CN106271282B - Electric servo X-type robot soldering pliers - Google Patents
Electric servo X-type robot soldering pliers Download PDFInfo
- Publication number
- CN106271282B CN106271282B CN201610868275.6A CN201610868275A CN106271282B CN 106271282 B CN106271282 B CN 106271282B CN 201610868275 A CN201610868275 A CN 201610868275A CN 106271282 B CN106271282 B CN 106271282B
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- Prior art keywords
- underarm
- upper arm
- transformer
- copper bar
- arm
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- 238000005476 soldering Methods 0.000 title claims abstract description 39
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 61
- 229910052802 copper Inorganic materials 0.000 claims abstract description 61
- 239000010949 copper Substances 0.000 claims abstract description 61
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 47
- 239000000758 substrate Substances 0.000 claims abstract description 26
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 4
- 238000003466 welding Methods 0.000 description 15
- 239000000498 cooling water Substances 0.000 description 9
- NMFHJNAPXOMSRX-PUPDPRJKSA-N [(1r)-3-(3,4-dimethoxyphenyl)-1-[3-(2-morpholin-4-ylethoxy)phenyl]propyl] (2s)-1-[(2s)-2-(3,4,5-trimethoxyphenyl)butanoyl]piperidine-2-carboxylate Chemical compound C([C@@H](OC(=O)[C@@H]1CCCCN1C(=O)[C@@H](CC)C=1C=C(OC)C(OC)=C(OC)C=1)C=1C=C(OCCN2CCOCC2)C=CC=1)CC1=CC=C(OC)C(OC)=C1 NMFHJNAPXOMSRX-PUPDPRJKSA-N 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241001124569 Lycaenidae Species 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 235000014987 copper Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of electric servo X-type robot soldering pliers, the soldering turret includes drive component, shield, substrate, upper plate, upper electrode arm component, bottom arm component, conduit assembly and transformer device.The drive component includes servomotor, reductor, ball-screw, connecting rod；The upper electrode arm component includes upper arm, upper arm contiguous block, upper arm electrode stem and upper arm electrode cap；The bottom arm component includes underarm, underarm contiguous block, underarm electrode stem and underarm electrode cap；The conduit assembly includes distributor, upper arm water inlet pipe, upper arm return pipe, underarm water inlet pipe, underarm return pipe, transformer water inlet pipe and transformer return pipe；The transformer device includes transformer, copper bar one, copper bar two, copper bar three and soft copper row.The soldering turret uses modularized design, and installation and debugging are more convenient；Using servo techniques, control is accurate, and dependable performance is reasonable in design, and service life is longer.
Description
Technical field
The present invention relates to a kind of robot welder, more particularly to a kind of electric servo X-type robot soldering pliers.
Background technology
At present, welding is the universal processing technology of automobile manufacture industry, and spot-welded is as one kind therein, in automobile system
It is very wide to make sector application.By clamping two blocks of metals, in the contact surface of very little moment by high current, melt and merge two pieces
Metal, connected effect is played after cooling.Pinpoint welding procedure will not injure the internal structure of workpiece, and need not add other welding materials
Material.Because the requirement of the different butt welding tongs of welding position posture is also different, now generally it is divided into C-shaped welding tongs and X-type soldering turret.
Domestic automobile industry development was rapid in recent years, and automaticity more and more higher, the use of robot is more and more, right
Also should accordingly it increase in the application of robot auto soldering tweezerses, auto soldering tweezerses can be divided into：Pneumatic welding rod holder, electronic soldering turret, pneumatic servo
Soldering turret and electrical servo soldering turret；Compared with pneumatic welding rod holder and electronic soldering turret, the welding of pneumatic servo soldering turret and electrical servo soldering turret
Precision is higher more energy efficient, and electric servo electrode holder is smaller than pneumatic servo soldering turret noise, and precision is high, and controllability is higher.
Existing electric servo electrode holder typically uses following two modes：One servomotor coordinates with synchronous toothed belt, due to synchronization
Easily occur jumping tooth in cingulum running, occur that control accuracy is not high during soldering turret use；Synchronous toothed belt service life is short
Cause soldering turret whole service life short；In addition, servo hollow motor, soldering turret manufacturer is unique, corner on the market, and soldering turret price
It is expensive.
Therefore, a kind of simple in construction, dependable performance, modularization, energy-conservation, light and handy welding equipment are innovated, it has also become the neck
One of the problem of field technique personnel urgently address.
The content of the invention
It is an object of the present invention to overcome the above deficiencies, there is provided it is a kind of it is simple in construction, can using easy, performance safety
Lean on, modularization, energy-conservation, light and handy electric servo X-type robot soldering pliers.
The technical solution adopted in the present invention is to achieve the above object：A kind of electric servo X-type robot soldering pliers, its feature
Be the soldering turret include drive component, upper electrode arm component, bottom arm component, conduit assembly, transformer device, substrate, on
Plate and shield；
The drive component includes servomotor, reductor, ball-screw, connecting rod, axle two, deep groove ball bearing, nut axis
And bearing block；The servomotor is connected with reductor, reductor be arranged on bearing block on, ball-screw by bearing block with
Reductor is connected, and the ball-screw other end is provided with nut axis, nut axis both sides transverse axis installing connecting rods and deep-groove ball axle successively
Hold, connecting rod top is provided with mounting hole, axle two built in hole；And axle two is arranged in upper arm mounting hole simultaneously；
The upper electrode arm component includes upper arm, upper arm contiguous block, upper arm electrode stem and upper arm electrode cap；The upper arm electricity
Polar cap and upper arm electrode stem taper fit, upper arm electrode stem, upper arm contiguous block, upper arm order are threadedly coupled；
The bottom arm component includes underarm, underarm contiguous block, underarm electrode stem and underarm electrode cap；The underarm electricity
Polar cap and underarm electrode stem taper fit, underarm electrode stem, underarm contiguous block, underarm order are threadedly coupled；
The conduit assembly includes distributor, upper arm water inlet pipe, upper arm return pipe, underarm water inlet pipe, underarm return pipe, change
Depressor water inlet pipe and transformer return pipe；The distributor is arranged on substrate；Upper arm water inlet pipe one end is connected with distributor, separately
One end is connected with the water inlet of copper bar two；Upper arm return pipe one end is connected with distributor, and the other end is connected with the water return outlet of copper bar two；Under
Arm water inlet pipe one end is connected with distributor, and the other end is connected with the water inlet of copper bar three；Underarm return pipe one end is connected with distributor,
The other end is connected with the water return outlet of copper bar three；Transformer water inlet pipe is connected with the transformer inlet end of copper bar two, transformer return pipe
It is connected with the transformer water return outlet on copper bar three；
The transformer device includes transformer, copper bar one, copper bar two, copper bar three and soft copper row；The transformer installation
On substrate, transformer output end installs copper bar two and copper bar three respectively, and the other end of copper bar two, soft copper row, copper bar one connect successively
Connect, another joint of copper bar one is connected with upper arm contiguous block；
The substrate front side upper right is provided with transformer, and positive lower left side installs underarm, and right side central is provided with peace
Hole is filled, axle one is installed in this hole, and axle one sequentially passes through substrate, upper arm and upper plate, and bearing block is arranged on substrate front side bottom, base
The positive Middle face of plate is provided with guide groove, and the deep groove ball bearing installed on the downside of nut axis moves in guide groove；Substrate back is provided with peace
Fill hole, for the axle abutting joint of robot six；
The upper plate left upper portion is provided with mounting hole, and axle one is mounted within the bore, and left lower is arranged on underarm, upper plate
Lower right side is arranged on bearing block, guide groove is provided with the right side of upper plate, the deep groove ball bearing installed on the upside of nut axis is in guide groove
Interior motion.
The beneficial effects of the invention are as follows：The electric servo X-type soldering turret modularized production cost that the present invention designs is lower；Using aluminium
Alloy material, soldering turret weight are lighter and handier；More saved using servo techniques, control is more accurate；Welding tong structure is compact, volume
It is small, it is more convenient in-site installation and welding production, application effect highly significant.Particularly electric servomotor coordinates with reductor to be kept away
Exempt from synchronous toothed belt and jump tooth problem, control is more stable, and soldering turret cost is lower, and line slideway is with ball-screw with the use of above and below soldering turret
Arm welding is more accurate, while greatly improves soldering turret service life.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is internal structure schematic diagram of the present invention.
In figure：1 shield, 2 upper arm, 3 upper arm contiguous blocks, 4 upper arm electrode stems, 5 upper arm electrode caps, 6 underarm electrode caps, under 7
Arm electrode stem, 8 underarm contiguous blocks, 9 underarms, 10 reductors, 11 servomotors, 12 substrates, 13 axles one, 14 deep groove ball bearings, 15
Axle two, 16 connecting rods, 17 nut axis, 18 ball-screws, 19 bearing blocks, 20 copper bars one, 21 copper bars two, 22 copper bars three, 23 transformers,
24 upper arm water inlet pipes, 25 upper arm return pipes, 26 underarm water inlet pipes, 27 underarm return pipes, 28 transformer water inlet pipes, 29 transformers return
Water pipe, 30 upper plates, 31 soft coppers row, 32 distributors.
Embodiment
Below in conjunction with accompanying drawing and preferred embodiment, to according to embodiment provided by the invention, structure, feature is auspicious states
It is as follows：
As shown in Figure 1 and Figure 2, a kind of electric servo X-type robot soldering pliers, the soldering turret include drive component, upper electrode arm group
Part, bottom arm component, conduit assembly, transformer device, substrate 12, upper plate 30 and shield 1.
The drive component includes servomotor 11, reductor 10, ball-screw 18, connecting rod 16, axle 2 15, deep-groove ball axle
Hold 14, nut axis 17 and bearing block 19；The servomotor 11 is connected with reductor 10, and reductor 10 is arranged on bearing block 19
On, ball-screw 18 is connected by bearing block 19 with reductor 10, and the other end of ball-screw 18 is provided with nut axis 17, screw
Installing connecting rods 16 and deep groove ball bearing 14, the top of connecting rod 16 are provided with mounting hole to the both sides transverse axis of axle 17 successively, axle 2 15 built in hole, and
Axle 2 15 is simultaneously in upper arm mounting hole.
The upper electrode arm component includes upper arm 2, upper arm contiguous block 3, upper arm electrode stem 4 and upper arm electrode cap 5；On described
Arm electrode cap 5 and the taper fit of upper arm electrode stem 7, upper arm electrode stem 4, upper arm contiguous block 3, upper arm 2 are sequentially threadedly coupled.
The bottom arm component includes underarm 9, underarm contiguous block 8, underarm electrode stem 7 and underarm electrode cap 6；Under described
Arm electrode cap 6 and the taper fit of underarm electrode stem 7, underarm electrode stem 7, underarm contiguous block 8, underarm 9 are sequentially threadedly coupled.
The conduit assembly includes distributor 32, upper arm water inlet pipe 24, upper arm return pipe 25, underarm water inlet pipe 26, underarm
Return pipe 27, transformer water inlet pipe 28 and transformer return pipe 29；The distributor 32 is installed on the substrate 12；Upper arm water inlet pipe
24 one end are connected with distributor 32, and the other end is connected with the water inlet of copper bar 2 21；The one end of upper arm return pipe 25 connects with distributor 32
Connect, the other end is connected with the water return outlet of copper bar 2 21；The one end of underarm water inlet pipe 26 is connected with distributor 32, the other end and copper bar 3 22
Water inlet connects；The one end of underarm return pipe 27 is connected with distributor 32, and the other end is connected with the water return outlet of copper bar 3 22；Transformer enters
The one end of water pipe 28 is connected with distributor 32, and the other end is connected with the transformer inlet end of copper bar 2 21, transformer return pipe 29 1
End is connected with distributor 32, and the other end is connected with the transformer water return outlet on copper bar 3 22.
The transformer device includes transformer 23, copper bar 1, copper bar 2 21, copper bar 3 22 and soft copper row 31；It is described
Transformer 23 is installed on the substrate 12, and the output end of transformer 23 installs copper bar 2 21 and copper bar 3 22 respectively, and copper bar 2 21 is another
End, soft copper row 31, copper bar 1 are sequentially connected, and another joint of copper bar 1 is connected with the contiguous block of upper arm 9.
Transformer 23 is installed, positive lower left side installs underarm 9, and right side central is set on the right side of the front upper of substrate 12
There is mounting hole, axle 1 is installed in this hole, and axle 1 sequentially passes through substrate 12, upper arm 2 and upper plate 30, and bearing block 19 is arranged on
12 positive bottom of substrate, 12 positive Middle face of substrate are provided with guide groove, and the deep groove ball bearing 14 of the downside of nut axis 17 installation is being oriented to
Moved in groove；The back side of substrate 12 is provided with mounting hole, in order to the axle abutting joint of robot six.
The left upper portion of upper plate 30 is provided with mounting hole, and axle 1 is installed in this hole, and left lower is arranged on underarm 9
On, the lower right side of upper plate 30 is arranged on bearing block 19, and the right side of upper plate 30 is provided with guide groove, the zanjon of the upside of nut axis 17 installation
Ball bearing 14 moves in guide groove.
The shield 1 is installed on the substrate 12；Shield 1 plays a protective role to transformer, conduit assembly, silk axle mother, shield
The installation of cover 1 makes soldering turret overall appearance cleaner and tidier.
The operation principle of the present invention：The soldering turret job order is as follows first：Servomotor drives ball wire by reductor
Thick stick rotates, by the rotatable engagement between ball-screw and nut axis, can drivening rod be moved upwardly or downwardly, link motion is lived
It is dynamic to drive humeral movement, make upper arm electrode cap that upper arm electrode cap can be achieved by controlling servomotor revolution to welding position
The pressure change between underarm electrode cap, i.e. soldering turret can realize the electrodeless change from zero kilogram to 500 kilograms to the pressure of weldment；
Transformer passes through copper bar two, soft copper row, copper bar one, upper arm contiguous block, upper arm electrode stem, upper arm electrode cap, soldering part, underarm
Electrode cap, underarm electrode stem, underarm contiguous block, copper bar three to transformer form closed loop, and transformer welds according to parts
Voltage needed for thickness output.Soldering turret can produce big heat, it is necessary to which cooling water is cooled down in welding, and workshop cooling water is by entering
Water pipe enters distributor, and cooling water is injected separately into underarm water inlet pipe, upper arm water inlet pipe and transformer water inlet pipe by distributor, cooling
Water enters upper arm contiguous block along upper arm water inlet pipe, is back to upper arm electrode stem, upper arm after upper arm electrode stem to upper arm electrode cap
Contiguous block, upper arm return pipe to distributor, upper electrode arm component can be cooled down by this loop cooling water；Cooling water along
Underarm water inlet pipe enter to be back to after underarm contiguous block, underarm electrode stem to underarm electrode cap underarm electrode stem, underarm electrode block,
Underarm return pipe can cool down to distributor by this loop cooling water to bottom arm component；Cooling water is along transformer
Water inlet pipe, copper bar three, copper bar two, transformer return pipe to distributor are back to transformer, can be right by this loop cooling water
Transformer carries out sufficiently cool.
The above-mentioned detailed description carried out with reference to embodiment to electric servo X-type robot soldering pliers is illustrative rather than limit
Qualitatively；Therefore changing and modifications in the case where not departing from present general inventive concept, should belong within protection scope of the present invention.
Claims (2)
1. a kind of electric servo X-type robot soldering pliers, it is characterised in that the soldering turret includes drive component, upper electrode arm component, lower electricity
Polar arm component, conduit assembly, transformer device, substrate, upper plate and shield；
The drive component includes servomotor, reductor, ball-screw, connecting rod, axle two, deep groove ball bearing, nut axis and axle
Bearing；The servomotor is connected with reductor, and reductor is arranged on bearing block, and ball-screw is by bearing block with slowing down
Machine is connected, and the ball-screw other end is provided with nut axis, nut axis both sides transverse axis installing connecting rods and deep groove ball bearing successively, even
Bar top is provided with mounting hole, axle two built in hole；And axle two is arranged in upper arm mounting hole simultaneously；
The upper electrode arm component includes upper arm, upper arm contiguous block, upper arm electrode stem and upper arm electrode cap；The upper arm electrode cap
With upper arm electrode stem taper fit, upper arm electrode stem, upper arm contiguous block, upper arm order are threadedly coupled；
The bottom arm component includes underarm, underarm contiguous block, underarm electrode stem and underarm electrode cap；The underarm electrode cap
With underarm electrode stem taper fit, underarm electrode stem, underarm contiguous block, underarm order are threadedly coupled；
The conduit assembly includes distributor, upper arm water inlet pipe, upper arm return pipe, underarm water inlet pipe, underarm return pipe, transformer
Water inlet pipe and transformer return pipe；The distributor is arranged on substrate；Upper arm water inlet pipe one end is connected with distributor, the other end
It is connected with the water inlet of copper bar two；Upper arm return pipe one end is connected with distributor, and the other end is connected with the water return outlet of copper bar two；Underarm enters
Water pipe one end is connected with distributor, and the other end is connected with the water inlet of copper bar three；Underarm return pipe one end is connected with distributor, another
End is connected with the water return outlet of copper bar three；Transformer water inlet pipe is connected with the transformer inlet end of copper bar two, transformer return pipe and copper
Transformer water return outlet connection on row three；
The transformer device includes transformer, copper bar one, copper bar two, copper bar three and soft copper row；The transformer is arranged on base
On plate, transformer output end installs copper bar two and copper bar three respectively, and the other end of copper bar two, soft copper row, copper bar one are sequentially connected, copper
One another joint of row is connected with upper arm contiguous block；
The substrate front side upper right is provided with transformer, and positive lower left side installs underarm, and right side central is provided with mounting hole,
Axle one is installed in this hole, and axle one sequentially passes through substrate, upper arm and upper plate, and bearing block is arranged on substrate front side bottom, and substrate is just
Middle face is provided with guide groove, and the deep groove ball bearing installed on the downside of nut axis moves in guide groove；Substrate back is provided with mounting hole,
For with the axle abutting joint of robot six；
The upper plate left upper portion is provided with mounting hole, and axle one is mounted within the bore, and left lower is arranged on underarm, on the right side of upper plate
Bottom is arranged on bearing block, and guide groove is provided with the right side of upper plate, and the deep groove ball bearing installed on the upside of nut axis is transported in guide groove
It is dynamic.
2. a kind of electric servo X-type robot soldering pliers according to claim 1, it is characterised in that the shield is arranged on substrate
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868275.6A CN106271282B (en) | 2016-09-30 | 2016-09-30 | Electric servo X-type robot soldering pliers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868275.6A CN106271282B (en) | 2016-09-30 | 2016-09-30 | Electric servo X-type robot soldering pliers |
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| Publication Number | Publication Date |
|---|---|
| CN106271282A CN106271282A (en) | 2017-01-04 |
| CN106271282B true CN106271282B (en) | 2017-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610868275.6A Active CN106271282B (en) | 2016-09-30 | 2016-09-30 | Electric servo X-type robot soldering pliers |
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| CN (1) | CN106271282B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115351406A (en) * | 2022-08-09 | 2022-11-18 | 安徽普电焊接技术有限公司 | X-shaped intelligent spot welding tongs |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000141050A (en) * | 1998-11-09 | 2000-05-23 | Obara Corp | Arm exchange structure for welding gun |
| JP5032783B2 (en) * | 2006-03-31 | 2012-09-26 | 株式会社電元社製作所 | Resistance spot welding machine |
| CN202894579U (en) * | 2012-10-31 | 2013-04-24 | 深圳市鸿栢科技实业有限公司 | X type motor-driven servo robot welding pliers |
| CN204771108U (en) * | 2015-06-05 | 2015-11-18 | 深圳市鸿栢科技实业有限公司 | Adopt aluminium welding arm's X type that hangs soldering turret |
| CN105382397A (en) * | 2015-12-21 | 2016-03-09 | 合肥亿恒机械有限公司 | Automatic X-shaped welding tongs with cooling water pipeline |
| CN206065733U (en) * | 2016-09-30 | 2017-04-05 | 天津福臻工业装备有限公司 | Electric servo X-type robot soldering pliers |
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- 2016-09-30 CN CN201610868275.6A patent/CN106271282B/en active Active
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