CN106425199B - Car body welding manipulator for automobile production - Google Patents
Car body welding manipulator for automobile production Download PDFInfo
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- CN106425199B CN106425199B CN201610968795.4A CN201610968795A CN106425199B CN 106425199 B CN106425199 B CN 106425199B CN 201610968795 A CN201610968795 A CN 201610968795A CN 106425199 B CN106425199 B CN 106425199B
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- 238000003466 welding Methods 0.000 title claims abstract description 45
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 239000007787 solid Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008878 coupling Effects 0.000 description 9
- 238000010168 coupling process Methods 0.000 description 9
- 238000005859 coupling reaction Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a car body welding manipulator for automobile production, which comprises: the welding gun device comprises a movable base, a lifting assembly, a telescopic cross beam, a first swing arm, a first swing cylinder, a swing cylinder seat assembly, a second swing arm, a second swing cylinder and a welding gun, wherein the movable base is fixedly connected to the ground of a workshop, the lifting assembly is vertically and fixedly connected to the movable base, the telescopic cross beam is horizontally and fixedly connected to one side of the lifting assembly, the middle of the first swing arm is connected to the top end of the telescopic cross beam through a pin shaft, the swing cylinder seat assembly is fixedly connected to the telescopic cross beam, two ends of the swing cylinder are respectively connected with the first swing arm and the swing cylinder seat assembly through pin shafts, the middle of the second swing arm is connected to the lower end of the first swing arm through a pin shaft, two ends of the second swing cylinder are respectively connected with the first swing arm and the second swing arm, and the welding gun is fixedly connected to the. The invention has the advantages of simple structure, automatic operation, good use effect and the like.
Description
Technical Field
The invention relates to the technical field of automobile automatic production equipment, in particular to a vehicle body welding manipulator for automobile production.
Background
The existing automobile industry is an important prop industry in China, and particularly, China enters the 21 st century, and has become a world-wide automobile production and consumption country. According to the market research report of the Chinese automobile industry, the output and sales of Chinese automobiles in 2001 is only more than 200 thousands, but the output and sales in 2006 are double-breakthrough 700 thousands, the industry and trust department issues the economic operation condition of automobile industry in 2014 all the year round, the data shows that 2349.19 thousands of automobiles are cumulatively sold in 2014 in China, the year-by-year increase is 6.9%, and the output and sales are kept the first in the world. At the end of 8 months in 2011, the automobile keeping volume of China firstly breaks through 1 hundred million vehicles, and the automobile keeping volume of China is expected to break through 2 hundred million vehicles by 2020.
The prosperous development of the automobile industry is inseparable from the recent scientific and technical progress. With the progress of scientific technology and the development of robot technology, the production line for welding the whole automobile body by the manipulator in the field of automobile production is mature, but the welding still needs manual work, and the main reasons are that the angle deflection of some welding parts is large, the positions are deep, and the existing welding manipulator cannot touch the areas.
Chinese patent 201210310121.7 discloses a full-automatic profiling electric welding manipulator with high processing efficiency and good processing quality. The invention adopts the following technical scheme: a full-automatic profiling electric welding manipulator comprises: a vehicle body; the carbon dioxide protection welding machine and the gas cylinder are both arranged on the vehicle body; the arm support part comprises a main arm connected with the vehicle body and a folding arm movably connected with the main arm; the profiling movement mechanism comprises a box body, a motor, a transmission unit, a main shaft and a positioning seat, wherein the box body is connected with the folding arm, the motor is connected with the main shaft through the transmission unit, the motor and the transmission unit are arranged in the box body, and the positioning seat is arranged at the tail end of the main shaft; the welding wire is connected with the upper end of the main shaft through a wire feeding mechanism; the welding gun is connected with the main shaft; and the control cabinet is arranged on the main arm. The invention has the beneficial effects that: the manual welding is replaced, the working efficiency is greatly improved, the labor force is saved, the welding quality and the appearance quality are improved, and the operation is simple and easy to learn. Namely, there is the above-mentioned problem.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a vehicle body welding manipulator for automobile production.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a car body welding machines hand for automobile production, includes: the welding gun device comprises a movable base, a lifting assembly, a telescopic cross beam, a first swing arm, a first swing cylinder, a swing cylinder seat assembly, a second swing arm, a second swing cylinder and a welding gun, wherein the movable base is fixedly connected to the ground of a workshop, the lifting assembly is vertically and fixedly connected to the movable base, the telescopic cross beam is horizontally and fixedly connected to one side of the lifting assembly, the middle of the first swing arm is connected to the top end of the telescopic cross beam through a pin shaft, the swing cylinder seat assembly is fixedly connected to the telescopic cross beam, two ends of the swing cylinder are respectively connected with the first swing arm and the swing cylinder seat assembly through pin shafts, the middle of the second swing arm is connected to the lower end of the first swing arm through a pin shaft, two ends of the second swing cylinder are respectively connected with the first swing arm and the second swing arm, and the welding gun is fixedly connected to the.
The walking base comprises fixed blocks, guide rods, a moving block, a moving screw rod and a walking motor, wherein the two fixed blocks are fixedly connected to the ground respectively, the two guide rods are fixedly connected to the fixed blocks respectively, the two guide rods are arranged in parallel, the moving block is connected to the guide rods in a sliding mode, a threaded hole is formed in the middle of the moving block, the two ends of the moving screw rod are installed on the fixed blocks through bearing seats, the walking motor is fixedly connected to the fixed blocks, and an output shaft of the walking motor is fixedly connected with the moving screw rod.
Furthermore, the lift assembly constitute by square traveller, spout, sliding sleeve, screw thread circle, elevating screw, elevator motor, the vertical rigid coupling of square traveller on the movable block, the spout rigid coupling on square traveller, the sliding sleeve pass through spout sliding connection on square traveller, screw thread circle rigid coupling in the sliding sleeve outside, elevator screw both ends pass through the bearing frame and connect respectively on square traveller top, movable block, elevator motor rigid coupling on square traveller, and elevator motor output shaft and elevating screw rigid coupling.
Furthermore, flexible crossbeam constitute by outer lane, inner circle, flexible lead screw, flexible motor, the outer lane be the hollow tube, and the inside slide rail that is provided with of outer lane, the inner circle be solid post, the inner circle passes through slide rail sliding connection inside the outer lane, and opens threaded hole on the inner circle axis, flexible motor rigid coupling at the outer lane terminal, flexible lead screw rigid coupling on flexible motor output shaft, and flexible lead screw passes through the threaded hole and is connected with the inner circle.
Furthermore, the swing cylinder seat assembly comprises a sliding block, a walking lead screw, two mounting blocks and a control motor, wherein the sliding block is connected to the telescopic cross beam in a sliding mode through a sliding groove, a threaded hole is formed in the sliding block, the mounting blocks are fixedly connected to the telescopic cross beam, the two mounting blocks are fixedly connected to the mounting block through bearing seats, the walking lead screw is connected with the mounting blocks through threads, and an output shaft of the control motor is fixedly connected with the walking lead screw.
Furthermore, a first telescopic rod is arranged on the first swing arm.
Furthermore, a second telescopic rod is arranged on the second swing arm.
Furthermore, the first swing cylinder is connected with the first swing arm through a swing cylinder seat assembly.
Furthermore, the movable base, the lifting assembly, the telescopic beam, the swing cylinder seat assembly, the first telescopic rod, the second telescopic rod and the welding gun are connected with the same controller through signal lines.
Furthermore, the routing pipeline of the welding gun is a hard corrugated pipe.
Compared with the prior art, the invention has the beneficial effects that:
1. a swing cylinder seat assembly is adopted, and the position of the tail end of a swing cylinder is changed, so that the swing amplitude of a swing arm is further increased, and a required angle is obtained;
2. the two swing arms can enable the equipment to touch an area which is difficult to touch by the traditional equipment, so that full-automatic production is realized;
3. automatic operation, welding effect is good, excellent in use effect.
The invention has the advantages of simple structure, automatic operation, good use effect and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a mobile base according to the present invention;
FIG. 3 is a schematic view of a portion of the oscillating cylinder block assembly of the present invention;
the reference numbers in the figures are: 1-moving the base; 2-a lifting assembly; 3, telescoping a cross beam; 4-a first swing arm; 5-a first oscillating cylinder; 6-swing cylinder block assembly; 7-a second swing arm; 8-a second oscillating cylinder; 9-a welding gun; 51-a first telescoping rod; 52-a second telescoping rod;
11-fixing block; 12-a guide rod; 13-a moving block; 14-moving the screw rod; 15-a walking motor;
21-square sliding column; 22-a chute; 23-a sliding sleeve; 24-thread turns; 25-lifting screw rod; 26-a lifting motor;
31-an outer ring; 32-inner ring; 33-a telescopic screw rod; 34-a telescopic motor;
41-sliding block; 42-a walking screw rod; 43-a mounting block; 44-control the motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, 2 and 3, the vehicle body welding manipulator for automobile production comprises: the welding gun welding machine comprises a movable base 1, a lifting assembly 2, a telescopic cross beam 3, a first swing arm 4, a first swing cylinder 5, a swing cylinder seat assembly 6, a second swing arm 7, a second swing cylinder 8 and a welding gun 9, wherein the movable base 1 is fixedly connected to the ground of a workshop, the lifting assembly 2 is vertically and fixedly connected to the movable base 1, the telescopic cross beam 3 is horizontally and fixedly connected to one side of the lifting assembly 2, the middle part of the first swing arm 4 is connected to the top end of the telescopic cross beam 3 through a pin shaft, the swing cylinder seat assembly 6 is fixedly connected to the telescopic cross beam 3, two ends of the first swing cylinder 5 are respectively connected with the first swing arm 4 and the swing cylinder seat assembly 6 through pin shafts, the middle part of the second swing arm 7 is connected to the lower end of the first swing arm 4 through a pin shaft, two ends of the second swing cylinder 8 are respectively connected with the first swing arm 4 and the, the welding gun 9 is fixedly connected with the front end of the second swing arm 7.
Further, the walking base 1 is composed of two fixed blocks 11, a guide rod 12, a moving block 13, a moving screw rod 14 and a walking motor 15, the two fixed blocks 11 are fixedly connected to the ground respectively, the two guide rods 12 are fixedly connected to the fixed blocks 11 respectively, the two guide rods 12 are arranged in parallel, the moving block 13 is connected to the guide rod 12 in a sliding mode, a threaded hole is formed in the middle of the moving block 13, the two ends of the moving screw rod 14 are installed on the fixed blocks 11 through bearing seats, the walking motor 15 is fixedly connected to the fixed blocks 11, and an output shaft of the walking motor 15 is fixedly connected with the moving screw rod 14.
Further, the lifting assembly 2 is composed of a square sliding column 21, a sliding groove 22, a sliding sleeve 23, a threaded ring 24, a lifting screw 25 and a lifting motor 26, the square sliding column 21 is vertically and fixedly connected to the moving block 13, the sliding groove 22 is fixedly connected to the square sliding column 21, the sliding sleeve 23 is slidably connected to the square sliding column 21 through the sliding groove 22, the threaded ring 24 is fixedly connected to the outer side of the sliding sleeve 23, two ends of the lifting screw 25 are connected to the top of the square sliding column 21 through bearing seats, the moving block 13 is fixedly connected, the lifting motor 26 is fixedly connected to the square sliding column 21, and an output shaft of the lifting motor 26 is fixedly connected to the lifting screw 25.
Further, telescopic crossbeam 3 constitute by outer lane 31, inner circle 32, telescopic screw 33, flexible motor 34, outer lane 31 be the hollow tube, and the inside slide rail that is provided with of outer lane 31, inner circle 32 be solid post, inner circle 32 passes through slide rail sliding connection inside outer lane 31, and opens threaded hole on the inner circle 32 axis, telescopic motor 34 rigid coupling at outer lane 31 end, telescopic screw 33 rigid coupling on telescopic motor 34 output shaft, and telescopic screw 33 passes through the threaded hole and is connected with inner circle 32.
Furthermore, the swing cylinder seat assembly 6 is composed of a sliding block 41, a walking lead screw 42, mounting blocks 43 and a control motor 44, the sliding block 41 is slidably connected to the telescopic cross beam 3 through a sliding groove, threaded holes are formed in the sliding block 41, the mounting blocks 43 are fixedly connected to the telescopic cross beam 3, the number of the mounting blocks 43 is two, two ends of the walking lead screw 42 are fixedly connected to the mounting blocks 43 through bearing seats, the walking lead screw 42 is in threaded connection with the mounting blocks 43, and an output shaft of the control motor 44 is fixedly connected to the walking lead screw 42.
Further, a first telescopic rod 51 is disposed on the first swing arm 4.
Further, a second telescopic rod 52 is disposed on the second oscillating arm 7.
Further, the first swing cylinder is connected with the first swing arm 4 through a swing cylinder seat assembly 6.
Furthermore, the movable base 1, the lifting assembly 2, the telescopic cross beam 3, the first swing cylinder 5, the swing cylinder seat assembly 6, the second swing cylinder 8 and the welding gun 9 are connected with the same controller through signal lines.
Further, the routing pipeline of the welding gun 9 is a hard corrugated pipe.
The principle and the advantages of the invention are as follows: the invention discloses a vehicle body welding manipulator for automobile production, which changes the horizontal and transverse position by moving a base 1, changes the height by a lifting assembly 2, changes the horizontal and longitudinal position by a telescopic crossbeam 3, changes the swing angle by a first swing arm 4, controls the position of a cylinder by a swing cylinder seat assembly 6, and changes the angle by a second swing arm 7 for the second time, so that a working end can completely touch all positions, thereby realizing all automatic welding.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The utility model provides a car body welding machines hand for automobile production, includes: remove base (1), lift assembly (2), telescopic cross beam (3), first swing arm (4), first swing cylinder (5), swing cylinder block assembly (6), second swing arm (7), second swing cylinder (8), welder (9), its characterized in that: the movable base (1) is fixedly connected on the workshop ground, the lifting assembly (2) is vertically and fixedly connected on the movable base (1), the telescopic cross beam (3) is horizontally and fixedly connected with one side of the lifting assembly (2), the middle part of the first swing arm (4) is connected with the top end of the telescopic cross beam (3) through a pin shaft, the swing cylinder seat assembly (6) is fixedly connected on the telescopic cross beam (3), two ends of the first swing cylinder (5) are respectively connected with the first swing arm (4) and the swing cylinder seat assembly (6) through pin shafts, the middle part of the second swing arm (7) is connected with the lower end of the first swing arm (4) through a pin shaft, two ends of the second swing cylinder (8) are respectively connected with the first swing arm (4) and the second swing arm (7), and the welding gun (9) is fixedly connected to the front end of the second swing arm (7);
the movable base (1) is composed of two fixed blocks (11), two guide rods (12), a movable block (13), two movable screw rods (14) and a traveling motor (15), the two fixed blocks (11) are fixedly connected to the ground respectively, the two guide rods (12) are fixedly connected to the fixed blocks (11) respectively, the two guide rods (12) are arranged in parallel, the movable block (13) is connected to the guide rods (12) in a sliding mode, a threaded hole is formed in the middle of the movable block (13), the two ends of the movable screw rods (14) are mounted on the fixed blocks (11) through bearing seats, the traveling motor (15) is fixedly connected to the fixed blocks (11), and output shafts of the traveling motor (15) are fixedly connected with the movable screw rods (14);
the lifting assembly (2) consists of a square sliding column (21), a sliding groove (22), a sliding sleeve (23), a threaded ring (24), a lifting screw rod (25) and a lifting motor (26), wherein the square sliding column (21) is vertically and fixedly connected to a moving block (13), the sliding groove (22) is fixedly connected to the square sliding column (21), the sliding sleeve (23) is slidably connected to the square sliding column (21) through the sliding groove (22), the threaded ring (24) is fixedly connected to the outer side of the sliding sleeve (23), two ends of the lifting screw rod (25) are connected to the top of the square sliding column (21) and the moving block (13) through bearing seats, the lifting motor (26) is fixedly connected to the square sliding column (21), and an output shaft of the lifting motor (26) is fixedly connected with the lifting screw rod (25);
the telescopic cross beam (3) consists of an outer ring (31), an inner ring (32), a telescopic screw rod (33) and a telescopic motor (34), wherein the outer ring (31) is a hollow pipe, a slide rail is arranged in the outer ring (31), the inner ring (32) is a solid column, the inner ring (32) is connected in the outer ring (31) in a sliding manner through the slide rail, a threaded hole is formed in the axis of the inner ring (32), the telescopic motor (34) is fixedly connected to the tail end of the outer ring (31), the telescopic screw rod (33) is fixedly connected to an output shaft of the telescopic motor (34), and the telescopic screw rod (33) is connected with the inner ring (32) through the threaded hole;
the swing air cylinder seat assembly (6) is composed of a sliding block (41), a walking lead screw (42), an installation block (43) and a control motor (44), wherein the sliding block (41) is connected to a telescopic cross beam (3) in a sliding mode through a sliding groove, threaded holes are formed in the sliding block (41), the installation block (43) is fixedly connected to the telescopic cross beam (3), the number of the installation blocks (43) is two, the two ends of the walking lead screw (42) are fixedly connected to the installation block (43) through bearing seats, the walking lead screw (42) is connected with the installation block (43) through threads, and an output shaft of the control motor (44) is fixedly connected with the walking lead screw (42).
2. The vehicle body welding manipulator for automobile production according to claim 1, characterized in that: the first swing arm (4) is provided with a first telescopic rod (51).
3. The vehicle body welding manipulator for automobile production according to claim 1, characterized in that: and a second telescopic rod (52) is arranged on the second swinging arm (7).
4. The vehicle body welding manipulator for automobile production according to claim 1, characterized in that: the first swing cylinder is connected with the first swing arm (4) through a swing cylinder seat assembly (6).
5. The vehicle body welding manipulator for automobile production according to claim 1, characterized in that: the movable base (1), the lifting assembly (2), the telescopic cross beam (3), the first swing cylinder (5), the swing cylinder seat assembly (6), the second swing cylinder (8) and the welding gun (9) are connected with the same controller through signal lines.
6. The vehicle body welding manipulator for automobile production according to claim 1, characterized in that: the routing pipeline of the welding gun (9) is a hard corrugated pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968795.4A CN106425199B (en) | 2016-11-06 | 2016-11-06 | Car body welding manipulator for automobile production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968795.4A CN106425199B (en) | 2016-11-06 | 2016-11-06 | Car body welding manipulator for automobile production |
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| Publication Number | Publication Date |
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| CN106425199A CN106425199A (en) | 2017-02-22 |
| CN106425199B true CN106425199B (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610968795.4A Active CN106425199B (en) | 2016-11-06 | 2016-11-06 | Car body welding manipulator for automobile production |
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| RU2200124C1 (en) * | 2001-12-24 | 2003-03-10 | Селиванов Николай Павлович | Articulated telescopic boom |
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| CN106425199A (en) | 2017-02-22 |
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Effective date of registration: 20210507 Address after: 276000 South 200m east of the intersection of Huaxia Road and Zhongshan Road in Linyi Economic and Technological Development Zone, Shandong Province Applicant after: Shandong Lianchuang Heavy Industry Co.,Ltd. Address before: 230051 room 1722, complex building 2, jiruitaisheng Plaza, 58 Luzhou Avenue, Baohe District, Hefei City, Anhui Province Applicant before: HEFEI QIFEI INFORMATION TECHNOLOGY Co.,Ltd. |
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