentiation is big.

Description

Robot welding equipment
Technical field
The present invention relates to robot welder's technical field, especially, relate to a kind of robot welding equipment
Background technology
At present, by finding the investigation manufacturing enterprise, many enterprises that manufacture have multi items Workpiece structure Processing operation needs, and physical dimension is widely different, it is difficult to realize automated production operation at same welding workstation, individually The robot welding workstation intelligence that enterprise is used meets the welding demand of indivedual similar product, excessive to multi items difference Product mainly use human weld to be main.But many medium-sized and small enterprises are owing to being limited by fund cost, in the urgent need to One robot welding workstation just disclosure satisfy that physical dimension difference is big, the welding demand of multi items workpiece, for numerous visitors This requirement at family, it is necessary to the arm exhibition scope of expanding machinery people, but every welding robot has its specific arms length, Its arms length can not cover medium-and-large-sized structural member size range, needs the mode ability combined by ancillary equipment and robot Automatic welding can be realized.
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 Plate.
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 Chain bearing.
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 On rifle.
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.
Marginal data:
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 4024。
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 104。
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 Dynamic.
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.

Claims (10)

1. a robot welding equipment, including the fixed mechanism (1) fixing for bottom support and be used for welding work The welding robot (2) of industry,
It is characterized in that,
Provided with straight line moving track walking that synchronization-moving cable is protected on described fixed mechanism (1) Track (3) and being loaded on described walking track (3) is used for controlling described welding robot (2) vertically mobile regulation and along hanging down Directly the horizontal direction in walking track moves regulation the c-type rack device (4) protecting synchronization-moving cable;
Described c-type rack device (4) is provided with for during controlling the mobile regulation of described welding robot (2) and weld job Slided by weight and rotate the balance crane assembly (5) of autobalance cable.
Robot welding equipment the most according to claim 1, it is characterised in that
Described balance crane assembly (5) includes the pillar (501) being fixed on described c-type rack device (4), is rotationally connected with described Rocking arm (502) on post (501) and be slidably connected to the upper balance crane (503) for lifting by crane cable of described rocking arm (502).
Robot welding equipment the most according to claim 2, it is characterised in that
Described balance crane (503) is provided with multiple,
Multiple described balance cranes (503) are embedded in and are axially opened in the chute on described rocking arm (502) along described rocking arm (502) In;
Described chute is provided with the stop component (504) for limiting the described balance crane (503) sliding scale in chute.
Robot welding equipment the most according to claim 2, it is characterised in that
The revolving sleeve on revolution axle bed (505) and the top being in bottom is used between described rocking arm (502) and described pillar (501) Cylinder (506) mutually fit,
It is connected by described floating bearings (507) of organizing between described revolution axle bed (505) with described revolution sleeve (506) more,
The radial dimension of described floating bearing (507) is from top to bottom gradually increased;
The bottom of described revolution sleeve (506) is provided with and is removably assemblied on described revolution sleeve (506) upper opening and uses In the cover plate (508) safeguarding described floating bearing (507).
Robot welding equipment the most according to any one of claim 1 to 4, it is characterised in that
Described walking track (3) includes that at least one is axially layed in the upper use of described fixed mechanism (1) along described fixed mechanism (1) In coordinated by engagement the walking rack (301) to carry out moving along a straight line, at least one with described walking rack (301) parallel cloth And if the line slideway (302) that is used for guiding described c-type rack device (4) to move along a straight line and at least one with described walking tooth Bar (301) parallel laying is also used for the track protecting synchronization-moving cable in described c-type rack device (4) moving process Torr chain (303).
Robot welding equipment the most according to claim 5, it is characterised in that
The weldering bits during preventing weld job that are laterally provided with of described line slideway (302) drop and are bonded in described straight line Guide rail backplate (304) on guide rail (302);
The weldering bits during preventing weld job that are laterally provided with of described track torr chain (303) drop and are bonded on torr chain Torr chain backplate (305);
The two ends of described line slideway (302) are provided with for limiting described c-type rack device (4) in described line slideway (302) The track block seat (306) of linear motion range,
Described track block seat (306) surface is provided with and rushes described track block seat (306) for buffering described c-type rack device (4) Hit the buffer stopper (307) of power.
Robot welding equipment the most according to claim 6, it is characterised in that
The described c-type that the two ends of described line slideway (302) are provided with for controlling in the upper movement of described line slideway (302) is rack-mounted Put (4) slow down and move second level stroke switch (308) stopped.
Robot welding equipment the most according to any one of claim 1 to 4, it is characterised in that
Described c-type rack device (4) includes mobile link column (401) on described walking track (3) and vertically moves It is connected to described column (401) and above and is perpendicular to the cursor slide (402) that described walking track (3) is laid,
Described welding robot (2) moves axially along described cursor slide (402) and is connected on described cursor slide (402),
Described balance crane assembly (5) is located on described cursor slide (402);
At least one vertically it is laid with for being coordinated by engagement to carry out vertical motion on the side wall surface of described column (401) Vertical tooth bar (403) and at least one be used for the vertical guide (404) that guides described cursor slide (402) to move along a straight line,
Described vertical guide (404) two ends are provided with the vertical block seat (405) for limiting described cursor slide (402) moving range,
Be additionally provided with on described column (401) side wall surface for for described welding robot (2) provide welding wire welding wire cylinder (406) with And for providing the welding machine (407) of the energy for the welding gun (205) of described welding robot (2);
Described column (401) bottom is provided with for engaging to order about described column (401) along described row with described walking track (3) Walk track gear (408) that track (3) moves axially, be used for ordering about the column driving means that described track gear (408) rotates (409), for being attached dragging described track torr chain (303) guarantor with track torr chain (303) on described walking track (3) Protect track torr chain bearing (410) of cable and be used for sensing the sense base (411) of described c-type rack device (4) shift position;
Described cursor slide (402) is connected with described column (401), on described cursor slide carriage saddle (412) by cursor slide carriage saddle (412) It is provided with the vertical gear (413) for engaging with described vertical tooth bar (403), joins for sliding with described vertical guide (404) Close vertical guide slide (415) and be used for ordering about the cursor slide driving means (414) that described vertical gear (413) rotates.
Robot welding equipment the most according to claim 8, it is characterised in that
On the side wall surface of described cursor slide (402) along described cursor slide (402) be axially arranged with at least one for by engagement coordinate with Carry out level to the horizontal rack (4021) of motion, at least one be used for guiding described welding robot (2) horizontally to move Horizontal guide rail (4022), at least one for synchronization-moving cable in described welding robot (2) moving process is carried out Level torr chain (4023) of protection and be located at described level torr chain (4023) bottom level torr chain (4023) described in the support Level torr chain support (4025),
Described horizontal guide rail (4022) two ends are provided with the horizontal block seat for limiting described welding robot (2) moving range (4026);
Described welding robot (2) is provided with for being attached dragging described level torr chain with described level torr chain (4023) (4023) level torr chain bearing (4024) of cable is protected.
Robot welding equipment the most according to claim 9, it is characterised in that
Described welding robot (2) is led in described horizontal rack (4021) and described level by carriage saddle (202) mobile link On rail (4022), described carriage saddle (202) is connected with for being provided as the offer installation of described welding robot (2) auxiliary device The aluminium alloy post (201) of position;
Described carriage saddle (202) is assemblied on described horizontal guide rail (4022) by slide rail slide (203), described carriage saddle (202) being engaged in described horizontal rack (4021) by support gear (204), described support gear (204) is connected with for driving Make the carriage drive device (212) that described support gear (204) rotates;
Described welding robot (2) is provided with the rapid switcher (206) for welding gun described in quick-replaceable (205),
Described rapid switcher (206) is fixed positioned in described welding robot (2) by the alignment pin (2071) on positioning seat (207) On;
Described aluminium alloy post (201) be provided with for regularly clear up described welding gun (205) inner nozzle surface adhere to weldering bits and The clear rifle cutting off the balling that welding wire produces cuts silk device (208) and for the wire-feed motor to described welding gun (205) output welding wire (209);
The laser instrument for guiding described welding gun (205) to advance all the time it is additionally provided with along weld seam on described welding robot (2) (210), described laser instrument (210) is connected on described welding gun (205) by fixing seat (211).
CN201610828406.8A 2016-09-18 2016-09-18 Robot welding equipment Active CN106271277B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610828406.8A CN106271277B (en) 2016-09-18 2016-09-18 Robot welding equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610828406.8A CN106271277B (en) 2016-09-18 2016-09-18 Robot welding equipment

Publications (2)

Publication Number Publication Date
CN106271277A true CN106271277A (en) 2017-01-04
CN106271277B CN106271277B (en) 2017-12-12

Family

ID=57712643

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610828406.8A Active CN106271277B (en) 2016-09-18 2016-09-18 Robot welding equipment

Country Status (1)

Country Link
CN (1) CN106271277B (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108115346A (en) * 2017-12-08 2018-06-05 安徽维力拓网络科技有限公司 A kind of automobile flexible tool for welding
CN108436343A (en) * 2018-06-06 2018-08-24 陈燕 A kind of multifunctional industrial robot for intelligence manufacture automatic production line
CN108747107A (en) * 2018-06-06 2018-11-06 陈燕 A kind of automation can remote monitoring factory
CN109014667A (en) * 2018-06-06 2018-12-18 陈燕 A kind of automated production assembly system based on intelligent industrial robot
CN109108542A (en) * 2018-09-04 2019-01-01 宁波摩科机器人科技有限公司 A kind of motor-car single-track turnout beam weldering robot workstation
CN109202285A (en) * 2018-10-21 2019-01-15 苏州高新区建金建智能科技有限公司 A kind of modular fiber optic laser lamp chemicals welding robot
CN109500617A (en) * 2017-09-15 2019-03-22 南京美克斯精密机械有限公司 A kind of rocker arm control system of numerically-controlled machine tool
CN111151939A (en) * 2020-01-08 2020-05-15 安徽斯柯瑞智能装备科技有限公司 Ground rail formula weldment work device
CN111390337A (en) * 2020-04-17 2020-07-10 苏州威尔汉姆堆焊技术有限公司 Intraductal welding set including feed mechanism
CN111408815A (en) * 2020-04-17 2020-07-14 苏州威尔汉姆堆焊技术有限公司 Intraductal welding set including first supporting mechanism
CN112404783A (en) * 2021-01-22 2021-02-26 河南威猛振动设备股份有限公司 Flexible assembling and welding system and method for standard part and non-standard part

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN88211340U (en) * 1988-01-16 1988-10-19 上海电机厂 Telescopic arm welding operation machine
CN202984882U (en) * 2012-12-06 2013-06-12 安徽好运机械有限公司 Automatic welding machine
CN103894747A (en) * 2014-02-21 2014-07-02 中铁宝桥集团有限公司 Large combined joist steel girder assembling automatic welding device and automatic welding method
US20140299583A1 (en) * 2013-04-03 2014-10-09 Hyundai Motor Company Spot welding apparatus
CN203946854U (en) * 2014-03-05 2014-11-19 唐山开元机器人系统有限公司 A kind of vertical pivot moves up and down light resistance, stall proof jacking system
CN203993882U (en) * 2014-07-01 2014-12-10 常州天元机器人有限公司 Five shaft multifunctional machine people
CN205363051U (en) * 2016-01-19 2016-07-06 江苏长江重工科技有限公司 Eight linkage machine people welding system
CN206105214U (en) * 2016-09-18 2017-04-19 长沙长泰机器人有限公司 Weldment work of robot device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN88211340U (en) * 1988-01-16 1988-10-19 上海电机厂 Telescopic arm welding operation machine
CN202984882U (en) * 2012-12-06 2013-06-12 安徽好运机械有限公司 Automatic welding machine
US20140299583A1 (en) * 2013-04-03 2014-10-09 Hyundai Motor Company Spot welding apparatus
CN103894747A (en) * 2014-02-21 2014-07-02 中铁宝桥集团有限公司 Large combined joist steel girder assembling automatic welding device and automatic welding method
CN203946854U (en) * 2014-03-05 2014-11-19 唐山开元机器人系统有限公司 A kind of vertical pivot moves up and down light resistance, stall proof jacking system
CN203993882U (en) * 2014-07-01 2014-12-10 常州天元机器人有限公司 Five shaft multifunctional machine people
CN205363051U (en) * 2016-01-19 2016-07-06 江苏长江重工科技有限公司 Eight linkage machine people welding system
CN206105214U (en) * 2016-09-18 2017-04-19 长沙长泰机器人有限公司 Weldment work of robot device

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109500617A (en) * 2017-09-15 2019-03-22 南京美克斯精密机械有限公司 A kind of rocker arm control system of numerically-controlled machine tool
CN108115346A (en) * 2017-12-08 2018-06-05 安徽维力拓网络科技有限公司 A kind of automobile flexible tool for welding
CN108436343A (en) * 2018-06-06 2018-08-24 陈燕 A kind of multifunctional industrial robot for intelligence manufacture automatic production line
CN108747107A (en) * 2018-06-06 2018-11-06 陈燕 A kind of automation can remote monitoring factory
CN109014667A (en) * 2018-06-06 2018-12-18 陈燕 A kind of automated production assembly system based on intelligent industrial robot
CN109014667B (en) * 2018-06-06 2021-02-05 河南省乾憬光电科技有限公司 Automatic production and assembly system based on intelligent industrial robot
CN108436343B (en) * 2018-06-06 2020-11-13 聊城锐利机械设备有限公司 Multifunctional industrial robot for intelligent manufacturing automatic production line
CN108747107B (en) * 2018-06-06 2021-05-14 安徽喜尔奇日用品有限公司 Automatic but change mill of remote monitoring
CN109108542A (en) * 2018-09-04 2019-01-01 宁波摩科机器人科技有限公司 A kind of motor-car single-track turnout beam weldering robot workstation
CN109202285B (en) * 2018-10-21 2020-10-09 盐城工学院 Modular optic fibre laser lamp chemicals welding robot
CN109202285A (en) * 2018-10-21 2019-01-15 苏州高新区建金建智能科技有限公司 A kind of modular fiber optic laser lamp chemicals welding robot
CN111151939A (en) * 2020-01-08 2020-05-15 安徽斯柯瑞智能装备科技有限公司 Ground rail formula weldment work device
CN111408815A (en) * 2020-04-17 2020-07-14 苏州威尔汉姆堆焊技术有限公司 Intraductal welding set including first supporting mechanism
CN111390337A (en) * 2020-04-17 2020-07-10 苏州威尔汉姆堆焊技术有限公司 Intraductal welding set including feed mechanism
CN112404783A (en) * 2021-01-22 2021-02-26 河南威猛振动设备股份有限公司 Flexible assembling and welding system and method for standard part and non-standard part
CN112404783B (en) * 2021-01-22 2021-04-23 河南威猛振动设备股份有限公司 Flexible assembling and welding system and method for standard part and non-standard part

Also Published As

Publication number Publication date
CN106271277B (en) 2017-12-12

Similar Documents

Publication Publication Date Title
CN106271277A (en) Robot welding equipment
CN206105214U (en) Weldment work of robot device
US8434657B2 (en) Gantry-based welding system and method
CN103084765A (en) Cantilever type slide rail mechanism applied to rectangular coordinate system robot welding
CN201098773Y (en) Single-arm suspension-beam type welding seam automatic tracing submerged arc-welding machine
CN206306117U (en) A kind of heavy load planer-type robot
CN104816113B (en) A kind of Three Degree Of Freedom welding robot and control system thereof
CN101618489A (en) Special build-up welding machine applied to heavy binding roller or squeeze roller
CN204449724U (en) A kind of welding bench
CN103252614B (en) Two gantry lifting turnover machine
CN203945067U (en) A kind of double end seam bonding machine fast
CN205583958U (en) Six linkage planer -type belting machines
KR20110104333A (en) A manipulator of auto welding in pipe
CN203254046U (en) Full-automatic gas shielded welding machine capable of changing directions
CN205415690U (en) A mechanical structure for hanging robot
CN204565466U (en) A kind of Three Degree Of Freedom welding robot and control system thereof
CN201871880U (en) Cantilever welding device of middle slot of novel coal machine
CN208601037U (en) Aluminium alloy container production line
CN110076493A (en) A kind of column robot line for welding
CN106181980B (en) Synchronous driven type Cartesian robot
CN204735820U (en) Built -in welding production line of a section of thick bamboo of heating furnace production line
CN205310251U (en) Triaxial robot
CN104785892B (en) The built-in welding production line of cylinder of heating furnace production line
CN206317060U (en) A kind of synchronizing shaft and the good manipulator of synchronism
CN208087183U (en) Use the multi-disc wire bundle working platform automatic position-changing equipment being integrated with storage

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: Robot welding working device

Effective date of registration: 20180925

Granted publication date: 20171212

Pledgee: Bank of Changsha Limited by Share Ltd science and Technology Branch

Pledgor: Changsha CTR Robotics Co., Ltd.

Registration number: 2018430000078

Denomination of invention: Robot welding working device

Effective date of registration: 20180925

Granted publication date: 20171212

Pledgee: Bank of Changsha Limited by Share Ltd science and Technology Branch

Pledgor: Changsha CTR Robotics Co., Ltd.

Registration number: 2018430000078

PC01 Cancellation of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20200528

Granted publication date: 20171212

Pledgee: Bank of Changsha Limited by Share Ltd. science and Technology Branch

Pledgor: CHANGSHA CTR ROBOTICS Co.,Ltd.

Registration number: 2018430000078

PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: Robot welding working device

Effective date of registration: 20200622

Granted publication date: 20171212

Pledgee: Bank of Changsha Limited by Share Ltd. science and Technology Branch

Pledgor: CHANGSHA CTR ROBOTICS Co.,Ltd.

Registration number: Y2020980003314