CN106312272A - Argon arc welding industrial robot based on high-frequency arc igniter - Google Patents
Argon arc welding industrial robot based on high-frequency arc igniter Download PDFInfo
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- CN106312272A CN106312272A CN201610812278.8A CN201610812278A CN106312272A CN 106312272 A CN106312272 A CN 106312272A CN 201610812278 A CN201610812278 A CN 201610812278A CN 106312272 A CN106312272 A CN 106312272A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
- B23K9/067—Starting the arc
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/29—Supporting devices adapted for making use of shielding means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention relates to the technical field of automatic welding devices, in particular to an argon arc welding industrial robot based on a high-frequency arc igniter. The argon arc welding industrial robot comprises a mechanical arm, a welding gun and the arc igniter, wherein the arc igniter comprises an outer protective shell, an integrated driving plate arranged in the outer protective shell and an arc discharge leading-out terminal pin which is arranged on the outer protective shell and is electrically connected with the integrated driving plate; and a voltage doubling circuit which is used for performing multiple boosting on 220V alternating current and outputting boosted voltage and an arc striking triggering circuit which is used for converting the voltage output by the voltage doubling circuit into pulse current and outputting the pulse current through the arc discharge leading-out terminal pin are arranged on the integrated driving plate. According to the argon arc welding industrial robot, the circuit structure of the arc igniter of the robot is improved, so that a whole spark discharger is not needed; the robot has the characteristics of good arc ignition performance, small arc ignitor size, simple and reliable circuit structure and the like; the robot is superior in performance and circuit; and the problems of spark discharger ablation, clearance adjustment difficulty, interference caused by discharging of the discharger and the like do not exist.
Description
Technical field
The present invention relates to Automation of Welding device technique field, a kind of argon arc welding based on hf arc starter industry
Robot.
Background technology
Known, argon arc welding be a kind of be widely used in aluminum, magnesium and alloy welding Technology, this welding procedure
It it is the oxidation utilizing negative electrode broken (atomization) effect of exchange negative polarity half-wave to remove aluminum, magnesium and alloy surface thereof when welding
The mode of film realizes；Along with gradually stepping up that manufacturing industry welding quality, welding cost, working environment etc. require, utilize argon
Arc-welding industrial robot substitutes manual welding operation and has become as the development trend of welding manufacture industry.
At present, for realizing the arc process of the argon arc welding of robot, it is common practice to utilize booster transformer, spark to put
The circuit such as electrical equipment, high-frequency coupler realizes.After connecting control power supply, booster transformer can produce high pressure, and makes spark put
Electrical equipment punctures the electric discharge of its air-gap.Booster transformer is a high-leakage impedance transformer, usual secondary voltage about 3000V.Work as spark
During discharger electric discharge, the primary side inductance of high-frequency coupler and electric capacity constitute vibration, can produce frequency of oscillation 150-260kHz, shake
Swing the time of holding shorter high frequency voltage, and add between tungsten electrode and workpiece through the secondary side of high-frequency coupler.Owing to voltage is higher,
The air gap between tungsten electrode and workpiece can be punctured, form spark discharge.Utilize the source of welding current to provide subsequent current, make arc space
Spark discharge Quick Extended is arc discharge, thus completes arc process.But, there is following lacking in this high-frequency arc strike mode
Point: 1, the easy ablation of the SD of hf arc starter；2, SD ask gap need adjust；3, SD electric discharge
Time can to inverter control circuit produce interference, the interference of switch tube and rectifier tube is the biggest, it is difficult to do with welding inverter
To good compatibility；4, whole hf arc starter volume is big, quality weight；5, the interference of electrical network is easily caused.It addition, existing argon
Arc welding robot the most generally exist structure structure relative complex, job area is little, very flexible, welding efficiency are low.
Summary of the invention
The deficiency existed for above-mentioned prior art, it is an object of the invention to provide a kind of argon based on hf arc starter
Arc-welding industrial robot.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of argon arc welding industrial robot based on hf arc starter, it includes mechanical arm, is installed in mechanical arm
The welding gun of end and the Igniting unit being installed on welding gun；Described Igniting unit includes outer containment vessel, is installed in outer containment vessel
Integrated driving plate and the arc discharge exit foot being installed on outer containment vessel and electrically connecting with integrated driving plate, described integrated
Drive and be provided with one on plate after 220V alternating current is carried out multiple boosting and the voltage-multiplying circuit that exports and being used for piezoelectricity again
The voltage of road output is converted to pulse current and the striking by the output of arc discharge exit foot triggers circuit；
Described voltage-multiplying circuit has the power supply output C end being connected respectively and power supply input D end with 220V alternating current；Described times
Volt circuit includes that the first diode and the second diode, the anode of described first diode are connected after the first resistance as times piezoelectricity
Power supply input second resistance that C end uses, negative electrode is arranged in parallel on road and the 3rd resistance connect striking and trigger circuit, institute
The negative electrode stating the second diode is connected between the first resistance and the first diode, plus earth, the moon of described first diode
Pole is also by the 4th resistance of sequential series and the 5th resistance eutral grounding and simultaneously by the first electric capacity and second electricity of sequential series
Holding ground connection, the power supply input D end of described voltage-multiplying circuit is connected between the 5th resistance and the 4th resistance and is simultaneously coupled to first
Between electric capacity and the second electric capacity；
Described striking triggers circuit and has signal control A end and signal control B end, and described striking triggers circuit and includes the 3rd
Diode, the 4th diode, the first nor gate, the second nor gate, the 3rd nor gate, four nor gate, the 5th nor gate, the 6th
Nor gate, the first unidirectional thyristor, the second unidirectional thyristor, the first audion, the second audion, optical coupling isolator and high frequency liter
Pressure transformer；
The signal that the input A end of described second nor gate triggers circuit as striking controls A end, input B end is connected to the
The input A end of four nor gate is also connected by the 6th resistance and the input A end of the 3rd nor gate and input B end, is exported Y end simultaneously
The base stage of the first audion, the input A end of described 3rd nor gate and input B end is connected simultaneously by the 4th by the 7th resistance
Diode be connected to the first nor gate output Y end, output Y end by the 3rd electric capacity connect the 6th nor gate input A end and
Input B end；Trigger the signal control B end of circuit, institute as striking after input A end concatenation the 8th resistance of described first nor gate
The negative electrode stating the 3rd diode is connected between the first nor gate and the 8th resistance, plus earth, and described 3rd diode is the most also
Being associated with the 4th electric capacity, the input A end of described 5th nor gate is connected with the input A end of the second nor gate with input B end simultaneously, defeated
Going out Y end and be connected to the input B end of four nor gate, the output Y end of described four nor gate connects the two or three by the 9th resistance
The base stage of pole pipe, the emitter stage of described first audion is connected to the control pole of the first unidirectional thyristor, institute by the tenth resistance
State one end that the anode of the first unidirectional thyristor is connected to the primary side of high-frequency step-up transformer, the output of described 6th nor gate
Y end is connected to one of them input of optical coupling isolator, and the emitter stage of described second audion is connected by the 11st resistance
The control pole of the second unidirectional thyristor, the anode of described second unidirectional thyristor is connected to the primary side of high-frequency step-up transformer
The other end, the colelctor electrode of the outfan of described optical coupling isolator by a power switch pipe be connected with the outfan of voltage-multiplying circuit,
The emitter stage of outfan is connected to the middle part of the primary side of high-frequency step-up transformer, and described arc discharge exit foot is connected to height
Frequently the primary side of booster transformer.
Preferably, described outer containment vessel is made up of heat-barrier material, and described heat-barrier material includes substrate and is formed at substrate table
The heat insulating coat in face is constituted, described substrate be surface through parkerized 30CrMnSiA steel plate, described heat insulating coat is for have
Machine silicones, glass dust and Polycarbosilane be adhesive and by add aluminium sesquioxide, carborundum, zirconium dioxide, boron nitride,
The mixing material that silicon dioxide and carbon fiber are formed.
Preferably, the thickness of described substrate is 1mm, and the thickness of described heat insulating coat is 900-1000 μm.
Preferably, the formula of described heat insulating coat component meter by weight: organic siliconresin 10 parts, Polycarbosilane 20 parts, glass
Glass powder 5-10 part, aluminium sesquioxide 0.1-5 part, carborundum 0.1-5 part, zirconium dioxide 0.1-8 part, boron nitride 0.1-20 part, two
Silicon oxide 0.5 part, carbon fiber 0.1-1 part.
Preferably: the preparation method of described heat-barrier material is:
S1, by organic siliconresin, glass dust, Polycarbosilane, interpolation aluminium sesquioxide, carborundum, zirconium dioxide, nitridation
Boron, silicon dioxide and carbon fiber form mixed slurry after being mixed in proportion；
S2, mixed slurry is ground on skin grinder, so that the fineness of the particles of mixed slurry is between 40-50 μm；
S3, utilize aerial spraying machine will grind under conditions of 0.8-1mm for 0.4MPa and spray gun bore in air pressure
After mixed slurry be sprayed on surface on parkerized 30CrMnSiA steel plate；
After S4, spraying, at room temperature place 48h, at 200 DEG C, then toast 2h, so that mixed slurry exists
Film-forming on 30CrMnSiA steel plate, i.e. forms the heat insulating coat being coated on substrate；
S5, by substrate together with heat insulating coat be positioned in Muffle furnace by room temperature be progressively heated at 600 DEG C and at 600 DEG C protect
Temperature 2h, is then cooled to room temperature with Muffle furnace.
Preferably, described mechanical arm includes:
One chuck；
One first rotation drive motor, described first rotation drive motor seat is located on the upper surface of chuck and the first rotation
Drive and be set with a rotating disk on the line shaft of motor；
One first U-shaped swing seat, described first U-shaped swing seat is installed in rotating disk, and described first rotation drive motor passes through
Rotating disk drives the first U-shaped swing seat to rotate relative to chuck in X-Z axial plane；
One second rotation drive motor, described second rotation drive motor is flush-mounted in the seat mouth sidewall of the first U-shaped swing seat
And second rotation drive motor line shaft through the first U-shaped swing seat seat mouth be distributed；
One second U-shaped swing seat, the bottom of described second U-shaped swing seat is formed with the first axle joint arm, described first axle joint arm
In bottom is installed in the seat mouth of the first U-shaped swing seat and be socketed the line shaft of the second rotation drive motor, described second rotates and drives
Motor drives the second U-shaped swing seat to make oscillating motion relative to the first U-shaped swing seat in X-Y axial plane by the first axle joint arm；
One the 3rd rotation drive motor, described 3rd rotation drive motor is flush-mounted in the seat mouth sidewall of the second U-shaped swing seat
And the 3rd rotation drive motor line shaft through the second U-shaped swing seat seat mouth be distributed；
One the 4th rotation drive motor, the enclosure bottom of described 4th rotation drive motor is formed with the second axle joint arm,
In the bottom of described second axle joint arm is installed in the seat mouth of the second U-shaped swing seat and be socketed the line shaft of the 3rd rotation drive motor,
Described 3rd rotation drive motor drives the 4th rotation drive motor relative to second in X-Y axial plane by the second axle joint arm
U-shaped swing seat makees oscillating motion；
One the 3rd U-shaped swing seat, described 3rd U-shaped swing seat is installed on the line shaft of the 4th rotation drive motor, and described
Four rotation drive motors drive the 3rd U-shaped swing seat to rotate in Y-Z axial plane；
With
One the 5th rotation drive motor, described 5th rotation drive motor is flush-mounted in the seat mouth sidewall of the 3rd U-shaped swing seat
And the 5th rotation drive motor line shaft through the 3rd U-shaped swing seat seat mouth be distributed；
The end of described welding gun is provided with one and fixes seat, and described fixed seating is in the seat mouth of the 3rd U-shaped swing seat and is socketed
The line shaft of the 5th rotation drive motor, described 5th rotation drive motor drives welding gun and Igniting unit at X-Y by fixing seat
Synchronize to carry out oscillating motion relative to the 3rd U-shaped swing seat in axial plane.
Owing to have employed such scheme, the present invention is by the improvement of the circuit structure of the Igniting unit to robot, it is not necessary to join
Put whole SD, i.e. have that striking performance is good, Igniting unit volume is little and the feature such as circuit structure is simple and reliable, in performance
With seem more superior on circuit, there is not SD ablation and its gap be difficult to adjust and discharger electric discharge produces dry
The problem disturbed etc..
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the circuit structure diagram of the Igniting unit of the embodiment of the present invention.
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 defined by the claims
Implement with the multitude of different ways covered.
As depicted in figs. 1 and 2, a kind of based on hf arc starter the argon arc welding industrial robot that the present embodiment provides, it
Including mechanical arm, the welding gun 10 of the end being installed in mechanical arm and be installed in the Igniting unit on welding gun 10；Wherein, striking
Device includes outer containment vessel 20, be installed in outer containment vessel 20 integrated driving plate (not shown) and be installed in outer containment vessel
The arc discharge exit foot 30 electrically connected on 20 and with integrated driving plate, is provided with one for by 220V on integrated driving plate
After alternating current carries out multiple boosting and the voltage-multiplying circuit that exports and for the voltage that voltage-multiplying circuit exports is converted to pulse current
And trigger circuit by the striking of arc discharge exit foot 30 output.
Voltage-multiplying circuit has the power supply output C end being connected respectively and power supply input D end with 220V alternating current；It is mainly by
One diode VD1 and the second diode VD2 etc. are constituted, and the anode of the first diode VD1 is connected after the first resistance R1 as multiplication of voltage
The power supply input second resistance R2 that C end uses, negative electrode is arranged in parallel and the 3rd resistance R3 of circuit connects striking to be triggered
Circuit, the negative electrode of the second diode VD2 is connected between the first resistance R1 and the first diode VD1, plus earth, the one or two pole
The negative electrode of pipe VD1 is also by the 4th resistance R4 of sequential series and the 5th resistance R5 ground connection and simultaneously by the first of sequential series
Electric capacity C1 and the second electric capacity C2 ground connection, the power supply input D end of voltage-multiplying circuit is connected between the 5th resistance R5 and the 4th resistance R4
And be simultaneously coupled between the first electric capacity C1 and the second electric capacity C2.
Striking triggers circuit then to be had signal and controls A end and signal and control B end, its mainly by the 3rd diode VD3, the 4th
Diode VD4, the first nor gate U1, the second nor gate U2, the 3rd nor gate U3, four nor gate U4, the 5th nor gate U5,
Six nor gate U6, the first unidirectional thyristor VT1, the second unidirectional thyristor VT2, the first audion V1, the second audion V2, optocoupler
The electronic devices and components such as isolator U7 and high-frequency step-up transformer T (it has two primary coils and a secondary coil) are constituted；
Wherein:
The signal that the input A end of the second nor gate U2 triggers circuit as striking controls A end, input B end is connected to the 4th
The input A end of nor gate U4 simultaneously input A end and input B end by the 6th resistance R6 and the 3rd nor gate U3 are connected, defeated
Go out the base stage that Y end connects the first audion V1 by the 7th resistance R7；The input A end of the 3rd nor gate U3 and input B end are simultaneously
By the 4th diode VD4 be connected to the first nor gate U1 output Y end, output Y end by the 3rd electric capacity C3 connect the 6th or
The input A end of not gate U6 and input B end；Electricity is triggered as striking after input A end concatenation the 8th resistance R8 of the first nor gate U1
The signal on road controls B end；The negative electrode of the 3rd diode V2 is connected between the first nor gate U1 and the 8th resistance R8, anode connects
Ground, the 3rd diode V2 is also parallel with the 4th electric capacity；
The input A end of the 5th nor gate U5 is connected, exports Y end with the input A end of the second nor gate U2 with input B end simultaneously
Being connected to the input B end of four nor gate U4, the output Y end of four nor gate U4 connects the second audion by the 9th resistance R9
The base stage of V2, the emitter stage of the first audion V1 is connected to the control pole of the first unidirectional thyristor VT1 by the tenth resistance R10,
The anode of the first unidirectional thyristor VT1 is connected to one end of the primary side of high-frequency step-up transformer T, the output of the 6th nor gate U6
Y end is connected to one of them input of optical coupling isolator U7, and the emitter stage of the second audion V2 is by the 11st resistance R11 even
Connecing the control pole of the second unidirectional thyristor VT2, the anode of the second unidirectional thyristor VT2 is connected at the beginning of high-frequency step-up transformer T
The other end of level side, the colelctor electrode of the outfan of optical coupling isolator U7 is by the output of a power switch pipe MOS with voltage-multiplying circuit
Holding the middle part of primary side connected, that the emitter stage of outfan is connected to high-frequency step-up transformer T, arc discharge exit foot 30 is even
It is connected to the primary side of high-frequency step-up transformer T.
With this, alternating current 220V voltage exports C end and power supply input D end input, through voltage multiplying rectifier through the power supply of voltage-multiplying circuit
Charging the first electric capacity C1 and the second electric capacity C2 afterwards, the first electric capacity C1 and the second electric capacity C2 can obtain higher voltage, and store
Energy.Striking trigger the signal of circuit control A end and signal control B end by the first audion V1 and the second audion V2 with
And first unidirectional thyristor VT1 and the control of the second unidirectional thyristor VT2, can make to store on the first electric capacity C1 and the second electric capacity C2
Electricity by the first side winding of high-frequency step-up transformer T to " " electric discharge, after high-frequency step-up transformer T boosts again,
High-voltage pulse is formed by arc discharge exit foot 30；When specifically controlling, striking triggers the signal of circuit and controls A end
Perseverance is high level, if having striking high pressure, depends on that striking triggers the control of the signal control B end of circuit, is triggered by striking
The signal of circuit controls the signal of A end and striking triggering circuit and controls jointly coordinating of B end, it is achieved the striking control to robot
System；Owing to there is no SD in whole Igniting unit, the most there is not SD ablation and its gap is difficult to adjust
And discharger electric discharge produces the problem of interference etc. so that whole robot has that striking performance is good, Igniting unit volume is little and
The features such as circuit structure is simple and reliable, seem more superior in performance and circuit.
For Igniting unit being played the high temperature resistant protective effect of strength, to avoid the internal component of Igniting unit (especially
It is integrated driving plate) because being scorched by high temperature, and cannot normally perform function, even result in robot fault or striking failure
Etc. the generation of problem, the outer containment vessel 20 of the present embodiment is made up of heat-barrier material, and heat-barrier material includes substrate and is formed at substrate
The heat insulating coat on surface is constituted, and wherein, substrate uses surface through parkerized 30CrMnSiA steel plate, and heat insulating coat is then
For with organic siliconresin, glass dust and Polycarbosilane as adhesive and by add aluminium sesquioxide, carborundum, zirconium dioxide,
The mixing material that boron nitride, silicon dioxide and carbon fiber are formed.Improvement by the material composition to heat insulating coat can
Heat-barrier material is made to possess good heat-proof quality；Through experimental test, the thickness at substrate is 1mm, and the thickness of heat insulating coat is
Under conditions of 900-1000 μm, the effect of heat insulation of heat-barrier material can reach more than 1500 DEG C, and the boron nitride in heat-barrier material
Then can be effectively improved the thermostability of coating with carbon fiber, reduce coating and ftracture because being heated.
As a preferred version, the formula of the heat insulating coat of the present embodiment component meter by weight: organic siliconresin 10 parts,
Polycarbosilane 20 parts, glass dust 5-10 part, aluminium sesquioxide 0.1-5 part, carborundum 0.1-5 part, zirconium dioxide 0.1-8 part, nitrogen
Change boron 0.1-20 part, silicon dioxide 0.5 part, carbon fiber 0.1-1 part.
As a preferred version, the preparation method of the heat-barrier material of the present embodiment is:
S1, by organic siliconresin, glass dust, Polycarbosilane, interpolation aluminium sesquioxide, carborundum, zirconium dioxide, nitridation
Boron, silicon dioxide and carbon fiber form mixed slurry after being mixed in proportion；
S2, mixed slurry is ground on skin grinder, so that the fineness of the particles of mixed slurry is between 40-50 μm；
S3, utilize aerial spraying machine will grind under conditions of 0.8-1mm for 0.4MPa and spray gun bore in air pressure
After mixed slurry be sprayed on surface on parkerized 30CrMnSiA steel plate；
After S4, spraying, at room temperature place 48h, at 200 DEG C, then toast 2h, so that mixed slurry exists
Film-forming on 30CrMnSiA steel plate, i.e. forms the heat insulating coat being coated on substrate；
S5, by substrate together with heat insulating coat be positioned in Muffle furnace by room temperature be progressively heated at 600 DEG C and at 600 DEG C protect
Temperature 2h, is then cooled to room temperature with Muffle furnace.
Use the adhesive force of cross-hatching testing coating and utilize Stereo microscope to observe it is entered to coating surface
Row Performance Evaluation, burns under oxy-acetylene the most again, the ablation pattern of coating after ablation 4s under the different flame temperature of observation, finally
Under laser beam irradiation, carry out resisting laser ablation test to monitor the temperature rise process of coating, can be sent out by above-mentioned laboratory facilities
Existing, heat-barrier material temperature after laser irradiates rises more slow, peak temperature relatively low (at about 246 DEG C), with this, and can be true
Determine heat-barrier material and there is the obvious effect of heat insulation of resistance to ablation.
For optimizing the structure of whole robot to greatest extent, increase the motility of its job area and weld job,
The mechanical arm of the present embodiment includes:
One chuck 80；
The first rotation drive motor 90 on one upper surface being located at chuck 80, and the first rotation drive motor 90 is dynamic
A rotating disk 100 it is set with on power axle；
One the first U-shaped swing seat 110 being installed in rotating disk 100, the first rotation drive motor 90 is carried by rotating disk 100
Dynamic first U-shaped swing seat 110 rotates relative to chuck 80 in X-Z axial plane；
The second rotation drive motor 120 in the one seat mouth sidewall being flush-mounted in the first U-shaped swing seat 110, second rotates driving
The line shaft of motor 120 is distributed through the seat mouth of the first U-shaped swing seat 110；
Being formed with the second U-shaped swing seat 140 of the first axle joint arm 130 bottom one, the bottom of the first axle joint arm 130 is installed in
In the seat mouth of one U-shaped swing seat 110 and be socketed the line shaft of the second rotation drive motor 120, the second rotation drive motor 120 passes through
First axle joint arm 130 drive the second U-shaped swing seat 140 in X-Y axial plane relative to the first U-shaped swing seat 140 the angle of 180 °
In the range of make oscillating motion；
The 3rd rotation drive motor 150 in the one seat mouth sidewall being flush-mounted in the second U-shaped swing seat 140, the 3rd rotates driving
The line shaft of motor 150 is distributed through the seat mouth of the second U-shaped swing seat 140；
The 4th rotation drive motor 170 of the second axle joint arm 160 it is formed with on one enclosure bottom, the second axle joint arm 160
In bottom is installed in the seat mouth of the second U-shaped swing seat 140 and be socketed the line shaft of the 3rd rotation drive motor 150, the 3rd rotates and drives
Dynamic motor 150 drives the 4th rotation drive motor 170 relative to the second U-shaped pendulum in X-Y axial plane by the second axle joint arm 160
Seat 140 makees oscillating motion in the angular range of 180 °；
The 3rd U-shaped swing seat 180 on one line shaft being installed in the 4th rotation drive motor 170, the 4th rotates driving horse
Reach the 170 U-shaped swing seats 180 of driving the 3rd to rotate in Y-Z axial plane；
With
The 5th rotation drive motor 190 in the one seat mouth sidewall being flush-mounted in the 3rd U-shaped swing seat 180, the 5th rotates driving
The line shaft of motor 190 is distributed through the seat mouth of the 3rd U-shaped swing seat 180；And the end at welding gun 10 is provided with one and fixes
Seat 101, fixing seat 101 is positioned at the seat mouth of the 3rd U-shaped swing seat 180 and is socketed the line shaft of the 5th rotation drive motor 190, the
Five rotation drive motors 190 drive welding gun 10 and Igniting unit relative to the 3rd U-shaped pendulum in X-Y axial plane by fixing seat 101
Seat 180 carries out oscillating motion in the angular range inter-sync at 180 °.
With this, welding gun 10 can be made can to realize the weld job of diverse location, different angles relative to chuck 80, greatly
The operating radius of the welding gun 10 of extension；By the centralized Control to each rotation drive motor, the spirit of whole robot can be strengthened
Activity.
The foregoing is only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization
Equivalent structure or equivalence flow process that description of the invention and accompanying drawing content are made convert, or it is relevant to be directly or indirectly used in other
Technical field, be the most in like manner included in the scope of patent protection of the present invention.
Claims (6)
1. an argon arc welding industrial robot based on hf arc starter, it includes mechanical arm, is installed in the end of mechanical arm
The welding gun held and the Igniting unit being installed on welding gun；It is characterized in that: described Igniting unit includes outer containment vessel, is installed in outer guarantor
Integrated driving plate in protective case and the arc discharge exit foot being installed on outer containment vessel and electrically connecting with integrated driving plate,
One it is provided with after 220V alternating current is carried out multiple boosting and the voltage-multiplying circuit that exports and being used on described integrated driving plate
The voltage that voltage-multiplying circuit exports is converted to pulse current and the striking by the output of arc discharge exit foot triggers circuit；
Described voltage-multiplying circuit has the power supply output C end being connected respectively and power supply input D end with 220V alternating current；Described times of piezoelectricity
Road includes that the first diode and the second diode, the anode of described first diode are connected after the first resistance as voltage-multiplying circuit
Power supply input C end uses, negative electrode is arranged in parallel the second resistance and the 3rd resistance connect striking and trigger circuit, and described the
The negative electrode of two diodes is connected between the first resistance and the first diode, plus earth, and the negative electrode of described first diode is also
By the 4th resistance of sequential series and the 5th resistance eutral grounding and simultaneously the first electric capacity and the second electric capacity by sequential series connect
Ground, the power supply input D end of described voltage-multiplying circuit is connected between the 5th resistance and the 4th resistance and is simultaneously coupled to the first electric capacity
And between the second electric capacity；
Described striking triggers circuit and has signal control A end and signal control B end, and described striking triggers circuit and includes the three or two pole
Pipe, the 4th diode, the first nor gate, the second nor gate, the 3rd nor gate, four nor gate, the 5th nor gate, the 6th or non-
Door, the first unidirectional thyristor, the second unidirectional thyristor, the first audion, the second audion, optical coupling isolator and high frequency rise buckling
Depressor；
The input A end of described second nor gate as striking trigger circuit signal control A end, input B end be connected to the 4th or
The input A end of not gate and be connected by the 6th resistance and the input A end of the 3rd nor gate and input B end simultaneously, output Y end passes through
7th resistance connects the base stage of the first audion, the input A end of described 3rd nor gate and input B end simultaneously by the four or two pole
Pipe is connected to the output Y end of the first nor gate, output Y end and is connected input A end and the input B of the 6th nor gate by the 3rd electric capacity
End；Trigger the signal of circuit as striking after input A end concatenation the 8th resistance of described first nor gate and control B end, described the
The negative electrode of three diodes is connected between the first nor gate and the 8th resistance, plus earth, and described 3rd diode is also parallel with
4th electric capacity, the input A end of described 5th nor gate is connected, exports Y with the input A end of the second nor gate with input B end simultaneously
End is connected to the input B end of four nor gate, and the output Y end of described four nor gate connects the second audion by the 9th resistance
Base stage, the emitter stage of described first audion is connected to the control pole of the first unidirectional thyristor by the tenth resistance, described
The anode of one unidirectional thyristor is connected to one end of the primary side of high-frequency step-up transformer, the output Y end of described 6th nor gate
Being connected to one of them input of optical coupling isolator, the emitter stage of described second audion connects second by the 11st resistance
The control pole of unidirectional thyristor, the anode of described second unidirectional thyristor is connected to another of the primary side of high-frequency step-up transformer
End, the colelctor electrode of the outfan of described optical coupling isolator is connected with the outfan of voltage-multiplying circuit by a power switch pipe, is exported
The emitter stage of end is connected to the middle part of the primary side of high-frequency step-up transformer, and described arc discharge exit foot is connected to high frequency liter
The primary side of pressure transformer.
A kind of argon arc welding industrial robot based on hf arc starter, it is characterised in that: outside described
Containment vessel is made up of heat-barrier material, and described heat-barrier material includes substrate and is formed at the heat insulating coat composition of substrate surface, described
Substrate be surface through parkerized 30CrMnSiA steel plate, described heat insulating coat is with organic siliconresin, glass dust and poly-carbon
Silane is adhesive by adding aluminium sesquioxide, carborundum, zirconium dioxide, boron nitride, silicon dioxide and carbon fiber institute
The mixing material formed.
A kind of argon arc welding industrial robot based on hf arc starter, it is characterised in that: described base
The thickness of plate is 1mm, and the thickness of described heat insulating coat is 900-1000 μm.
A kind of argon arc welding industrial robot based on hf arc starter, it is characterised in that: described every
The formula of hot coating component meter by weight: organic siliconresin 10 parts, Polycarbosilane 20 parts, glass dust 5-10 part, aluminium sesquioxide
0.1-5 part, carborundum 0.1-5 part, zirconium dioxide 0.1-8 part, boron nitride 0.1-20 part, silicon dioxide 0.5 part, carbon fiber 0.1-
1 part.
A kind of argon arc welding industrial robot based on hf arc starter, it is characterised in that: described every
The preparation method of hot material is:
S1, by organic siliconresin, glass dust, Polycarbosilane, interpolation aluminium sesquioxide, carborundum, zirconium dioxide, boron nitride, two
Silicon oxide and carbon fiber form mixed slurry after being mixed in proportion；
S2, mixed slurry is ground on skin grinder, so that the fineness of the particles of mixed slurry is between 40-50 μm；
S3, utilize aerial spraying machine after air pressure will be ground under conditions of 0.8-1mm for 0.4MPa and spray gun bore
Mixed slurry is sprayed on surface on parkerized 30CrMnSiA steel plate；
After S4, spraying, at room temperature place 48h, at 200 DEG C, then toast 2h, so that mixed slurry is at 30CrMnSiA
Film-forming on steel plate, i.e. forms the heat insulating coat being coated on substrate；
S5, by substrate together with heat insulating coat be positioned in Muffle furnace by room temperature be progressively heated at 600 DEG C and at 600 DEG C be incubated
2h, is then cooled to room temperature with Muffle furnace.
6. a kind of based on hf arc starter the argon arc welding industrial robot as according to any one of claim 1 to 5, its feature
It is: described mechanical arm includes:
One chuck；
One first rotation drive motor, described first rotation drive motor seat is located on the upper surface of chuck and the first rotation drives
A rotating disk it is set with on the line shaft of motor；
One first U-shaped swing seat, described first U-shaped swing seat is installed in rotating disk, and described first rotation drive motor is by rotating
Dribbling is moved the first U-shaped swing seat and is rotated relative to chuck in X-Z axial plane；
One second rotation drive motor, in described second rotation drive motor is flush-mounted in the seat mouth sidewall of the first U-shaped swing seat and the
The line shaft of two rotation drive motors is distributed through the seat mouth of the first U-shaped swing seat；
One second U-shaped swing seat, the bottom of described second U-shaped swing seat is formed with the first axle joint arm, the bottom of described first axle joint arm
In being installed in the seat mouth of the first U-shaped swing seat and be socketed the line shaft of the second rotation drive motor, described second rotation drive motor
The second U-shaped swing seat is driven to make oscillating motion relative to the first U-shaped swing seat in X-Y axial plane by the first axle joint arm；
One the 3rd rotation drive motor, in described 3rd rotation drive motor is flush-mounted in the seat mouth sidewall of the second U-shaped swing seat and the
The line shaft of three rotation drive motors is distributed through the seat mouth of the second U-shaped swing seat；
One the 4th rotation drive motor, the enclosure bottom of described 4th rotation drive motor is formed the second axle joint arm, described
In the bottom of the second axle joint arm is installed in the seat mouth of the second U-shaped swing seat and be socketed the line shaft of the 3rd rotation drive motor, described
3rd rotation drive motor drives the 4th rotation drive motor U-shaped relative to second in X-Y axial plane by the second axle joint arm
Swing seat makees oscillating motion；
One the 3rd U-shaped swing seat, described 3rd U-shaped swing seat is installed on the line shaft of the 4th rotation drive motor, described 4th rotation
Turn the U-shaped swing seat of drive motor the 3rd to rotate in Y-Z axial plane；
With
One the 5th rotation drive motor, in described 5th rotation drive motor is flush-mounted in the seat mouth sidewall of the 3rd U-shaped swing seat and the
The line shaft of five rotation drive motors is distributed through the seat mouth of the 3rd U-shaped swing seat；
The end of described welding gun is provided with one and fixes seat, and described fixed seating is in the seat mouth of the 3rd U-shaped swing seat and is socketed the 5th
The line shaft of rotation drive motor, described 5th rotation drive motor drives welding gun and Igniting unit to put down at X-Y axle by fixing seat
Synchronize to carry out oscillating motion relative to the 3rd U-shaped swing seat in face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610812278.8A CN106312272A (en) | 2016-10-28 | 2016-10-28 | Argon arc welding industrial robot based on high-frequency arc igniter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610812278.8A CN106312272A (en) | 2016-10-28 | 2016-10-28 | Argon arc welding industrial robot based on high-frequency arc igniter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106312272A true CN106312272A (en) | 2017-01-11 |
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ID=57787673
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610812278.8A Pending CN106312272A (en) | 2016-10-28 | 2016-10-28 | Argon arc welding industrial robot based on high-frequency arc igniter |
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| Country | Link |
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| CN (1) | CN106312272A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117245174A (en) * | 2023-10-07 | 2023-12-19 | 中核四0四有限公司 | Arc striking device of welding sealing machine and welding sealing machine |
-
2016
- 2016-10-28 CN CN201610812278.8A patent/CN106312272A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117245174A (en) * | 2023-10-07 | 2023-12-19 | 中核四0四有限公司 | Arc striking device of welding sealing machine and welding sealing machine |
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Application publication date: 20170111 |