CN108637553A - A kind of multi-panel welding robot - Google Patents
A kind of multi-panel welding robot Download PDFInfo
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- CN108637553A CN108637553A CN201810495179.0A CN201810495179A CN108637553A CN 108637553 A CN108637553 A CN 108637553A CN 201810495179 A CN201810495179 A CN 201810495179A CN 108637553 A CN108637553 A CN 108637553A
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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 to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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 to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a kind of multi-panel welding robots, it includes welding robot pedestal（1）, welding gun arcuate movement component（2）, welding gun（3）, mechanical arm type welding gun pose adjust component（4）, workpiece（5）, workpiece turning component（6）, workpiece rotary components（7）And welding gun bearing assembly（8）.The present invention can be achieved the workpiece formula high up in the air that multiple welding guns are carried out at the same time and adaptively weld, workpiece is soared aloft after fixing, it can be divided the work to the work of each welding gun according to workpiece welding requirements and welding position, multiple welding guns are carried out at the same time position and gesture stability by mechanical arm, workpiece is adaptively welded multi-facetedly, welding job is rapidly completed.The ability to work of this welding robot is strong, has many advantages, such as that high degree of automation, work period are short, efficient, at low cost.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of welding robot that can realize multi-party position adaptive welding.
Background technology
The existing usual position base of welding robot is fixed, and working space is limited, cannot be satisfied sizes, a variety of shapes
The workpiece of shape welds demand, and for the workpiece of welding requirements complexity, Set and Positioning and path of welding planning difficulty are big, expend the time
It is long, of high cost.
Invention content
In view of the above existing problems in the prior art, the present invention provides a kind of multi-panel welding robots, and workpiece is high up in the air solid
After fixed, it can be divided the work to the work of each welding gun according to workpiece welding requirements and welding position, multiple welding guns are by mechanical arm
It is carried out at the same time position and gesture stability, workpiece is adaptively welded multi-facetedly, welding job is rapidly completed.This bonding machine
The ability to work of device people is strong, has many advantages, such as that high degree of automation, work period are short, efficient, at low cost.
To achieve the goals above, the technical solution adopted by the present invention is：A kind of multi-panel welding robot is, it can be achieved that multiple
The workpiece formula high up in the air that welding gun is carried out at the same time adaptively is welded；It is characterized in that, it includes welding robot pedestal, welding gun arc fortune
Dynamic component, welding gun, mechanical arm type welding gun pose adjustment component, workpiece, workpiece turning component, workpiece rotary components and welding gun are held
Carry component.
There are four elastic lower margins for the bottom installation of the welding robot pedestal, in order to carry, and in welding process
Middle holding machine is stablized.
The described mechanical arm type welding gun pose adjustment component includes that welding gun fixing piece, welding gun linear movement sliding rail, welding gun are straight
Line moves sliding block, welding gun linear movement motor, welding gun linear movement actuator, welding gun linear movement seat, welding gun Mobile base pitching
Bearing, welding gun Mobile base pitching motor, welding gun pitch arm, welding gun rotating seat, welding gun pitch arm pitching motor, welding gun pitch arm are bowed
Face upward bearing, welding gun electric rotating machine catch, welding gun swivel bearing, welding gun electric rotating machine and welding gun bearing seat；Welding gun fixing piece with
The threaded one end of welding gun and welding gun linear movement sliding rail is fixed, and the other end of welding gun linear movement sliding rail is straight with welding gun by nut
Line movement actuator is fixed, and welding gun linear movement actuator is fixed further through the output shaft of nut and welding gun linear movement motor,
The body and welding gun linear movement sliding block of welding gun linear movement motor are mounted on welding gun by bolt and move linearly on seat；Welding gun
The output shaft of linear movement motor passes through welding gun linear movement actuator and drives welding gun linear movement along the linear motion of its axis
Sliding rail drives welding gun linear motion relative to welding gun linear movement slide block movement, then by welding gun fixing piece, and one is provided for welding gun
The one-movement-freedom-degree of a electrical axis that moves linearly along welding gun；The Internal and external cycle of welding gun Mobile base pitch bearing respectively with welding gun straight line
Mobile base and welding gun pitching arm bolt are fixed, and the body of welding gun Mobile base pitching motor is bolted on welding gun linear movement
On seat, output shaft is keyed with welding gun pitch arm；Welding gun Mobile base pitching motor output shaft is transported relative to the rotation of its body
It is dynamic, drive welding gun linear movement seat to be rotated relative to the axis of welding gun pitch arm wrapping gun Mobile base pitching motor, to be weldering
Rifle provides the pitch freedom of a wrapping gun Mobile base pitching motor axis；The Internal and external cycle of welding gun pitch arm pitch bearing is distinguished
It is fixed with welding gun pitch arm and welding gun rotating seat bolt, the body of welding gun pitch arm pitching motor is bolted on welding gun rotation
On swivel base, output shaft is keyed with welding gun pitch arm；Rotation of the welding gun pitch arm pitching motor output shaft relative to its body
Movement drives welding gun pitch arm to be rotated relative to the axis of welding gun rotating seat wrapping gun pitch arm pitching motor, to be welding gun
The pitch freedom of one wrapping gun pitch arm pitching motor axis is provided；The Internal and external cycle of welding gun swivel bearing is held with welding gun respectively
Holder and welding gun rotating seat bolt are fixed, and the body of welding gun electric rotating machine is bolted on welding gun bearing seat, output
Axis is keyed with welding gun rotating seat, and passes through welding gun electric rotating machine catch and bolt axially position；Welding gun electric rotating machine output shaft
Relative to the rotary motion of its body, welding gun rotating seat is driven to be rotated along the axis of welding gun electric rotating machine, to be provided for welding gun
The rotary freedom of one wrapping gun electric rotating machine axis is configured to drive welding gun to carry out adaptive pose adjustment four freely
Spend mechanical arm；In conjunction with the fortune of welding gun arcuate movement component, workpiece turning component, workpiece rotary components and welding gun bearing assembly
It is dynamic, realize multi-party position adaptive welding.
The workpiece turning component includes workpiece turning seat, workpiece turning bearing, workpiece turning motor, piece-holder
Seat, telescopic shaft, gripper and vacuum cup；The Internal and external cycle of workpiece turning bearing respectively with workpiece turning seat and workpiece holder block
Bolt is fixed；The body of workpiece turning motor is fixed with workpiece turning seat bolt, and output shaft is keyed with workpiece holder block；It stretches
The movable end of contracting axis is welded with gripper, and fixing end is welded with workpiece holder block, and the length of telescopic shaft is seriation size, can root
It is flexibly selected according to demand；The finger of gripper is connect with vacuum cup by typed ball bearing pair, and two gripper combination vacuum cups will
Workpiece is high up in the air to be fixed, and gripper uses plurality of specifications diversified forms, can flexibly select according to demand；Two workpiece turning motors
Output shaft synchronous moves, and drives workpiece holder block to be rotated around the axis of workpiece turning motor, realizes the adaptive overturning of workpiece；Again
In conjunction with welding gun arcuate movement component, mechanical arm type welding gun pose adjustment component, workpiece rotary components and welding gun bearing assembly
Multi-party position adaptive welding is realized in movement.
The workpiece rotary components include workpiece rotary shaft hold, workpiece rotating seat, workpiece rotary decelerator and workpiece
Electric rotating machine；The Internal and external cycle that workpiece rotary shaft is held is bolted with workpiece turning seat and workpiece rotating seat respectively, workpiece rotating seat
The other end fixed with welding robot bolt of lower base；Workpiece rotary decelerator is fixed on through bolt on workpiece rotating seat, defeated
Shaft is keyed with workpiece turning seat and through catch and bolt axially position；The output torque of workpiece electric rotating machine, revolves through workpiece
After turning retarder amplification, workpiece turning seat is driven to be rotated relative to welding robot pedestal around the axis of workpiece electric rotating machine,
To realize the adaptive rotation of workpiece；In conjunction with welding gun arcuate movement component, mechanical arm type welding gun pose adjustment component, workpiece
Multi-party position adaptive welding is realized in the movement for overturning component and welding gun bearing assembly.
The welding gun bearing assembly includes welding gun carrier arc movement device, welding gun carrier one and welding gun carrying
Frame two；Welding gun carrier arc movement device is made of 360 degree of round sliding rails and the sliding block that can be freely moved on sliding rail；Welding gun
The sliding rail of carrier arc movement device is fixed on by bolt group on welding robot pedestal, and sliding block shares two groups four,
Every group of two sliding blocks are symmetrical, fixed with the bolts at two ends of welding gun carrier one or welding gun carrier two；Welding gun carrier
The sliding block of arc movement device moves freely along its sliding rail, and welding gun arc is driven by welding gun carrier one and welding gun carrier two
Shape moving parts move freely along the sliding rail of welding gun carrier arc movement device, and then drive welding gun along welding gun carrier arc
The sliding rail of telecontrol equipment moves freely；It is turned in conjunction with welding gun arcuate movement component, mechanical arm type welding gun pose adjustment component, workpiece
Multi-party position adaptive welding is realized in the movement for turning component and workpiece rotary components.
The welding gun arcuate movement component includes welding gun sports limiting piece and welding gun arc movement device；Welding gun arc is transported
Dynamic device is made of 75 degree of arc-shaped slide rails and the sliding block that can be freely moved on sliding rail；The sliding rail of welding gun arc movement device passes through
Bolt group is fixed on welding gun carrier one or welding gun carrier two, sliding block and the welding gun bearing seat spiral shell of welding gun arc movement device
Bolt is fixed；Welding gun sports limiting piece is mounted on the both ends of welding gun arc movement device sliding rail by bolt, is held for limiting welding gun
Carry the motion range of seat；The sliding block of welding gun arc movement device moves freely along its sliding rail, is driven and is welded by welding gun bearing seat
Rifle moves freely along the sliding rail of welding gun arc movement device；In conjunction with mechanical arm type welding gun pose adjustment component, workpiece turning group
Multi-party position adaptive welding is realized in the movement of part, workpiece rotary components and welding gun bearing assembly.
Description of the drawings
Fig. 1 is a kind of multi-panel welding robot principle schematic provided in an embodiment of the present invention；
In figure：1, welding robot pedestal, 2, welding gun arcuate movement component, 3, welding gun, 4, mechanical arm type welding gun pose adjustment group
Part, 5, workpiece, 6, workpiece turning component, 7, workpiece rotary components, 8, welding gun bearing assembly.
Fig. 2 is that mechanical arm type welding gun pose provided in an embodiment of the present invention adjusts assembly principle schematic diagram；
In figure：1, welding gun fixing piece, 2, welding gun move linearly sliding rail, 3, welding gun move linearly sliding block, 4, welding gun linear movement electricity
Machine, 5, welding gun move linearly actuator, 6, welding gun move linearly seat, 7, welding gun Mobile base pitch bearing, 8, welding gun Mobile base bows
Face upward motor, 9, welding gun pitch arm, 10, welding gun rotating seat, 11, welding gun pitch arm pitching motor, 12, welding gun pitch arm pitch axis
It holds, 13, welding gun electric rotating machine catch, 14, welding gun swivel bearing, 15, welding gun electric rotating machine, 16, welding gun bearing seat.
Fig. 3 is workpiece turning assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：1, workpiece turning seat, 2, workpiece turning bearing, 3, workpiece turning motor, 4, workpiece holder block, 5, telescopic shaft, 6,
Gripper is with 7, vacuum cup.
Fig. 4 is workpiece rotary components principle schematic provided in an embodiment of the present invention；
In figure：1, workpiece rotary shaft is held, and 2, workpiece rotating seat, 3, workpiece rotary decelerator, 4, workpiece electric rotating machine.
Fig. 5 is welding gun bearing assembly principle schematic provided in an embodiment of the present invention；
In figure：1, welding gun carrier arc movement device, 2, welding gun carrier one, 3, welding gun carrier two.
Fig. 6 is welding gun arcuate movement assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：1, welding gun sports limiting piece, 2, welding gun arc movement device.
Schematic diagram when Fig. 7 is present invention welding polymorphic structure object.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, being a kind of multi-panel welding robot principle schematic provided in an embodiment of the present invention, it includes welding
Robot base 1, welding gun arcuate movement component 2, welding gun 3, mechanical arm type welding gun pose adjustment component 4, workpiece 5, workpiece turning
Component 6, workpiece rotary components 7 and welding gun bearing assembly 8.The multi-panel welding robot soars aloft workpiece after fixing, Neng Gougen
Divide the work to the work of each welding gun according to workpiece welding requirements and welding position, multiple welding guns are carried out at the same time position by mechanical arm
And gesture stability, workpiece is adaptively welded multi-facetedly, welding job is rapidly completed.The work energy of this welding robot
Power is strong, has many advantages, such as that high degree of automation, work period are short, efficient, at low cost.
There are four elastic lower margins for the bottom installation of the welding robot pedestal 1, in order to carry, and in welding process
Middle holding machine is stablized.
Referring to Fig. 2, being mechanical arm type welding gun pose adjustment assembly principle schematic diagram provided in an embodiment of the present invention, it is wrapped
Include welding gun fixing piece 4.1, welding gun linear movement sliding rail 4.2, welding gun linear movement sliding block 4.3, welding gun linear movement motor 4.4,
Welding gun linear movement actuator 4.5, welding gun linear movement seat 4.6, welding gun Mobile base pitch bearing 4.7, welding gun Mobile base pitching
Motor 4.8, welding gun pitch arm 4.9, welding gun rotating seat 4.10, welding gun pitch arm pitching motor 4.11, welding gun pitch arm pitch axis
Hold 4.12, welding gun electric rotating machine catch 4.13, welding gun swivel bearing 4.14, welding gun electric rotating machine 4.15 and welding gun bearing seat
4.16；The threaded one end of welding gun fixing piece 4.1 and welding gun 3 and welding gun linear movement sliding rail 4.2 is fixed, welding gun linear movement sliding rail
4.2 other end is fixed by nut and welding gun linear movement actuator 4.5, and welding gun moves linearly actuator 4.5 further through spiral shell
Female output shaft with welding gun linear movement motor 4.4 is fixed, and the body of welding gun linear movement motor 4.4 and welding gun linear movement are slided
Block 4.3 is mounted on welding gun by bolt and moves linearly on seat 4.6；The output shaft of welding gun linear movement motor 4.4 is along its axis
Linear motion, by welding gun move linearly actuator 4.5 drive welding gun move linearly sliding rail 4.2 relative to welding gun move linearly
Sliding block 4.3 moves, then drives welding gun 3 to move along a straight line by welding gun fixing piece 4.1, and provide one for welding gun 3 moves along welding gun straight line
The one-movement-freedom-degree of 4.4 axis of dynamic motor；The Internal and external cycle of welding gun Mobile base pitch bearing 4.7 respectively with welding gun move linearly seat
4.6 and 4.9 bolt of welding gun pitch arm fix, the body of welding gun Mobile base pitching motor 4.8 is bolted on welding gun straight line
On Mobile base 4.6, output shaft is keyed with welding gun pitch arm 4.9；4.8 output shaft of welding gun Mobile base pitching motor is relative to it
The rotary motion of body drives welding gun to move linearly seat 4.6 relative to 4.9 wrapping gun Mobile base pitching motor of welding gun pitch arm
4.8 axis rotation, to provide the pitch freedom of 4.8 axis of wrapping gun Mobile base pitching motor for welding gun 3；Welding gun
The Internal and external cycle of pitch arm pitch bearing 4.12 is fixed with welding gun pitch arm 4.9 and 4.10 bolt of welding gun rotating seat respectively, and welding gun is bowed
The body for facing upward arm pitching motor 4.11 is bolted on welding gun rotating seat 4.10, output shaft and welding gun pitch arm 4.9
Key connection；Rotary motion of 4.11 output shaft of welding gun pitch arm pitching motor relative to its body drives 4.9 phase of welding gun pitch arm
Axis rotation for 4.10 wrapping gun pitch arm pitching motor 4.11 of welding gun rotating seat, to provide a boxing for welding gun 3
The pitch freedom of 4.11 axis of rifle pitch arm pitching motor；The Internal and external cycle of welding gun swivel bearing 4.14 respectively with welding gun load-bearing part
4.14 and 4.10 bolt of welding gun rotating seat fix, the body of welding gun electric rotating machine 4.15 is bolted on welding gun bearing seat
On 4.16, output shaft is keyed with welding gun rotating seat 4.10, and axially fixed by welding gun electric rotating machine catch 4.13 and bolt
Position；Rotary motion of 4.15 output shaft of welding gun electric rotating machine relative to its body drives welding gun rotating seat 4.10 to be rotated along welding gun
The axis of motor 4.15 rotates, and to provide the rotary freedom of 4.15 axis of wrapping gun electric rotating machine for welding gun 3, constitutes
Welding gun 3 can be driven to carry out the four-degree-of-freedom mechanical arm of adaptive pose adjustment；In conjunction with welding gun arcuate movement component 2, workpiece
Multi-party position adaptive welding is realized in the movement for overturning component 6, workpiece rotary components 7 and welding gun bearing assembly 8.
Referring to Fig. 3, being workpiece turning assembly principle schematic diagram provided in an embodiment of the present invention, it includes workpiece turning seat
6.1, workpiece turning bearing 6.2, workpiece turning motor 6.3, workpiece holder block 6.4, telescopic shaft 6.5, gripper 6.6 and vacuum
Sucker 6.7；The Internal and external cycle of workpiece turning bearing 6.2 is fixed with workpiece turning seat 6.1 and 6.4 bolt of workpiece holder block respectively；Work
The body of part upset motor 6.3 is fixed with 6.1 bolt of workpiece turning seat, and output shaft is keyed with workpiece holder block 6.4；It is flexible
The movable end of axis 6.5 is welded with gripper 6.6, and fixing end is welded with workpiece holder block 6.4, and the length of telescopic shaft 6.5 is series
Change size, can flexibly select according to demand；The finger of gripper 6.6 is connect with vacuum cup 6.7 by typed ball bearing pair, two machineries
Pawl 6.6 combines vacuum cup 6.7 by workpiece fixation high up in the air, and gripper 6.6 uses plurality of specifications diversified forms, can be clever according to demand
It is living to select；The output shaft synchronous movement of two workpiece turning motors 6.3, drives workpiece holder block 6.4 around workpiece turning motor 6.3
Axis rotation, realize workpiece 5 adaptive overturning；In conjunction with welding gun arcuate movement component 2, the adjustment of mechanical arm type welding gun pose
Multi-party position adaptive welding is realized in the movement of component 4, workpiece rotary components 7 and welding gun bearing assembly 8.
Referring to Fig. 4, being workpiece rotary components principle schematic provided in an embodiment of the present invention, it includes workpiece rotary shaft
Hold 7.1, workpiece rotating seat 7.2, workpiece rotary decelerator 7.3 and workpiece electric rotating machine 7.4；Workpiece rotary shaft hold 7.1 it is interior
Outer ring is bolted with workpiece turning seat 6.1 and workpiece rotating seat 7.2 respectively, the other end and bonding machine of workpiece rotating seat 7.2
1 bolt of device people pedestal is fixed；Workpiece rotary decelerator 7.3 is fixed on through bolt on workpiece rotating seat 7.2, output shaft and workpiece
Overturning seat 6.1 is keyed and through catch and bolt axially position；The output torque of workpiece electric rotating machine 7.4 subtracts through workpiece rotation
After fast device 7.3 amplifies, drive workpiece turning seat 6.1 around the axis of workpiece electric rotating machine 7.4 relative to welding robot pedestal 1
Rotation, to realize the adaptive rotation of workpiece 5；In conjunction with welding gun arcuate movement component 2, mechanical arm type welding gun pose adjustment group
Multi-party position adaptive welding is realized in the movement of part 4, workpiece turning component 6 and welding gun bearing assembly 8.
Referring to Fig. 5, being welding gun bearing assembly principle schematic provided in an embodiment of the present invention, it includes welding gun carrier
Arc movement device 8.1, welding gun carrier 1 and welding gun carrier 2 8.3；Welding gun carrier arc movement device 8.1
It is made of 360 degree of round sliding rails and the sliding block that can be freely moved on sliding rail；The sliding rail of welding gun carrier arc movement device 8.1
It being fixed on welding robot pedestal 1 by bolt group, sliding block shares two groups four, and every group of two sliding blocks are symmetrical,
It is fixed with the bolts at two ends of welding gun carrier 1 or welding gun carrier 2 8.3；Welding gun carrier arc movement device 8.1
Sliding block moves freely along its sliding rail, and welding gun arcuate movement group is driven by welding gun carrier 1 and welding gun carrier 2 8.3
Part 2 moves freely along the sliding rail of welding gun carrier arc movement device 8.1, and then welding gun 3 is driven to be transported along welding gun carrier arc
The sliding rail of dynamic device 8.1 moves freely；In conjunction with welding gun arcuate movement component 2, mechanical arm type welding gun pose adjustment component 4, work
Part overturns the movement of component 6 and workpiece rotary components 7, realizes multi-party position adaptive welding.
Referring to Fig. 6, being welding gun arcuate movement assembly principle schematic diagram provided in an embodiment of the present invention, it includes welding gun fortune
Dynamic banking stop 2.1 and welding gun arc movement device 2.2；Welding gun arc movement device 2.2 is by 75 degree of arc-shaped slide rails and can be in sliding rail
On move freely sliding block composition；The sliding rail of welding gun arc movement device 2.2 is fixed on welding gun carrier 1 by bolt group
Or on welding gun carrier 2 8.3, sliding block and 4.16 bolt of welding gun bearing seat of welding gun arc movement device 2.2 are fixed；Welding gun is transported
Dynamic banking stop 2.1 is mounted on the both ends of 2.2 sliding rail of welding gun arc movement device by bolt, for limiting welding gun bearing seat 4.16
Motion range；The sliding block of welding gun arc movement device 2.2 moves freely along its sliding rail, is driven by welding gun bearing seat 4.16
Welding gun 3 moves freely along the sliding rail of welding gun arc movement device 2.2；In conjunction with mechanical arm type welding gun pose adjustment component 4, workpiece
Multi-party position adaptive welding is realized in the movement for overturning component 6, workpiece rotary components 7 and welding gun bearing assembly 8.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (7)
1. a kind of multi-panel welding robot is, it can be achieved that multi-faceted workpiece soars aloft, formula is adaptively welded；It is characterized in that, it includes weldering
Welding robot pedestal（1）, welding gun arcuate movement component（2）, welding gun（3）, mechanical arm type welding gun pose adjust component（4）, workpiece
（5）, workpiece turning component（6）, workpiece rotary components（7）And welding gun bearing assembly（8）；
The present invention can be achieved the workpiece formula high up in the air that multiple welding guns are carried out at the same time and adaptively weld, and workpiece is soared aloft after fixing, can
Divided the work to the work of each welding gun according to workpiece welding requirements and welding position, multiple welding guns are carried out at the same time position by mechanical arm
It sets and gesture stability, workpiece is adaptively welded multi-facetedly, welding job is rapidly completed.
2. a kind of multi-panel welding robot according to claim 1, which is characterized in that the welding robot pedestal
（1）Bottom installation there are four elastic lower margins.
3. a kind of multi-panel welding robot according to claim 1, which is characterized in that the mechanical arm type welding gun pose
Adjust component（4）Including welding gun fixing piece（4.1）, welding gun move linearly sliding rail（4.2）, welding gun move linearly sliding block（4.3）, weldering
Rifle linear movement motor（4.4）, welding gun move linearly actuator（4.5）, welding gun move linearly seat（4.6）, welding gun Mobile base bows
Face upward bearing（4.7）, welding gun Mobile base pitching motor（4.8）, welding gun pitch arm（4.9）, welding gun rotating seat（4.10）, welding gun pitching
Arm pitching motor（4.11）, welding gun pitch arm pitch bearing（4.12）, welding gun electric rotating machine catch（4.13）, welding gun swivel bearing
（4.14）, welding gun electric rotating machine（4.15）And welding gun bearing seat（4.16）；Welding gun fixing piece（4.1）With welding gun（3）And welding gun
Move linearly sliding rail（4.2）Threaded one end fix, welding gun move linearly sliding rail（4.2）The other end it is straight with welding gun by nut
Line moves actuator（4.5）It is fixed, welding gun linear movement actuator（4.5）Further through nut and welding gun linear movement motor
（4.4）Output shaft fix, welding gun move linearly motor（4.4）Body and welding gun move linearly sliding block（4.3）Pass through spiral shell
Bolt is mounted on welding gun linear movement seat（4.6）On；Welding gun linear movement motor（4.4）Output shaft along its axis straight line transport
It is dynamic, it is moved linearly actuator by welding gun（4.5）Drive welding gun linear movement sliding rail（4.2）Relative to welding gun linear movement sliding block
（4.3）Movement, then pass through welding gun fixing piece（4.1）Drive welding gun（3）Linear motion is welding gun（3）Offer one is straight along welding gun
Line mobile motor（4.4）The one-movement-freedom-degree of axis；Welding gun Mobile base pitch bearing（4.7）Internal and external cycle respectively with welding gun straight line
Mobile base（4.6）With welding gun pitch arm（4.9）Bolt is fixed, welding gun Mobile base pitching motor（4.8）Body it is solid by bolt
It is scheduled on welding gun linear movement seat（4.6）On, output shaft and welding gun pitch arm（4.9）Key connection；Welding gun Mobile base pitching motor
（4.8）Rotary motion of the output shaft relative to its body drives welding gun linear movement seat（4.6）Relative to welding gun pitch arm
（4.9）Wrapping gun Mobile base pitching motor（4.8）Axis rotation, to be welding gun（3）A wrapping gun Mobile base is provided to bow
Face upward motor（4.8）The pitch freedom of axis；Welding gun pitch arm pitch bearing（4.12）Internal and external cycle respectively with welding gun pitch arm
（4.9）With welding gun rotating seat（4.10）Bolt is fixed, welding gun pitch arm pitching motor（4.11）Body be bolted on
Welding gun rotating seat（4.10）On, output shaft and welding gun pitch arm（4.9）Key connection；Welding gun pitch arm pitching motor（4.11）It is defeated
Rotary motion of the shaft relative to its body drives welding gun pitch arm（4.9）Relative to welding gun rotating seat（4.10）Wrapping gun is bowed
Face upward arm pitching motor（4.11）Axis rotation, to be welding gun（3）One wrapping gun pitch arm pitching motor is provided（4.11）
The pitch freedom of axis；Welding gun swivel bearing（4.14）Internal and external cycle respectively with welding gun load-bearing part（4.14）With welding gun rotating seat
（4.10）Bolt is fixed, welding gun electric rotating machine（4.15）Body be bolted on welding gun bearing seat（4.16）On, it is defeated
Shaft and welding gun rotating seat（4.10）Key connection, and pass through welding gun electric rotating machine catch（4.13）With bolt axially position；Welding gun
Electric rotating machine（4.15）Rotary motion of the output shaft relative to its body drives welding gun rotating seat（4.10）Along welding gun electric rotating machine
（4.15）Axis rotation, to be welding gun（3）One wrapping gun electric rotating machine is provided（4.15）The rotary freedom of axis, structure
At welding gun can be driven（3）Carry out the four-degree-of-freedom mechanical arm of adaptive pose adjustment；In conjunction with welding gun arcuate movement component
（2）, workpiece turning component（6）, workpiece rotary components（7）And welding gun bearing assembly（8）Movement.
4. a kind of multi-panel welding robot according to claim 1, which is characterized in that the workpiece turning component（6）
Including workpiece turning seat（6.1）, workpiece turning bearing（6.2）, workpiece turning motor（6.3）, workpiece holder block（6.4）, it is flexible
Axis（6.5）, gripper（6.6）And vacuum cup（6.7）；Workpiece turning bearing（6.2）Internal and external cycle respectively with workpiece turning
Seat（6.1）And workpiece holder block（6.4）Bolt is fixed；Workpiece turning motor（6.3）Body and workpiece turning seat（6.1）Bolt
It is fixed, output shaft and workpiece holder block（6.4）Key connection；Telescopic shaft（6.5）Movable end and gripper（6.6）Welding, Gu
Fixed end and workpiece holder block（6.4）Welding, telescopic shaft（6.5）Length be seriation size, can flexibly select according to demand；Machine
Machinery claw（6.6）Finger and vacuum cup（6.7）It is connected by typed ball bearing pair, two grippers（6.6）In conjunction with vacuum cup（6.7）
By workpiece fixation high up in the air, two workpiece turning motors（6.3）Output shaft synchronous movement, drive workpiece holder block（6.4）Around work
Part upset motor（6.3）Axis rotation, realize workpiece（5）Adaptive overturning.
5. a kind of multi-panel welding robot according to claim 1, which is characterized in that the workpiece rotary components（7）
It is held including workpiece rotary shaft（7.1）, workpiece rotating seat（7.2）, workpiece rotary decelerator（7.3）And workpiece electric rotating machine
（7.4）；Workpiece rotary shaft is held（7.1）Internal and external cycle respectively with workpiece turning seat（6.1）With workpiece rotating seat（7.2）Bolt connects
It connects, workpiece rotating seat（7.2）The other end and welding robot pedestal（1）Bolt is fixed；Workpiece rotary decelerator（7.3）Through spiral shell
Bolt is fixed on workpiece rotating seat（7.2）On, output shaft and workpiece turning seat（6.1）It is keyed and axially fixed through catch and bolt
Position；Workpiece electric rotating machine（7.4）Output torque, through workpiece rotary decelerator（7.3）After amplification, workpiece turning seat is driven
（6.1）Around workpiece electric rotating machine（7.4）Axis relative to welding robot pedestal（1）Rotation, to realize workpiece（5）From
Adapt to rotation.
6. a kind of multi-panel welding robot according to claim 1, which is characterized in that the welding gun bearing assembly（8）
Including welding gun carrier arc movement device（8.1）, welding gun carrier one（8.2）And welding gun carrier two（8.3）；Welding gun is held
Carrier arc movement device（8.1）It is made of 360 degree of round sliding rails and the sliding block that can be freely moved on sliding rail；Welding gun carrier
Arc movement device（8.1）Sliding rail welding robot pedestal is fixed on by bolt group（1）On, sliding block shares two group four
A, every group of two sliding blocks are symmetrical, with welding gun carrier one（8.2）Or welding gun carrier two（8.3）Bolts at two ends it is solid
It is fixed；Welding gun carrier arc movement device（8.1）Sliding block moving freely along its sliding rail, pass through welding gun carrier one（8.2）
With welding gun carrier two（8.3）Drive welding gun arcuate movement component（2）Along welding gun carrier arc movement device（8.1）Sliding rail
It moves freely, and then drives welding gun（3）Along welding gun carrier arc movement device（8.1）Sliding rail move freely.
7. a kind of multi-panel welding robot according to claim 1, which is characterized in that the welding gun arcuate movement component
（2）Including welding gun sports limiting piece（2.1）With welding gun arc movement device（2.2）；Welding gun arc movement device（2.2）By 75 degree
Arc-shaped slide rail and the sliding block composition that can be freely moved on sliding rail；Welding gun arc movement device（2.2）Sliding rail pass through bolt group
It is fixed on welding gun carrier one（8.2）Or welding gun carrier two（8.3）On, welding gun arc movement device（2.2）Sliding block and weldering
Rifle bearing seat（4.16）Bolt is fixed；Welding gun sports limiting piece（2.1）It is mounted on welding gun arc movement device by bolt（2.2）
The both ends of sliding rail, for limiting welding gun bearing seat（4.16）Motion range；Welding gun arc movement device（2.2）Sliding block along it
The movement freely of sliding rail, passes through welding gun bearing seat（4.16）Drive welding gun（3）Along welding gun arc movement device（2.2）Sliding rail from
Such as movement.
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| CN201810495179.0A CN108637553B (en) | 2018-05-22 | 2018-05-22 | Multi-surface welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495179.0A CN108637553B (en) | 2018-05-22 | 2018-05-22 | Multi-surface welding robot |
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| CN108637553B CN108637553B (en) | 2020-04-24 |
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| CN109569931A (en) * | 2018-12-28 | 2019-04-05 | 重庆新久融科技有限公司 | A kind of paint spray coater being exclusively used in spraying aluminium alloy plate |
| CN110142543A (en) * | 2019-06-29 | 2019-08-20 | 彭保江 | A kind of Intelligent welding robot |
| CN111975366A (en) * | 2020-07-20 | 2020-11-24 | 黄朋飞 | Automatic numerical control double-end of control mills and bores integrative compounding machine |
| CN112589337A (en) * | 2020-12-03 | 2021-04-02 | 广东斯铠工业自动化科技有限公司 | Shield constructs quick-witted blade disc automatic welder |
| CN113977054A (en) * | 2021-12-17 | 2022-01-28 | 江阴中南重工有限公司 | Plasma automatic welding device and processing method thereof |
| CN117182409A (en) * | 2023-10-13 | 2023-12-08 | 深圳博耐飞特数字技术有限公司 | Virtual imaging system computer part welding device |
| CN117182409B (en) * | 2023-10-13 | 2024-05-03 | 深圳博耐飞特数字技术有限公司 | Virtual imaging system computer part welding device |
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| CN117182409A (en) * | 2023-10-13 | 2023-12-08 | 深圳博耐飞特数字技术有限公司 | Virtual imaging system computer part welding device |
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Effective date of registration: 20200330 Address after: 516400 Yingke robot industrial park, ecological technology city, Haifeng County, Shanwei City, Guangdong Province Applicant after: Guangdong Yingke robot industry Co., Ltd Address before: 221000 Jiangsu city of Xuzhou province Xuzhou high tech Industrial Development Zone, Second Industrial Park, Qianjiang Road No. 23 Applicant before: XUZHOU LETAI MECHANICAL AND ELECTRIC TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20210311 Address after: 516400 Yingjing Zhihui Park, phase IV, ecological science and Technology City, Chengdong Town, Haifeng County, Shanwei City, Guangdong Province Patentee after: Guangdong Yingjing Innovation Technology Co.,Ltd. Address before: 516400 Yingke robot industrial park, Haifeng County, Shanwei City, Guangdong Province Patentee before: Guangdong Yingke robot industry Co.,Ltd. |