CN106826039B - Welding machine - Google Patents
Welding machine Download PDFInfo
- Publication number
- CN106826039B CN106826039B CN201710242267.5A CN201710242267A CN106826039B CN 106826039 B CN106826039 B CN 106826039B CN 201710242267 A CN201710242267 A CN 201710242267A CN 106826039 B CN106826039 B CN 106826039B
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- Prior art keywords
- welding
- clamping
- connector
- film advance
- body frame
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- 238000003466 welding Methods 0.000 title claims abstract description 142
- 230000007246 mechanism Effects 0.000 claims abstract description 196
- 230000009184 walking Effects 0.000 claims abstract description 33
- 230000006835 compression Effects 0.000 claims abstract description 4
- 238000007906 compression Methods 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 22
- 238000004880 explosion Methods 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 229910000754 Wrought iron Inorganic materials 0.000 claims description 6
- 239000004411 aluminium Substances 0.000 description 19
- 229910052782 aluminium Inorganic materials 0.000 description 19
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 229910000831 Steel Inorganic materials 0.000 description 10
- 239000010959 steel Substances 0.000 description 10
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 6
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical compound [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000002787 reinforcement Effects 0.000 description 4
- 229910002092 carbon dioxide Inorganic materials 0.000 description 3
- 239000001569 carbon dioxide Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding In General (AREA)
Abstract
The present invention provides a kind of welding machines, are related to welding field, and welding machine includes omnidirectional mobile device, hanger and welding film advance mechanism；Omnidirectional mobile device includes frame body, and the both ends of frame body are equipped with two groups of walking mechanisms；Hanger includes the longitudinal rail that square crossing is arranged and cross slide way and body frame；One end of body frame and the side of cross slide way are clamped；The other side of cross slide way and the side of longitudinal rail are clamped；The other side of longitudinal rail and frame body are affixed；The other end of body frame is connect with welding film advance mechanism；Welding film advance mechanism includes vertical lifting mechanism, horizontal mobile mechanism and clamping hold-down mechanism；Horizontal mobile mechanism is arranged in vertical lifting mechanism, and horizontal mobile mechanism is connected with welding gun；The bottom end of vertical lifting mechanism is connected with clamping hold-down mechanism, and clamping hold-down mechanism is used to carry out positioning compression to weld tabs.The technical issues of welding machine of the application solves under narrow environment existing in the prior art, human weld's low efficiency.
Description
Technical field
The present invention relates to welding robot technical fields, more particularly, to a kind of welding machine.
Background technique
Aluminium cell is one kind of electrolytic cell, when carrying out large repairs to aluminium cell, is needed to cathode steel bar and explosion block
Between welded.
Since the environment around aluminium cell is more special, where narrow space, limit structure is complicated, volume compared with
Greatly, the use for automating the preferable welding equipment of higher and welding quality, therefore, in the prior art, using common human weld
Mode to cathode steel bar and explosion welding block weld.
Using the low efficiency of human weld's mode, large labor intensity, also, the distribution consistency degree of solder is poor, welding quality
Difference.
Based on this, the present invention provides a kind of welding machines to solve above-mentioned technical problem.
Summary of the invention
The purpose of the present invention is to provide a kind of welding machines, to solve the narrow environment such as aluminium cell existing in the prior art
Under, the technical issues of human weld's low efficiency.
Welding machine provided by the invention, including omnidirectional mobile device, hanger and welding film advance mechanism；
The omnidirectional mobile device includes frame body, and the both ends of the frame body are equipped with two groups of walking mechanisms, is walked described in one group
Mechanism is higher than the setting of walking mechanism described in another group, and the difference in height of walking mechanism described in two groups and both sides have the ground of difference in height
The height of shape structure is consistent；The walking mechanism is Mecanum wheel group；
The hanger includes the longitudinal rail that square crossing is arranged and cross slide way and body frame；
One end of the body frame and the side of the cross slide way are clamped and can be along the extending directions of the cross slide way
Movement；
The side clamping of the other side of the cross slide way and the longitudinal rail and being capable of body frame edge described in synchronous drive
The extending direction of the longitudinal rail moves；
The other side of the longitudinal rail and the frame body are affixed；
The other end of the body frame is connect with the welding film advance mechanism；
The welding film advance mechanism includes vertical lifting mechanism, horizontal mobile mechanism and clamping hold-down mechanism；
The horizontal mobile mechanism is arranged in the vertical lifting mechanism, and the horizontal mobile mechanism is connected with weldering
Rifle, the horizontal mobile mechanism is for driving the relatively described vertical lifting mechanism of the welding gun to move horizontally；
The bottom end of the vertical lifting mechanism is connected with the clamping hold-down mechanism, and the clamping hold-down mechanism is used for butt welding
Piece carries out positioning compression, and the vertical lifting mechanism is for driving the clamping hold-down mechanism to move up and down.
Optionally, the Mecanum wheel group includes two Mecanum wheels；Four Mecanum wheels and described two
There is the topographic structure of difference in height to be vertically arranged on side.
Optionally, each Mecanum wheel is respectively connected with retarder and driving motor.
Optionally, the box body 16 for accommodating goods and materials is provided on the frame body.
Optionally, a pair of of range sensor is provided at walking mechanism described in higher one group.
Optionally, the body frame includes the first connector and the second connector；
The first end of first connector is connect with the welding film advance mechanism, the first end of second connector with
The cross slide way clamping, the second end of first connector and the second end of second connector are hinged.
Optionally, where the plane where the body frame and the plane where the longitudinal rail and the cross slide way
Plane is respectively perpendicular；
The body frame further includes the first telescoping mechanism, and first telescoping mechanism includes fixed part and can be relative to described
The pars contractilis of fixed part movement, the fixed part and first connector are hinged, the pars contractilis and second connector
Hingedly.
Optionally, the body frame further include the second telescoping mechanism and be connected to the first end of first connector with it is described
Weld the gimbal suspension bearing between film advance mechanism；
Second telescoping mechanism includes fixed part and can be relative to the pars contractilis of fixed part movement, the fixation
Portion and the second end of first connector are hinged, the pars contractilis and the gimbal suspension bearing hinge connection, so that the welding
Film advance mechanism is fixed relative to the position of first connector.
Optionally, the vertical lifting mechanism includes: cabinet, and the outside of the cabinet is connected with driving by transmission component
Motor, the inside of the cabinet is horizontally disposed guide rail, and the horizontal mobile mechanism is arranged on the guide rail.
Optionally, the clamping hold-down mechanism includes: the guide holder connecting with the cabinet, the both ends point of the guide holder
It is not provided with the first clamping part and the second clamping part, is provided with level between first clamping part and second clamping part and leads
To axis, it is provided with the first clamping jaw and the second clamping jaw on the horizontally-guided axis, is arranged with horizontal pressure spring on the horizontally-guided axis,
And one end of the horizontal pressure spring is connect with first clamping jaw, the other end is connect with second clamping jaw；
The first weld tabs, second clamping jaw and institute are used to position and clamp between first clamping jaw and first clamping part
It states and is used to position and clamp the second weld tabs between the second clamping part.
The welding machine provided by the invention, since to be respectively equipped with two groups of height different by Mecanum wheel at the both ends of frame body
The walking mechanism that group is constituted, and the difference in height of two groups of walking mechanisms and both sides have difference in height topographic structure (such as: electrolytic aluminium
Furnace wall) height it is consistent, therefore frame body can adapt to different terrain and both sides have difference in height topographic structure (such as: electricity
Solve aluminium furnace wall) on walking with replace it is artificial transport heavy goods and materials, efficiency is very high.
Due to there is sensor, mobile device can be moved along electrolytic aluminium furnace wall always.
It drives hanger and welding film advance mechanism mobile by omnidirectional mobile device, then drives welding to send by hanger on chip
Set the mobile burden to mitigate operation.Hanger longitudinal rail therein and cross slide way square crossing are arranged, and body frame is led with lateral
Rail clip connects and is capable of the extending direction movement of transversely guide rail, and cross slide way and longitudinal rail are clamped and being capable of synchronous drive body frames
The extending direction movement of guide rail along longitudinal direction, also that is, body frame can either transversely guide rail extending direction movement, and can be along longitudinal direction
The extending direction of guide rail moves, since welding film advance mechanism is arranged on body frame, welding film advance mechanism can either be transversely
The extending direction of guide rail moves, and is capable of the extending direction movement of guide rail along longitudinal direction.Realize that mobile welding is sent on chip in a wide range of
It sets, in addition hinged and everything pipe fitting, it can accurately be sent within the scope of 6 freedom degrees to needing welding position.Then piece is sent
Device is connected with the fixture set in advance, guarantees that each article position is precise and stable when welding.
And weld film advance mechanism and moved since horizontal mobile mechanism is able to drive welding gun opposed vertical elevated levels, from
And realize automatic welding, and vertical lifting mechanism is able to drive clamping hold-down mechanism and moves up and down, to can incite somebody to action as needed
Weld tabs rises to initial position and/or drops to operating position, thus welding film advance mechanism provided by the present application can be realized by
Weld tabs is accurately sent to designated position, the subsequent automatic welding of welding gun, to solve the problems, such as insufficient space, and preferably guarantees weld tabs
The accuracy of position；Further, since can be realized the relative positioning of weld tabs by clamping hold-down mechanism, therefore spot welding can be saved
It operates and directly carries out being fully welded operation, to effectively improve welding efficiency.
Since the environment around aluminium cell is more special, where narrow space, limit structure is complicated, volume compared with
Greatly, the use of the preferable welding equipment of higher and welding quality is automated.And welding machine provided by the invention, Omni-mobile will be passed through
Device mobile device can adapt to the narrow situation different with height.
The longitudinal rail of hanger and cross slide way square crossing be arranged, guiding mechanism of the longitudinal rail as cross slide way
Meanwhile also as the mechanism for mounting of cross slide way, welding film advance mechanism is arranged on cross slide way by body frame, it is entire to weld
Device simplifies the structure, so the volume of welder can maximum downsizing, can be right according to actual to-be-welded pieces
The size of the welder is designed, while meeting the automation of welder, artificial used in the prior art to substitute
Welding manner improves welding efficiency and welding quality.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of welding machine provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic perspective view of omnidirectional mobile device provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic view of the front view of omnidirectional mobile device provided in an embodiment of the present invention；
Fig. 4 is the schematic perspective view of another omnidirectional mobile device provided in an embodiment of the present invention；
Fig. 5 is the schematic view of the front view of another omnidirectional mobile device provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of hanger provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram one of hanger provided in an embodiment of the present invention；
Fig. 8 is the schematic diagram two of hanger provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram three of hanger provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of welding film advance mechanism provided in an embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram for clamping hold-down mechanism in welding film advance mechanism provided in an embodiment of the present invention；
Figure 12 is the structural schematic diagram of another clamping hold-down mechanism in welding film advance mechanism provided in an embodiment of the present invention；
Figure 13 is that the sectional structure of another clamping hold-down mechanism in welding film advance mechanism provided in an embodiment of the present invention shows
It is intended to；
Figure 14 is the fixture of one of embodiment and the cooperation schematic diagram of rod iron and welding explosion block；
Figure 15 is the steel bar clamp structural schematic diagram in Figure 14；
Figure 16 is the structural schematic diagram of another embodiment of fixture.
Appended drawing reference:
1- omnidirectional mobile device；11- frame body；12- walking mechanism；The both sides 13- have landform (the electrolytic aluminium furnace of difference in height
Wall)；121- Mecanum wheel；14- retarder；15- driving motor；16- box body；111- supporting beam；1111- crossbeam；1112- is vertical
Beam；1113- reinforcement；
2- hanger；21- longitudinal rail, 22- cross slide way, 23- body frame, 24- connection component, 25- locating part, 26- buffering
Part, the first fixed pulley of 27-, the second fixed pulley of 28-, 29- gravity balancer, 210- servo motor, 211- lead screw, 212 bearing blocks；
221- track base, 222- guided way；The first connector of 231-, the second connector of 232-, the first telescoping mechanism of 233-, 234- are hinged
Portion, the second telescoping mechanism of 235-, 236- gimbal suspension bearing, 237- fitting, 238- abutting part；241- attachment base, 242- card
Socket part；
3- welds film advance mechanism；31- vertical lifting mechanism；32- horizontal mobile mechanism；33- clamps hold-down mechanism；34- weldering
Rifle；35- weld tabs；311- cabinet；312- transmission component；313- driving motor；314- guide rail；331- guide holder；332- level is led
To axis；The horizontal pressure spring of 334-；335- is vertically directed axis；The vertical pressure spring of 336-；337- guide bearing；The first weld tabs of 351-；352-
Second weld tabs；3121- synchronous pulley；3122- synchronous belt；The first clamping part of 3311-；The second clamping part of 3312-；3331- first
Clamping jaw；The second clamping jaw of 3332-；
4- fixture；41- steel bar clamp；42- explosion block fixture；411- fixture block；412- sliding bar；413- fixed block；414-
Second fixture block；415- location hole；416- fixed frame；417- clamp clip；418- double threaded screw；The manual elbow folder of 421-；422- positioning
Plate；423- clamping plate；424- block；5- cylinder；6- rod iron；7- welds explosion block.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment one
As shown in figures 1-13, a kind of welding machine is provided in the present embodiment, and the welding machine includes omnidirectional mobile device 1, hangs
Frame 2 and welding film advance mechanism 3；
The omnidirectional mobile device includes frame body 11, and the both ends of the frame body 11 are equipped with two groups of walking mechanisms 12, one group of institute
Walking mechanism is stated higher than the setting of walking mechanism described in another group, and the difference in height of walking mechanism described in two groups and both sides have height
The height of the topographic structure of difference is consistent；The walking mechanism is Mecanum wheel group；
The hanger 2 includes the longitudinal rail 21 that square crossing is arranged and cross slide way 22 and body frame 23；
One end of the body frame 23 and the side of the cross slide way 22 are clamped and being capable of prolonging along the cross slide way 22
Stretch direction movement；
The other side of the cross slide way 22 and the side of the longitudinal rail 21 are clamped and can lead described in synchronous drive
Frame 23 is moved along the extending direction of the longitudinal rail 21；
The other side of the longitudinal rail 21 and the frame body 11 are affixed；
The other end of the body frame 23 is connect with the welding film advance mechanism 3；
The welding film advance mechanism 3 includes vertical lifting mechanism 31, horizontal mobile mechanism 32 and clamping hold-down mechanism 33；
The horizontal mobile mechanism is arranged in the vertical lifting mechanism, and the horizontal mobile mechanism is connected with welding gun
34, the horizontal mobile mechanism is for driving the relatively described vertical lifting mechanism of the welding gun to move horizontally；
The bottom end of the vertical lifting mechanism is connected with the clamping hold-down mechanism 33, and the clamping hold-down mechanism 33 is used for
Positioning compression is carried out to weld tabs 35, the vertical lifting mechanism is for driving the clamping hold-down mechanism to move up and down.
The welding machine provided by the invention, since to be respectively equipped with two groups of height different by Mecanum wheel at the both ends of frame body
The walking mechanism that group is constituted, and the difference in height of two groups of walking mechanisms and both sides have difference in height topographic structure (such as: electrolytic aluminium
Furnace wall) height it is consistent, therefore frame body can adapt to different terrain and both sides have difference in height topographic structure (such as: electricity
Solve aluminium furnace wall) on walking with replace it is artificial transport heavy goods and materials, efficiency is very high.
It drives hanger and welding film advance mechanism mobile by omnidirectional mobile device, then drives welding to send by hanger on chip
Set movement.Hanger longitudinal rail therein and cross slide way square crossing are arranged, and body frame is clamped with cross slide way and can be along cross
The extending direction of direction guiding rail moves, and cross slide way and longitudinal rail are clamped and are capable of the extension of synchronous drive body frame guide rail along longitudinal direction
Direction movement, also that is, body frame can either transversely guide rail extending direction movement, and can along longitudinal direction guide rail extending direction fortune
It is dynamic, since welding film advance mechanism is arranged on body frame, welding film advance mechanism can either transversely guide rail extending direction fortune
It is dynamic, and it is capable of the extending direction movement of guide rail along longitudinal direction.It realizes mobile welding film advance mechanism in a wide range of, is passed to and needs to weld
Connect position.
And weld film advance mechanism and moved since horizontal mobile mechanism is able to drive welding gun opposed vertical elevated levels, from
And realize automatic welding, and vertical lifting mechanism is able to drive clamping hold-down mechanism and moves up and down, to can incite somebody to action as needed
Weld tabs rises to initial position and/or drops to operating position, thus welding film advance mechanism provided by the present application can be realized by
Weld tabs is accurately sent to designated position, to solve the problems, such as insufficient space, and preferably guarantees the accuracy of weld tabs position；This
Outside, due to can be realized the relative positioning of weld tabs by clamping hold-down mechanism, spot weld operation can be saved and directly carried out
It is fully welded operation, to effectively improve welding efficiency.
Since the environment around aluminium cell is more special, where narrow space, limit structure is complicated, volume compared with
Greatly, the use of the preferable welding equipment of higher and welding quality is automated.And welding machine provided by the invention, Omni-mobile will be passed through
Device mobile device can adapt to the narrow situation different with height.
The longitudinal rail of hanger and cross slide way square crossing be arranged, guiding mechanism of the longitudinal rail as cross slide way
Meanwhile also as the mechanism for mounting of cross slide way, welding film advance mechanism is arranged on cross slide way by body frame, it is entire to weld
Device simplifies the structure, so the volume of welder can maximum downsizing, can be right according to actual to-be-welded pieces
The size of the welder is designed, while meeting the automation of welder, artificial used in the prior art to substitute
Welding manner improves welding efficiency and welding quality.
Such as Fig. 1-5, in the optinal plan of the present embodiment, above-mentioned each Mecanum wheel group may include two Mecanums
Wheel 121；When practical set, four Mecanum wheels 121 can have the topographic structure (electrolytic aluminium furnace wall) of difference in height with both sides
13 are vertically arranged namely the Mecanum wheel 121 of walking mechanism 12 and the direction of travel of omnidirectional mobile device are arranged vertically.And
And stability when power resources and work in order to guarantee Mecanum wheel 121, above-mentioned each Mecanum wheel 121
To be connected with retarder 14 and driving motor 15 in turn；Wherein, driving motor 15 is that Mecanum wheel 121 provides power, is slowed down
The preferably matching of the output shaft of the guarantee driving motor 15 of device 14 and the input shaft of Mecanum wheel 121 on revolving speed.
This first setting, is easily installed driving motor 15 and retarder 14, and omnidirectional mobile device travels along the y axis,
It can be moved along the x axis after reaching setting position, direction rotates adjustment posture about the z axis；Since Mecanum wheel 121 is along X-axis side
To running efficiency height, and more steady, thus above-mentioned setting when adjusting posture advantageously.
Wherein, as shown in Figure 4 and Figure 5, in omnidirectional mobile device provided in an embodiment of the present invention, above-mentioned each Mecanum
Wheel group may include two Mecanum wheels 121；When practical set, four Mecanum wheels 121 can have height with both sides
The topographic structure (electrolytic aluminium furnace wall) 13 of difference is arranged in parallel namely the Mecanum wheel 121 of walking mechanism 12 is filled with Omni-mobile
The direction of travel set is arranged in the same direction.Also, stability when power resources and work in order to guarantee Mecanum wheel 121, on
Retarder 14 and driving motor 15 can be connected in turn by stating each Mecanum wheel 121；Wherein, driving motor 15 is Mike
Na Mu wheel 121 provides power, and the output shaft of the guarantee driving motor 15 of retarder 14 and the input shaft of Mecanum wheel 121 are in revolving speed
On preferably matching.
This second setting, driving motor 15 and retarder 14 need the first relatively above-mentioned setting to be rotated by 90 ° installation,
Omnidirectional mobile device travels along the x axis, can move along the y axis after reaching setting position, direction rotates adjustment appearance about the z axis
Gesture；It is such that obstacle climbing ability that is more stable, while having certain of walking when needing mobile over long distances is set.
It should be added that, above-mentioned Y direction is topographic structure (the electrolytic aluminium furnace for having difference in height with both sides herein
Wall) 13 vertical directions, X-direction be with both sides have difference in height the parallel direction of topographic structure (electrolytic aluminium furnace wall) 13,
And it is coplanar with Y direction, Z-direction is the direction in vertical X axis direction and Y direction simultaneously.
When practical application, in order to guarantee omnidirectional mobile device for realizing the transport of goods and materials, it is provided in an embodiment of the present invention
In omnidirectional mobile device, as Figure 1-Figure 4, the box body 166 for accommodating goods and materials can be set on above-mentioned frame body 11, thus goods and materials
It can be placed in box body 166, and be realized and transported by omnidirectional mobile device.Preferably, such as Fig. 1, releasing on the frame body 11 can
To be provided with basket, the hanger 2 is connect with the basket.
Wherein, in order to guarantee the stability of frame body 11, as Figure 2-Figure 5, above-mentioned frame body 11 may include it is multiple successively
The supporting beam 111 of spacing parallel arranging setting, each supporting beam 111 may include the crossbeam 1111 and stringer 112 being mutually connected vertically；
When specific assembly, one group of walking mechanism 12 has been can be set in one end of crossbeam 1111, and the other end of crossbeam 1111 can be with stringer
Another group of walking mechanism 12 has can be set in 112 one end connection, the other end of stringer 112；Also, box body 166 can be set
On above-mentioned crossbeam 1111, to preferably prevent goods and materials from falling.
Frame body 11 is made of multiple supporting beams 111, can either guarantee the overall stability of walking robot, and can save
Material cost, and reduce overall weight；Each supporting beam 111 is made of crossbeam 1111 and stringer 112, can be conducive to setting two
The different walking mechanisms 12 being made of Mecanum wheel group of group height.
Specifically, in order to further increase the stability of frame body 11 and omnidirectional mobile device, as Figure 2-Figure 5, this hair
The omnidirectional mobile device that bright embodiment provides can also include: reinforcement 1113, and one end of the reinforcement 1113 can be with crossbeam
1111 connections, the other end can be connect with stringer 112, to be risen between crossbeam 1111 and stringer 112 by reinforcement 1113
To supporting role well, and then the stability of frame body 11 and omnidirectional mobile device is effectively improved again.
Further, for the ease of the travelling control to omnidirectional mobile device, Omni-mobile provided in an embodiment of the present invention
In device, a pair of of range sensor (not shown) can be set at higher one group of walking mechanism 12, thus by should
The detection of range sensor guarantees that omnidirectional mobile device can have the topographic structure (electrolytic aluminium furnace wall) of difference in height along both sides
13 walkings correct the running track of omnidirectional mobile device and posture without falling down step, and in time.
Further, in order to effectively improve the detection accuracy of range sensor, two range sensors can distinguish position
It is symmetrical arranged in the axis two sides of above-mentioned frame body 11；Also, range sensor preferably closes on the setting of Mecanum wheel 121, from
And the real time position of Mecanum wheel 121 is more accurately detected.
Since omnidirectional mobile device provided in an embodiment of the present invention can adapt to different terrain and in electrolytic aluminium furnace wall uplink
It walks to replace the heavy goods and materials of artificial transport, therefore electrolytic aluminium equipment provided in an embodiment of the present invention is able to use omnidirectional mobile device
Instead of manually transporting heavy goods and materials.
Such as Fig. 6-9, in the optinal plan of the present embodiment, the body frame 23 includes the first connector 231 and the second connector
232；The first end of first connector 231 is connect with the welding film advance mechanism, the first end of second connector 232
It is clamped with the cross slide way 22, the second end of the second end of first connector 231 and second connector 232 is cut with scissors
It connects, then the angle between the first connector and the second connector is variable.
In the present embodiment, it is preferred that the plane at 21 place of plane and the longitudinal rail where the body frame 23 and institute
Plane where stating cross slide way 22 is respectively perpendicular；The body frame 23 further includes the first telescoping mechanism 233, first telescopic machine
Structure 233 includes fixed part and can be relative to the pars contractilis of fixed part movement, the fixed part and first connector
231 is hinged, and the pars contractilis and second connector 232 are hinged.By the fixed part of the first telescoping mechanism and pars contractilis it
Between relative motion, can adjust the corner dimension between the first connector and the second connector, so adjust welding send it is on chip
Set the body frame position planar, further increase the automation performance of the welder.
It, can be flexible without first between the first connector and the second connector when the plane where body frame is horizontal plane
Mechanism can position angle between the two by the ground relay between the first connector and the second connector along longitudinal direction.
Further, the first end of first connector 2313 is nearby provided with prolonging along first connector 231
Multiple articulated sections 234 that direction is intervally arranged are stretched, the fixed part can be successively hinged with multiple articulated sections 234, so as to
In adjusting position of first telescoping mechanism between the first connector and the second connector according to actual needs.
Certainly, in the present embodiment, the first end of the second connector is nearby also equipped with the extending direction along the second connector
The multiple articulated sections being intervally arranged, fixed part can be successively hinged with multiple articulated sections, in order to adjust according to actual needs
Position of first telescoping mechanism between the first connector and the second connector.
In the present embodiment, the body frame 23 further includes the second telescoping mechanism 235 and is connected to first connector 231
Gimbal suspension bearing 236 between first end and the welding film advance mechanism；Second telescoping mechanism 235 include fixed part and
The pars contractilis that can be moved relative to the fixed part, the second end of the fixed part and first connector 231 is hinged, institute
It states pars contractilis and the gimbal suspension bearing 33 is hinged, so that position of the welding film advance mechanism relative to first connector
Fixation is set, by the way that gimbal suspension bearing is arranged, the flexibility ratio for welding film advance mechanism can be made higher, further increase entire welding dress
The automation performance set.
Preferably, the body frame 23 further includes that the fitting for the first end that first connector 231 is arranged in holds 237,
Second telescoping mechanism 235 holds 237 with the fitting and is oppositely arranged；The gimbal suspension bearing 236 includes abutting part
238；When the gimbal suspension bearing 236 rotates set angle around the first end of first connector 231, the fitting
It holds 237 to be abutted with the abutting part 238 to prevent the gimbal suspension bearing 236 from continuing to rotate, to prevent welding film advance mechanism
Gravity it is overweight, the connection between the first connector and gimbal suspension bearing is damaged, to improve bonding strength.It is preferred that
, gimbal suspension bearing 236 is connected by the shell being fixed on around the welding film advance mechanism 3 and the welding film advance mechanism 3
It connects；Such as Fig. 1, the shell includes four pieces of plates, lower openings.
Above-mentioned welder further includes connection component 24, and the connection component 24 includes attachment base 241 and is arranged described
Clamping portion 24242 on attachment base 241, the body frame 23 are fixedly connected with the attachment base 241；The cross slide way 22 includes
Track base 221 and the guided way 222 being arranged on the track base 221, the track base 221 are clamped with the longitudinal rail 2
And it can be moved along the extending direction of the longitudinal rail 2；The clamping portion 24242 is clamped with the guided way 21 and being capable of edge
The extending direction of the guided way 21 moves.
Preferably, above-mentioned guided way is two, and two guided ways are arranged on track base, and two guided ways are along vertical side
It is arranged to interval；Above-mentioned clamping portion 242 is two, and two clamping portions 242 are arranged on attachment base, two clamping portions, 242 edge
The setting of vertical direction interval；Two guided ways and two attachment bases are corresponded and are clamped.
Further, above-mentioned welder further includes two limits being oppositely arranged along the extending direction of the guided way 222
Position part 25, the attachment base 241 are located between two locating parts 25；It further include the extending direction along the guided way 222
Two bolsters 26 being oppositely arranged, two bolsters 26 are separately positioned on two locating parts 25 or/and described
On two sides of attachment base 241, when connection component moves between two locating parts, bolster can be to the connection component
It works as a buffer.
Preferably, two locating parts and two bolsters are disposed as between two clamping portions 242.
Referring to shown in Fig. 3, as one embodiment, above-mentioned welder further includes driving mechanism, the driving mechanism packet
The first fixed pulley 27 being arranged on the cross slide way and the second fixed pulley 28 above first fixed pulley 27 are included,
And coiling and gravity balancer 29；The first end of the coiling is connect with the top of the longitudinal rail 21, the coiling
Second end is connect after successively bypassing first fixed pulley 27, second fixed pulley 28 with the gravity balancer 29, described
Gravity balancer 29 can drive cross slide way 22 described in 27 synchronous drive of the first fixed pulley along described by the coiling
The extending direction of longitudinal rail 21 moves.
Referring to shown in Fig. 4, as another embodiment, above-mentioned welder further includes driving mechanism, the driving mechanism
Including servo motor 210, lead screw 211 and bearing block 212 with the servo motor 210 transmission connection；The bearing block
212 be arranged on the longitudinal rail 21, the lead screw 211 be threaded through in the bearing block 212 and with the cross slide way 22
The mode of being connected through a screw thread connects, and the servo motor 210 can drive cross slide way 22 described in 211 synchronous drive of lead screw
Extending direction along the longitudinal rail 21 moves.
Preferably, which further includes two belt wheels, and the output shaft of one of belt wheel and motor is coaxially disposed, separately
One belt wheel and lead screw are coaxially disposed, and the central axis of two belt wheels is parallel to each other, and two belt wheels are sequentially connected by belt.
Welding film advance mechanism provided in an embodiment of the present invention is total by vertical lifting mechanism 31 and horizontal mobile mechanism 32
With the mobile automatic soldering device of two axis realized.
Herein it should be added that, in welding film advance mechanism provided in an embodiment of the present invention, above-mentioned vertical lifting machine
The movement travel of structure 31 can be 310 millimeters, and the shift motion of horizontal mobile mechanism 32 can be 260 millimeters.Certainly, vertical to rise
The specific stroke of descending mechanism 31 and horizontal mobile mechanism 32, however it is not limited to this, or other zone of reasonableness.
Wherein, in order to preferably realize the up and down motion of vertical lifting mechanism 31, with as needed can will be on weld tabs 35
It rises to initial position and/or drops to operating position, as shown in Figure 10, in welding film advance mechanism provided in an embodiment of the present invention,
Above-mentioned vertical lifting mechanism 31 may include: cabinet 311, and the outside of the cabinet 311 can be connected with drive by transmission component 312
Dynamic motor 313 to realize that driving motor 313 drives cabinet 311 to move up and down by transmission component 312, and passes through clamping pressure
Tight mechanism 33 drives weld tabs 35 to rise to initial position and/or drop to operating position；In addition, the inside of cabinet 311 can be with water
Flat to be provided with guide rail 314, above-mentioned horizontal mobile mechanism 32 can be set on the guide rail 314, to drive welding gun 34 relatively perpendicular
Descending mechanism 31 is gone straight up to move horizontally.
Specifically, in order to convert the rotary motion of driving motor 313 to the linear motion of cabinet 311, as shown in Figure 10,
In welding film advance mechanism provided in an embodiment of the present invention, above-mentioned transmission component 312 may include: the output with driving motor 313
The synchronous pulley 3121 of axis connection, and the synchronous pulley 3121 is connected with ball-screw by synchronous belt 3122 and (does not show in figure
Out), which connect with above-mentioned cabinet 311, thus more steady by synchronous pulley 3121, synchronous belt 3122 and ball-screw
Surely straight line power is converted by rotary motive power and transmit.
Further, in order to improve control precision and response speed to cabinet 311, welding provided in an embodiment of the present invention
In film advance mechanism, above-mentioned driving motor 313 can be preferably servo motor.
It should be added that, servo motor can make to control speed and position precision is very accurate herein, can will be electric
Pressure signal is converted into torque and revolving speed with drive control object；Also, the rotor speed of servo motor is controlled by input signal, energy
Enough fast reactions are used as executive component, and with electromechanical time constant is small, the linearity is high, initiating is electric in automatic control system
The characteristics such as pressure, and the angular displacement that the electric signal received can be converted on motor reel or angular speed output.
When practical application, clamping action is preferably realized in order to make to clamp hold-down mechanism 33, as shown in figure 11, the present invention is real
In the welding film advance mechanism for applying example offer, above-mentioned clamping hold-down mechanism 33 can be included at least: the guide holder connecting with cabinet 311
331, the both ends of the guide holder 331 can be respectively arranged with the first clamping part 3311 and the second clamping part 3312, the first clamping part
3311 and second can be set horizontally-guided axis 332 between clamping part 3312, and can be set on the horizontally-guided axis 332
One clamping jaw 3331 and the second clamping jaw 3332, while horizontal pressure spring 334 can be arranged on horizontally-guided axis 332, and the level is pressed
One end of spring 334 is connect with above-mentioned first clamping jaw 3331, the other end is connect with above-mentioned second clamping jaw 3332, to pass through the level
Pressure spring 334 realizes the first clamping jaw 3331 towards the movement of the first clamping part 3311 and the second clamping jaw 3332 towards the second clamping part simultaneously
3312 movements simultaneously clamp two panels weld tabs 35 simultaneously.When specifically used, energy between the first clamping jaw 3331 and the first clamping part 3311
It is enough in positioning and clamps the first weld tabs 351, can be used in positioning between the second clamping jaw 3332 and the second clamping part 3312 and clamp the
Two weld tabs 352.
Wherein, clamping action is not only preferably realized in order to make to clamp hold-down mechanism 33, while preferably realizing to compress and make
With as shown in Figure 12 and Figure 13, in welding film advance mechanism provided in an embodiment of the present invention, above-mentioned guide holder 331 can pass through one
It is connect to axis 335 is vertically directed with cabinet 311, and this is vertically directed on axis 335 can be arranged with vertical pressure spring 336, thus logical
It crosses the vertical pressure spring 336 and realizes the effect that guide holder 331 drives weld tabs 35 to compress downwards.
Specifically, in order to be effectively reduced be vertically directed axis 335 assemble when cabinet 311 between coefficient of friction, as Figure 12,
Shown in 13, in welding film advance mechanism provided in an embodiment of the present invention, the above-mentioned axis 335 that is vertically directed can be by guide bearing 337
It is connect with cabinet 311.
Further, in order to improve welding efficiency the production difficulty of welding film advance mechanism is reduced while, as shown in Figure 10,
In welding film advance mechanism provided in an embodiment of the present invention, above-mentioned welding gun 34 may include two be set side by side, two welding guns 34
It can be used in simultaneously being fully welded above-mentioned first weld tabs 351 and/or the second weld tabs 352.
When specific operation, two welding guns 34 can the first two sides to the first weld tabs 351 or the two sides of the second weld tabs 352 simultaneously
It is fully welded, then the two sides of another weld tabs 35 is fully welded again；It can also be simultaneously to the first weld tabs 351 and the second weld tabs
352 two sides are fully welded.
Further, in order to improve Welding Safety, in welding film advance mechanism provided in an embodiment of the present invention, above-mentioned welding gun
34 can be CO2 gun.
Carbon dioxide gas arc welding is one of welding method, is welded using carbon dioxide gas as protective gas
The method connect.It is easy to operate in application aspect, it is suitble to automatic welding and comprehensive welding.
The use process of welding film advance mechanism provided in an embodiment of the present invention is discussed in detail down by attached drawing below:
As shown in Figure 10 combination Figure 13, firstly, placing the first weld tabs 351 manually in the first clamping jaw 3331 and the first clamping part
Between 3311, the second weld tabs 352 is between the second clamping jaw 3332 and the second clamping part 3312, and two clamping jaws pass through horizontal pressure at this time
The elastic force of spring 334 clamps weld tabs 35；Then, the cabinet 311 of vertical lifting mechanism 31 drops to working position, while passing through suit
Buffer and compress weld tabs 35 in two vertical pressure springs 336 being vertically directed on axis 335；After again, machine is moved horizontally
Structure 32 moves horizontally, and two (CO 2 gas-shielded) welding guns 34 is driven to carry out automatic welding；It is vertical to rise after the completion of welding
The cabinet 311 of descending mechanism 31 rises to initial position again, places two pieces of weld tabs 35 manually again and circuits sequentially welding.
In the alternative embodiment of the embodiment of the present invention, the hanger is also arranged with air bullet in the outside of the first stretching structure
Spring passes through the air spring, the weight of balance hanger, to facilitate manual operation.Meanwhile the hanger head of hanger has activity
Gap can more adapt to welding device suitable for the little deviation of six degree of freedom.
Such as Figure 14-15, in the optinal plan of the present embodiment, the welding machine further includes fixture 4, and the fixture 4 is located at described
The lower section for welding film advance mechanism, is detachably connected with the welding film advance mechanism, and rod iron 6 and welding explosion block 7 is made to be located at welding gun
With the lower section of weld tabs, and weld tabs can be positioned there between, to both make to weld with weld tabs simultaneously.
The fixture 4 includes steel bar clamp 41 and explosion block fixture 42, and the two is detachably connected；
The steel bar clamp 41 includes the fixture block 411 positioned at two sides, is provided between two fixture blocks 411 sliding with the two
The sliding bar 412 of dynamic connection；Two fixture blocks 411 pass through the cylinder body of fixed block 413 and cylinder 5 parallel with it and stretch
End connection.Two pieces of difference the second fixture block 414 parallel with it, two the second fixture blocks are additionally provided between two fixture blocks 411
414 is fixed with sliding bar 412.In use, first two rod irons 6 are inserted between fixture block 411 and the second fixture block 414 respectively, so
Exhaust hood 5 is shunk, and two fixture blocks 411 is pulled to slide to the second fixture block 414, completes to clamp.
The explosion block fixture 42 also includes the fixture block 411 positioned at two sides, is provided between two fixture blocks 411 and two
The sliding bar 412 that person is slidably connected；Manual elbow folder 421 is provided between two fixture blocks 411；In use, welding is exploded
Fast 7 are put between two fixture blocks 411, are wrenched manual elbow folder 421 and clamp.
Meanwhile setting is provided with positioning on the explosion block fixture 42 there are two location hole 415 in the steel bar clamp 41
Plate 422 is inserted into positioning hole by positioning plate, is positioned.Meanwhile the steel bar clamp 41 and the explosion block fixture
It is also equipped with manual elbow folder 421 between 42, by the manual elbow folder 421, keeps the two relatively fixed, manual elbow folder 421
Fixed part and holding section are located between the steel bar clamp 41 and the explosion block fixture 42, make the two can the company of disassembly
It connects.
Such as Figure 16, in another embodiment, the steel bar clamp 41 includes rectangular fixed frame 416 and is located at fixed frame
Clamp system between 416, the clamp system include two clamp clips 417 parallel with the side wall of fixed frame 416 respectively, and two
A clamp clip 417 is connect with the basal sliding of fixed frame 416, is connected with double threaded screw 418 between two clamp clips 417, is passed through
Double threaded screw 418 makes two to step up piece translation, so that the two side walls with fixed frame 416 clamp rod iron.
The explosion block fixture 42 includes rectangular clamping plate 423, and three sides of clamping plate 423 are respectively fixed with a direction
The cylinder 5 at 423 center of clamping plate, the other side are fixed with block 424.In use, explosion block is placed on 423 center of clamping plate, pass through
Three cylinders 5 and block 424 clamp.
The clamping plate 423 is connect with the lower rotation of the fixed frame 416, when going to certain position, rod iron and quick-fried
Fried block comes suitable position, is welded.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of welding machine, which is characterized in that including omnidirectional mobile device, hanger and welding film advance mechanism；
The omnidirectional mobile device includes frame body, and the both ends of the frame body are equipped with two groups of walking mechanisms, walking mechanism described in one group
It is arranged higher than walking mechanism described in another group, and the difference in height of walking mechanism described in two groups and both sides have the landform knot of difference in height
The height of structure is consistent；The walking mechanism is Mecanum wheel group；
The hanger includes the longitudinal rail that square crossing is arranged and cross slide way and body frame；
One end of the body frame and the side of the cross slide way are clamped and can move along the extending direction of the cross slide way；
The side clamping of the other side of the cross slide way and the longitudinal rail and can body frame described in synchronous drive described in
The extending direction of longitudinal rail moves；
The other side of the longitudinal rail and the frame body are affixed；
The other end of the body frame is connect with the welding film advance mechanism；
The welding film advance mechanism includes vertical lifting mechanism, horizontal mobile mechanism and clamping hold-down mechanism；
The horizontal mobile mechanism is arranged in the vertical lifting mechanism, and the horizontal mobile mechanism is connected with welding gun, institute
Horizontal mobile mechanism is stated for driving the relatively described vertical lifting mechanism of the welding gun to move horizontally；
The bottom end of the vertical lifting mechanism is connected with the clamping hold-down mechanism, the clamping hold-down mechanism be used for weld tabs into
Row positioning compression, the vertical lifting mechanism is for driving the clamping hold-down mechanism to move up and down；
It further include fixture, the fixture is located at the lower section of the welding film advance mechanism, detachably connects with the welding film advance mechanism
It connects, make rod iron and welds the lower section that explosion block is located at welding gun and weld tabs, and weld tabs can be positioned there between.
2. welding machine according to claim 1, which is characterized in that the Mecanum wheel group includes two Mecanum wheels；
Four Mecanum wheels with the both sides there is the topographic structure of difference in height to be vertically arranged.
3. welding machine according to claim 2, which is characterized in that each Mecanum wheel is respectively connected with retarder and drive
Dynamic motor.
4. welding machine according to claim 1, which is characterized in that be provided with the box body 16 for accommodating goods and materials on the frame body.
5. welding machine according to claim 1, which is characterized in that be provided at walking mechanism described in higher one group it is a pair of away from
From sensor.
6. welding machine according to claim 1, which is characterized in that the body frame includes the first connector and the second connector；
The first end of first connector is connect with the welding film advance mechanism, the first end of second connector with it is described
Cross slide way clamping, the second end of first connector and the second end of second connector are hinged.
7. welding machine according to claim 6, which is characterized in where the plane and the longitudinal rail where the body frame
Plane and the cross slide way where plane be respectively perpendicular；
The body frame further includes the first telescoping mechanism, and first telescoping mechanism includes fixed part and can be relative to the fixation
The pars contractilis of portion's movement, the fixed part and first connector are hinged, and the pars contractilis and second connector are hinged.
8. welding machine according to claim 7, which is characterized in that the body frame further includes the second telescoping mechanism and is connected to institute
State the gimbal suspension bearing between the first end of the first connector and the welding film advance mechanism；
Second telescoping mechanism include fixed part and can relative to the fixed part move pars contractilis, the fixed part with
The second end of first connector is hinged, the pars contractilis and the gimbal suspension bearing hinge connection, so that piece is sent in the welding
Device is fixed relative to the position of first connector.
9. welding machine according to claim 1, which is characterized in that the vertical lifting mechanism includes: cabinet, the cabinet
Outside is connected with driving motor by transmission component, and the inside of the cabinet is horizontally disposed guide rail, the horizontal mobile mechanism
It is arranged on the guide rail.
10. welding machine according to claim 9, which is characterized in that the clamping hold-down mechanism includes: to connect with the cabinet
Guide holder, the both ends of the guide holder are respectively arranged with the first clamping part and the second clamping part, first clamping part and institute
It states and is provided with horizontally-guided axis between the second clamping part, the first clamping jaw and the second clamping jaw, institute are provided on the horizontally-guided axis
State and be arranged with horizontal pressure spring on horizontally-guided axis, and one end of the horizontal pressure spring is connect with first clamping jaw, the other end with
The second clamping jaw connection；
It is used to position and clamp the first weld tabs between first clamping jaw and first clamping part, second clamping jaw and described the
The second weld tabs is used to position and clamp between two clamping parts.
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| CN201710242267.5A CN106826039B (en) | 2017-04-14 | 2017-04-14 | Welding machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710242267.5A CN106826039B (en) | 2017-04-14 | 2017-04-14 | Welding machine |
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| CN106826039B true CN106826039B (en) | 2018-12-11 |
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| CN109014472B (en) * | 2018-09-20 | 2024-01-19 | 深圳市金洲精工科技股份有限公司 | Welding device and welding gap control method |
| CN112276447B (en) * | 2020-10-23 | 2023-07-18 | 金陵科技学院 | An electric welding device for building construction |
| CN115740891A (en) * | 2022-11-29 | 2023-03-07 | 广州毅翚金属加工机械有限公司 | Double-layer welding line gantry welding |
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| CN102922455A (en) * | 2012-12-08 | 2013-02-13 | 重庆天之道科技发展有限公司 | Automatic clamping device |
| CN103904525A (en) * | 2014-04-20 | 2014-07-02 | 刘光辉 | Automatic welding device for DC head |
| CN105234606A (en) * | 2015-11-29 | 2016-01-13 | 山东建筑大学 | Oil tank shell inner rib plate welding equipment |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
| CN206839454U (en) * | 2017-04-14 | 2018-01-05 | 武汉慧能机器人科技有限公司 | Welding machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922455A (en) * | 2012-12-08 | 2013-02-13 | 重庆天之道科技发展有限公司 | Automatic clamping device |
| CN103904525A (en) * | 2014-04-20 | 2014-07-02 | 刘光辉 | Automatic welding device for DC head |
| CN105234606A (en) * | 2015-11-29 | 2016-01-13 | 山东建筑大学 | Oil tank shell inner rib plate welding equipment |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
| CN206839454U (en) * | 2017-04-14 | 2018-01-05 | 武汉慧能机器人科技有限公司 | Welding machine |
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