CN108637553B - Multi-surface welding robot - Google Patents
Multi-surface welding robot Download PDFInfo
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- CN108637553B CN108637553B CN201810495179.0A CN201810495179A CN108637553B CN 108637553 B CN108637553 B CN 108637553B CN 201810495179 A CN201810495179 A CN 201810495179A CN 108637553 B CN108637553 B CN 108637553B
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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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Abstract
The invention discloses a multi-surface welding robot which comprises a welding robot base (1), a welding gun arc-shaped motion assembly (2), a welding gun (3), a mechanical arm type welding gun pose adjusting assembly (4), a workpiece (5), a workpiece overturning assembly (6), a workpiece rotating assembly (7) and a welding gun bearing assembly (8). The invention can realize the work piece overhead type self-adaptive welding which is carried out by a plurality of welding guns simultaneously, and can divide the work of each welding gun according to the welding requirement and the welding position of the work piece after the work piece is fixed in the air, and the plurality of welding guns carry out position and posture control by the mechanical arm simultaneously, thus carrying out self-adaptive welding on the work piece in multiple directions and finishing the welding work quickly. The welding robot has the advantages of strong working capability, high automation degree, short working period, high efficiency, low cost and the like.
Description
Technical Field
The invention relates to a robot, in particular to a welding robot capable of realizing multi-azimuth self-adaptive welding.
Background
The existing welding robot is generally fixed in base position, limited in working space, incapable of meeting the welding requirements of workpieces of various sizes and shapes, and large in clamping, positioning and welding path planning difficulty, long in consumed time and high in cost for the workpieces with complex welding requirements.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a multi-surface welding robot, which can divide the work of each welding gun according to the welding requirements and the welding position of a workpiece after the workpiece is fixed in a high-altitude mode, and a plurality of welding guns are controlled by a mechanical arm in position and posture at the same time, so that the workpiece is subjected to self-adaptive welding in multiple directions, and the welding work is quickly finished. The welding robot has the advantages of strong working capability, high automation degree, short working period, high efficiency, low cost and the like.
In order to achieve the purpose, the invention adopts the technical scheme that: a multi-surface welding robot can realize the work piece free type self-adaptive welding which is carried out by a plurality of welding guns simultaneously; the welding robot is characterized by comprising a welding robot base, a welding gun arc-shaped motion assembly, a welding gun, a mechanical arm type welding gun pose adjusting assembly, a workpiece overturning assembly, a workpiece rotating assembly and a welding gun bearing assembly.
Four elastic feet are installed to the bottom of welding robot base to the transport of being convenient for, and keep the machine stable in welding process.
The mechanical arm type welding gun pose adjusting assembly comprises a welding gun fixing piece, a welding gun linear moving slide rail, a welding gun linear moving slide block, a welding gun linear moving motor, a welding gun linear moving driving piece, a welding gun linear moving seat, a welding gun moving seat pitching bearing, a welding gun moving seat pitching motor, a welding gun pitching arm, a welding gun rotating seat, a welding gun pitching arm pitching motor, a welding gun pitching arm pitching bearing, a welding gun rotating motor blocking piece, a welding gun rotating bearing, a welding gun rotating motor and a welding gun bearing seat; the welding gun fixing piece is fixed with a welding gun and one end of the welding gun linear moving slide rail in a threaded manner, the other end of the welding gun linear moving slide rail is fixed with the welding gun linear moving driving piece through a nut, the welding gun linear moving driving piece is fixed with an output shaft of the welding gun linear moving motor through the nut, and a machine body of the welding gun linear moving motor and the welding gun linear moving slide block are both installed on the welding gun linear moving seat through bolts; the output shaft of the welding gun linear moving motor moves linearly along the axis of the output shaft, the welding gun linear moving slide rail is driven to move relative to the welding gun linear moving slide block by the welding gun linear moving driving piece, and the welding gun is driven to move linearly by the welding gun fixing piece, so that the moving freedom degree along the axis of the welding gun linear moving motor is provided for the welding gun; the inner ring and the outer ring of the pitching bearing of the welding gun moving seat are respectively fixed with the welding gun linear moving seat and the welding gun pitching arm through bolts, the machine body of the pitching motor of the welding gun moving seat is fixed on the welding gun linear moving seat through the bolts, and the output shaft of the pitching motor is in key connection with the welding gun pitching arm; the output shaft of the pitching motor of the welding gun moving seat rotates relative to the machine body of the welding gun moving seat to drive the welding gun linear moving seat to rotate around the axis of the pitching motor of the welding gun moving seat relative to the welding gun pitching arm, so that the pitching freedom degree of the pitching motor of the welding gun moving seat is provided for the welding gun; the inner ring and the outer ring of the welding gun pitching arm pitching bearing are respectively fixed with the welding gun pitching arm and the welding gun rotating seat through bolts, the machine body of the welding gun pitching arm pitching motor is fixed on the welding gun rotating seat through the bolts, and the output shaft of the welding gun pitching arm pitching motor is in key connection with the welding gun pitching arm; the output shaft of the welding gun pitching arm pitching motor rotates relative to the machine body of the welding gun pitching arm pitching motor to drive the welding gun pitching arm to rotate around the axis of the welding gun pitching arm pitching motor relative to the welding gun rotating seat, so that a pitching degree of freedom around the axis of the welding gun pitching arm pitching motor is provided for the welding gun; the inner ring and the outer ring of the welding gun rotating bearing are respectively fixed with the welding gun bearing piece and the welding gun rotating seat through bolts, the machine body of the welding gun rotating motor is fixed on the welding gun bearing seat through the bolts, the output shaft of the machine body is in key connection with the welding gun rotating seat, and the machine body is axially positioned through a blocking piece of the welding gun rotating motor and the bolts; the output shaft of the welding gun rotating motor rotates relative to the machine body of the welding gun rotating motor to drive the welding gun rotating seat to rotate along the axis of the welding gun rotating motor, so that the welding gun is provided with a rotational degree of freedom around the axis of the welding gun rotating motor, and a four-degree-of-freedom mechanical arm capable of driving the welding gun to perform self-adaptive position and posture adjustment is formed; and then the welding gun arc motion assembly, the workpiece overturning assembly, the workpiece rotating assembly and the welding gun bearing assembly are combined to realize multi-azimuth self-adaptive welding.
The workpiece overturning assembly comprises a workpiece overturning seat, a workpiece overturning bearing, a workpiece overturning motor, a workpiece clamping seat, a telescopic shaft, a mechanical claw and a vacuum chuck; the inner ring and the outer ring of the workpiece overturning bearing are respectively fixed with the workpiece overturning seat and the workpiece clamping seat through bolts; the machine body of the workpiece overturning motor is fixed with a workpiece overturning seat bolt, and an output shaft of the workpiece overturning motor is connected with a workpiece clamping seat key; the movable end of the telescopic shaft is welded with the mechanical claw, the fixed end of the telescopic shaft is welded with the workpiece clamping seat, and the length of the telescopic shaft is in a serialized size and can be flexibly selected according to requirements; fingers of the mechanical claws are connected with the vacuum chuck through a spherical hinge pair, the two mechanical claws are combined with the vacuum chuck to fix a workpiece in a high-altitude mode, and the mechanical claws adopt various specifications and various forms and can be flexibly selected according to requirements; the output shafts of the two workpiece turnover motors synchronously move to drive the workpiece clamping seat to rotate around the axis of the workpiece turnover motor, so that the self-adaptive turnover of the workpiece is realized; and then the welding gun arc motion assembly, the mechanical arm type welding gun pose adjusting assembly, the workpiece rotating assembly and the welding gun bearing assembly are combined to realize multi-azimuth self-adaptive welding.
The workpiece rotating assembly comprises a workpiece rotating bearing, a workpiece rotating seat, a workpiece rotating speed reducer and a workpiece rotating motor; the inner ring and the outer ring of the workpiece rotating bearing are respectively connected with the workpiece overturning seat and the workpiece rotating seat through bolts, and the other end of the workpiece rotating seat is fixed with a welding robot base through bolts; the workpiece rotating speed reducer is fixed on the workpiece rotating seat through a bolt, and an output shaft of the workpiece rotating speed reducer is connected with the workpiece overturning seat in a key mode and is axially positioned through a blocking piece and the bolt; the output torque of the workpiece rotating motor is amplified by the workpiece rotating speed reducer to drive the workpiece overturning seat to rotate around the axis of the workpiece rotating motor relative to the welding robot base, so that the self-adaptive rotation of the workpiece is realized; and then the welding gun arc motion assembly, the mechanical arm type welding gun pose adjusting assembly, the workpiece overturning assembly and the welding gun bearing assembly are combined to realize multi-azimuth self-adaptive welding.
The welding gun bearing assembly comprises an arc-shaped moving device of a welding gun bearing frame, a first welding gun bearing frame and a second welding gun bearing frame; the arc-shaped movement device of the welding gun bearing frame consists of a 360-degree circular slide rail and a slide block which can freely move on the slide rail; the slide rails of the arc-shaped movement device of the welding gun bearing frame are fixed on a welding robot base through bolt groups, the number of the slide blocks is two, and the two slide blocks of each group are symmetrically distributed and fixed with two ends of the first welding gun bearing frame or the second welding gun bearing frame through bolts; the slide block of the arc-shaped movement device of the welding gun bearing frame freely moves along the slide rail of the arc-shaped movement device, and the welding gun arc-shaped movement assembly is driven to freely move along the slide rail of the arc-shaped movement device of the welding gun bearing frame through the first welding gun bearing frame and the second welding gun bearing frame, so that the welding gun is driven to freely move along the slide rail of the arc-shaped movement device of the welding gun bearing frame; and then the welding gun arc motion assembly, the mechanical arm type welding gun pose adjusting assembly, the workpiece overturning assembly and the workpiece rotating assembly are combined to realize multi-azimuth self-adaptive welding.
The welding gun arc motion assembly comprises a welding gun motion limiting sheet and a welding gun arc motion device; the welding gun arc motion device consists of a 75-degree arc slide rail and a slide block which can freely move on the slide rail; a slide rail of the welding gun arc movement device is fixed on the welding gun bearing frame I or the welding gun bearing frame II through a bolt group, and a slide block of the welding gun arc movement device is fixed with a welding gun bearing seat through a bolt; the welding gun motion limiting pieces are arranged at two ends of a sliding rail of the welding gun arc motion device through bolts and used for limiting the motion range of the welding gun bearing seat; the slide block of the welding gun arc-shaped movement device freely moves along the slide rail of the welding gun arc-shaped movement device, and the welding gun is driven by the welding gun bearing seat to freely move along the slide rail of the welding gun arc-shaped movement device; and then the multi-azimuth self-adaptive welding is realized by combining the movement of the mechanical arm type welding gun pose adjusting assembly, the workpiece overturning assembly, the workpiece rotating assembly and the welding gun bearing assembly.
Drawings
FIG. 1 is a schematic view of a multi-surface welding robot according to an embodiment of the present invention;
in the figure: 1. welding robot base, 2, welder arc motion subassembly, 3, welder, 4, arm-type welder position appearance adjustment subassembly of machinery, 5, work piece, 6, work piece upset subassembly, 7, work piece rotating assembly, 8, welder load-bearing component.
FIG. 2 is a schematic diagram of a robotic welding gun pose adjustment assembly according to an embodiment of the present disclosure;
in the figure: 1. the welding gun fixing part, 2, a welding gun linear moving slide rail, 3, a welding gun linear moving slide block, 4, a welding gun linear moving motor, 5, a welding gun linear moving driving part, 6, a welding gun linear moving seat, 7, a welding gun moving seat pitching bearing, 8, a welding gun moving seat pitching motor, 9, a welding gun pitching arm, 10, a welding gun rotating seat, 11, a welding gun pitching arm pitching motor, 12, a welding gun pitching arm pitching bearing, 13, a welding gun rotating motor retaining sheet, 14, a welding gun rotating bearing, 15, a welding gun rotating motor, 16 and a welding gun bearing seat.
FIG. 3 is a schematic diagram of a workpiece turnover assembly according to an embodiment of the present invention;
in the figure: 1. the device comprises a workpiece overturning seat 2, a workpiece overturning bearing 3, a workpiece overturning motor 4, a workpiece clamping seat 5, a telescopic shaft 6, a mechanical claw 7 and a vacuum chuck.
FIG. 4 is a schematic diagram of a workpiece rotation assembly provided in accordance with an embodiment of the present invention;
in the figure: 1. the device comprises a workpiece rotating bearing 2, a workpiece rotating seat 3, a workpiece rotating speed reducer 4 and a workpiece rotating motor.
FIG. 5 is a schematic view of a torch carrier assembly according to an embodiment of the present invention;
in the figure: 1. the welding gun bears the arc motion device of frame, 2, welding gun bears frame one, 3, welding gun bears frame two.
FIG. 6 is a schematic diagram of a torch arc motion assembly according to an embodiment of the present invention;
in the figure: 1. a welding gun motion limiting sheet, 2, a welding gun arc motion device.
Fig. 7 is a schematic view of the invention when welding the special-shaped structure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic diagram of a multi-surface welding robot according to an embodiment of the present invention includes a welding robot base 1, a welding gun arc motion assembly 2, a welding gun 3, a mechanical arm type welding gun pose adjusting assembly 4, a workpiece 5, a workpiece turning assembly 6, a workpiece rotating assembly 7, and a welding gun carrying assembly 8. This multiaspect welding robot is fixed the back with the work piece is high up in the air, can divide the worker to each welder's work according to work piece welding requirement and welding position, and a plurality of welders carry out position and attitude control simultaneously by the arm, diversely carry out the self-adaptation welding to the work piece, accomplish weldment work fast. The welding robot has the advantages of strong working capability, high automation degree, short working period, high efficiency, low cost and the like.
Four elastic feet are installed to the bottom of welding robot base 1 to the transport of being convenient for, and keep the machine stable in welding process.
Referring to fig. 2, the schematic diagram of the posture adjustment assembly of the mechanical arm type welding gun according to the embodiment of the present invention includes a welding gun fixing member 4.1, a welding gun linear moving slide rail 4.2, a welding gun linear moving slide block 4.3, a welding gun linear moving motor 4.4, a welding gun linear moving driving member 4.5, a welding gun linear moving seat 4.6, a welding gun moving seat pitch bearing 4.7, a welding gun moving seat pitch motor 4.8, a welding gun pitch arm 4.9, a welding gun rotating seat 4.10, a welding gun pitch arm pitch motor 4.11, a welding gun pitch arm pitch bearing 4.12, a welding gun rotating motor catch 4.13, a welding gun rotating bearing 4.14, a welding gun rotating motor 4.15, and a welding gun bearing seat 4.16; the welding gun fixing piece 4.1 is fixed with the welding gun 3 and one end of the welding gun linear moving slide rail 4.2 through threads, the other end of the welding gun linear moving slide rail 4.2 is fixed with the welding gun linear moving driving piece 4.5 through a nut, the welding gun linear moving driving piece 4.5 is fixed with an output shaft of the welding gun linear moving motor 4.4 through a nut, and a machine body of the welding gun linear moving motor 4.4 and the welding gun linear moving slide block 4.3 are both installed on the welding gun linear moving seat 4.6 through bolts; the output shaft of the welding gun linear moving motor 4.4 moves linearly along the axis, the welding gun linear moving slide rail 4.2 is driven to move relative to the welding gun linear moving slide block 4.3 by the welding gun linear moving driving piece 4.5, and the welding gun 3 is driven to move linearly by the welding gun fixing piece 4.1, so that the welding gun 3 is provided with a moving degree of freedom along the axis of the welding gun linear moving motor 4.4; the inner ring and the outer ring of the welding gun moving seat pitching bearing 4.7 are respectively fixed with the welding gun linear moving seat 4.6 and the welding gun pitching arm 4.9 through bolts, the machine body of the welding gun moving seat pitching motor 4.8 is fixed on the welding gun linear moving seat 4.6 through bolts, and the output shaft of the machine body is in key connection with the welding gun pitching arm 4.9; the output shaft of the welding gun moving seat pitching motor 4.8 rotates relative to the machine body to drive the welding gun linear moving seat 4.6 to rotate around the axis of the welding gun moving seat pitching motor 4.8 relative to the welding gun pitching arm 4.9, so that the welding gun 3 is provided with a pitching degree of freedom around the axis of the welding gun moving seat pitching motor 4.8; the inner ring and the outer ring of the welding gun pitching bearing 4.12 are respectively fixed with the welding gun pitching arm 4.9 and the welding gun rotating seat 4.10 through bolts, the body of the welding gun pitching arm pitching motor 4.11 is fixed on the welding gun rotating seat 4.10 through bolts, and the output shaft of the welding gun pitching arm pitching motor is in key connection with the welding gun pitching arm 4.9; the output shaft of the welding gun pitching arm pitching motor 4.11 rotates relative to the machine body to drive the welding gun pitching arm 4.9 to rotate around the axis of the welding gun pitching arm pitching motor 4.11 relative to the welding gun rotating seat 4.10, so that the welding gun 3 is provided with a pitching degree of freedom around the axis of the welding gun pitching arm pitching motor 4.11; the inner ring and the outer ring of the welding gun rotating bearing 4.14 are respectively fixed with a welding gun bearing part 4.14 and a welding gun rotating seat 4.10 through bolts, the machine body of a welding gun rotating motor 4.15 is fixed on the welding gun bearing seat 4.16 through bolts, the output shaft of the welding gun rotating motor is in key connection with the welding gun rotating seat 4.10, and the welding gun rotating motor is axially positioned through a blocking piece 4.13 of the welding gun rotating motor and the bolts; the output shaft of the welding gun rotating motor 4.15 rotates relative to the machine body to drive the welding gun rotating seat 4.10 to rotate along the axis of the welding gun rotating motor 4.15, so that a rotating freedom degree around the axis of the welding gun rotating motor 4.15 is provided for the welding gun 3, and a four-freedom-degree mechanical arm capable of driving the welding gun 3 to perform self-adaptive position and posture adjustment is formed; and then the multi-azimuth self-adaptive welding is realized by combining the movement of the welding gun arc-shaped moving component 2, the workpiece overturning component 6, the workpiece rotating component 7 and the welding gun bearing component 8.
Fig. 3 is a schematic diagram of a workpiece turning assembly according to an embodiment of the present invention, which includes a workpiece turning base 6.1, a workpiece turning bearing 6.2, a workpiece turning motor 6.3, a workpiece holding base 6.4, a telescopic shaft 6.5, a gripper 6.6, and a vacuum chuck 6.7; the inner ring and the outer ring of the workpiece turnover bearing 6.2 are respectively fixed with the workpiece turnover seat 6.1 and the workpiece clamping seat 6.4 through bolts; the machine body of the workpiece turnover motor 6.3 is fixed with a workpiece turnover seat 6.1 through bolts, and the output shaft of the workpiece turnover motor is connected with a workpiece clamping seat 6.4 key; the movable end of the telescopic shaft 6.5 is welded with the mechanical claw 6.6, the fixed end is welded with the workpiece clamping seat 6.4, and the length of the telescopic shaft 6.5 is in a serialized size and can be flexibly selected according to requirements; fingers of the mechanical claws 6.6 are connected with the vacuum chuck 6.7 through a spherical hinge pair, the two mechanical claws 6.6 are combined with the vacuum chuck 6.7 to fix a workpiece in a high altitude, and the mechanical claws 6.6 adopt various specifications and forms and can be flexibly selected according to requirements; the output shafts of the two workpiece turnover motors 6.3 synchronously move to drive the workpiece clamping seats 6.4 to rotate around the axis of the workpiece turnover motor 6.3, so that the workpieces 5 are turned over in a self-adaptive manner; and then the welding gun arc-shaped motion assembly 2, the mechanical arm type welding gun pose adjusting assembly 4, the workpiece rotating assembly 7 and the welding gun bearing assembly 8 are combined to realize multi-azimuth self-adaptive welding.
Referring to fig. 4, a schematic diagram of a workpiece rotation assembly according to an embodiment of the present invention is shown, which includes a workpiece rotation bearing 7.1, a workpiece rotation seat 7.2, a workpiece rotation reducer 7.3, and a workpiece rotation motor 7.4; the inner ring and the outer ring of the workpiece rotating bearing 7.1 are respectively connected with the workpiece overturning seat 6.1 and the workpiece rotating seat 7.2 through bolts, and the other end of the workpiece rotating seat 7.2 is fixed with the welding robot base 1 through bolts; the workpiece rotating speed reducer 7.3 is fixed on the workpiece rotating seat 7.2 through a bolt, and an output shaft of the workpiece rotating speed reducer is connected with a 6.1 key of the workpiece overturning seat and is axially positioned through a baffle plate and the bolt; the output torque of the workpiece rotating motor 7.4 is amplified by the workpiece rotating speed reducer 7.3 to drive the workpiece overturning seat 6.1 to rotate around the axis of the workpiece rotating motor 7.4 relative to the welding robot base 1, so that the self-adaptive rotation of the workpiece 5 is realized; and then the welding gun arc-shaped motion assembly 2, the mechanical arm type welding gun pose adjusting assembly 4, the workpiece overturning assembly 6 and the welding gun bearing assembly 8 are combined to realize multi-azimuth self-adaptive welding.
Referring to fig. 5, a schematic diagram of a welding gun carrier assembly according to an embodiment of the present invention includes an arc motion device 8.1 of a welding gun carrier, a first welding gun carrier 8.2, and a second welding gun carrier 8.3; the arc-shaped movement device 8.1 of the welding gun bearing frame consists of a 360-degree circular slide rail and a slide block capable of freely moving on the slide rail; the slide rails of the arc-shaped movement device 8.1 of the welding gun bearing frame are fixed on the welding robot base 1 through bolt groups, the number of the slide blocks is two, the two slide blocks of each group are symmetrically distributed and fixed with two ends of a first 8.2 welding gun bearing frame or a second 8.3 welding gun bearing frame through bolts; the slide block of the arc-shaped movement device 8.1 of the welding gun bearing frame freely moves along the slide rail, the welding gun arc-shaped movement component 2 is driven to freely move along the slide rail of the arc-shaped movement device 8.1 of the welding gun bearing frame through the first welding gun bearing frame 8.2 and the second welding gun bearing frame 8.3, and then the welding gun 3 is driven to freely move along the slide rail of the arc-shaped movement device 8.1 of the welding gun bearing frame; and then the welding gun arc motion assembly 2, the mechanical arm type welding gun pose adjusting assembly 4, the workpiece overturning assembly 6 and the workpiece rotating assembly 7 are combined to realize multi-azimuth self-adaptive welding.
Referring to fig. 6, it is a schematic diagram of a welding gun arc motion assembly according to an embodiment of the present invention, which includes a welding gun motion limiting plate 2.1 and a welding gun arc motion device 2.2; the welding gun arc-shaped moving device 2.2 consists of a 75-degree arc-shaped sliding rail and a sliding block which can freely move on the sliding rail; a slide rail of the welding gun arc movement device 2.2 is fixed on the first welding gun bearing frame 8.2 or the second welding gun bearing frame 8.3 through a bolt group, and a slide block of the welding gun arc movement device 2.2 is fixed with a welding gun bearing seat 4.16 through a bolt; the welding gun motion limiting pieces 2.1 are arranged at two ends of a sliding rail of the welding gun arc motion device 2.2 through bolts and used for limiting the motion range of the welding gun bearing seat 4.16; the slide block of the welding gun arc-shaped movement device 2.2 freely moves along the slide rail, and the welding gun 3 is driven by the welding gun bearing seat 4.16 to freely move along the slide rail of the welding gun arc-shaped movement device 2.2; and then the multi-azimuth self-adaptive welding is realized by combining the movement of the mechanical arm type welding gun pose adjusting assembly 4, the workpiece overturning assembly 6, the workpiece rotating assembly 7 and the welding gun bearing assembly 8.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (3)
1. A multi-surface welding robot can realize the flying type self-adaptive welding of multi-position workpieces; the welding robot is characterized by comprising a welding robot base (1), a welding gun arc-shaped motion assembly (2), a welding gun (3), a mechanical arm type welding gun pose adjusting assembly (4), a workpiece (5), a workpiece overturning assembly (6), a workpiece rotating assembly (7) and a welding gun bearing assembly (8);
the mechanical arm type welding gun pose adjusting assembly (4) comprises a welding gun fixing piece (4.1), a welding gun linear moving slide rail (4.2), a welding gun linear moving slide block (4.3), a welding gun linear moving motor (4.4), a welding gun linear moving driving piece (4.5), a welding gun linear moving seat (4.6), a welding gun moving seat pitching bearing (4.7), a welding gun moving seat pitching motor (4.8), a welding gun pitching arm (4.9), a welding gun rotating seat (4.10), a welding gun pitching arm pitching motor (4.11), a welding gun pitching arm pitching bearing (4.12), a welding gun rotating motor retaining piece (4.13), a welding gun rotating bearing (4.14), a welding gun rotating motor (4.15) and a welding gun bearing seat (4.16); the welding gun fixing piece (4.1) is in threaded fixing with the welding gun (3) and one end of the welding gun linear moving slide rail (4.2), the other end of the welding gun linear moving slide rail (4.2) is fixed with the welding gun linear moving driving piece (4.5) through a nut, the welding gun linear moving driving piece (4.5) is fixed with an output shaft of the welding gun linear moving motor (4.4) through a nut, and both the machine body of the welding gun linear moving motor (4.4) and the welding gun linear moving sliding block (4.3) are installed on the welding gun linear moving seat (4.6) through bolts; the output shaft of the welding gun linear moving motor (4.4) moves linearly along the axis of the welding gun linear moving motor, the welding gun linear moving slide rail (4.2) is driven to move relative to the welding gun linear moving slide block (4.3) through the welding gun linear moving driving piece (4.5), and the welding gun (3) is driven to move linearly through the welding gun fixing piece (4.1), so that the moving freedom degree along the axis of the welding gun linear moving motor (4.4) is provided for the welding gun (3); the inner ring and the outer ring of the welding gun moving seat pitching bearing (4.7) are respectively fixed with the welding gun linear moving seat (4.6) and the welding gun pitching arm (4.9) through bolts, the machine body of the welding gun moving seat pitching motor (4.8) is fixed on the welding gun linear moving seat (4.6) through bolts, and the output shaft of the machine body is in key connection with the welding gun pitching arm (4.9); the output shaft of the welding gun moving seat pitching motor (4.8) rotates relative to the machine body to drive the welding gun linear moving seat (4.6) to rotate around the axis of the welding gun moving seat pitching motor (4.8) relative to the welding gun pitching arm (4.9), so that the welding gun (3) is provided with a pitching degree of freedom around the axis of the welding gun moving seat pitching motor (4.8); the inner ring and the outer ring of the welding gun pitching bearing (4.12) are respectively fixed with the welding gun pitching arm (4.9) and the welding gun rotating seat (4.10) through bolts, the machine body of the welding gun pitching arm pitching motor (4.11) is fixed on the welding gun rotating seat (4.10) through bolts, and the output shaft of the welding gun pitching arm pitching motor is in key connection with the welding gun pitching arm (4.9); the output shaft of the welding gun pitching arm pitching motor (4.11) rotates relative to the machine body to drive the welding gun pitching arm (4.9) to rotate around the axis of the welding gun pitching arm pitching motor (4.11) relative to the welding gun rotating seat (4.10), so that the welding gun (3) is provided with a pitching degree of freedom around the axis of the welding gun pitching arm pitching motor (4.11); the inner ring and the outer ring of the welding gun rotating bearing (4.14) are respectively fixed with the welding gun bearing seat (4.16) and the welding gun rotating seat (4.10) through bolts, the machine body of the welding gun rotating motor (4.15) is fixed on the welding gun bearing seat (4.16) through bolts, the output shaft of the machine body is in key connection with the welding gun rotating seat (4.10), and the machine body is axially positioned through a blocking piece (4.13) of the welding gun rotating motor and the bolts; the output shaft of the welding gun rotating motor (4.15) rotates relative to the machine body to drive the welding gun rotating seat (4.10) to rotate along the axis of the welding gun rotating motor (4.15), so that the welding gun (3) is provided with a rotational degree of freedom around the axis of the welding gun rotating motor (4.15), and a four-degree-of-freedom mechanical arm capable of driving the welding gun (3) to perform self-adaptive position and posture adjustment is formed; the workpiece overturning assembly (6) comprises a workpiece overturning seat (6.1), a workpiece overturning bearing (6.2), a workpiece overturning motor (6.3), a workpiece clamping seat (6.4), a telescopic shaft (6.5), a mechanical claw (6.6) and a vacuum chuck (6.7); the inner ring and the outer ring of the workpiece turnover bearing (6.2) are respectively fixed with the workpiece turnover seat (6.1) and the workpiece clamping seat (6.4) through bolts; the machine body of the workpiece turnover motor (6.3) is fixed with the workpiece turnover seat (6.1) through bolts, and the output shaft of the workpiece turnover motor is connected with the workpiece clamping seat (6.4) through keys; the movable end of the telescopic shaft (6.5) is welded with the mechanical claw (6.6), the fixed end of the telescopic shaft is welded with the workpiece clamping seat (6.4), and the length of the telescopic shaft (6.5) is in a serialized size and can be flexibly selected according to requirements; fingers of the mechanical claws (6.6) are connected with the vacuum chuck (6.7) through a spherical hinge pair, the two mechanical claws (6.6) are combined with the vacuum chuck (6.7) to fix a workpiece in a high altitude, output shafts of the two workpiece turnover motors (6.3) move synchronously to drive the workpiece clamping seat (6.4) to rotate around the axis of the workpiece turnover motor (6.3), and the self-adaptive turnover of the workpiece (5) is realized;
the workpiece rotating assembly (7) comprises a workpiece rotating bearing (7.1), a workpiece rotating seat (7.2), a workpiece rotating speed reducer (7.3) and a workpiece rotating motor (7.4); the inner ring and the outer ring of the workpiece rotating bearing (7.1) are respectively connected with the workpiece overturning seat (6.1) and the workpiece rotating seat (7.2) through bolts, and the other end of the workpiece rotating seat (7.2) is fixed with the welding robot base (1) through bolts; the workpiece rotating speed reducer (7.3) is fixed on the workpiece rotating seat (7.2) through a bolt, and an output shaft of the workpiece rotating speed reducer is connected with a workpiece overturning seat (6.1) in a key mode and is axially positioned through a baffle plate and the bolt; the output torque of the workpiece rotating motor (7.4) is amplified by the workpiece rotating speed reducer (7.3) to drive the workpiece overturning seat (6.1) to rotate around the axis of the workpiece rotating motor (7.4) relative to the welding robot base (1), so that the self-adaptive rotation of the workpiece (5) is realized;
the welding gun bearing assembly (8) comprises a welding gun bearing frame arc-shaped moving device (8.1), a welding gun bearing frame I (8.2) and a welding gun bearing frame II (8.3); the arc-shaped movement device (8.1) of the welding gun bearing frame consists of a 360-degree circular slide rail and a slide block capable of freely moving on the slide rail; the slide rails of the arc-shaped movement device (8.1) of the welding gun bearing frame are fixed on a welding robot base (1) through bolt groups, the number of the slide blocks is two, the two slide blocks of each group are symmetrically distributed and fixed with two ends of a first (8.2) or a second (8.3) welding gun bearing frame through bolts; a sliding block of the arc-shaped moving device (8.1) of the welding gun bearing frame freely moves along a sliding rail of the arc-shaped moving device, the welding gun arc-shaped moving component (2) is driven to freely move along the sliding rail of the arc-shaped moving device (8.1) of the welding gun bearing frame through the first welding gun bearing frame (8.2) and the second welding gun bearing frame (8.3), and then the welding gun (3) is driven to freely move along the sliding rail of the arc-shaped moving device (8.1) of the welding gun bearing frame.
2. The multi-face welding robot according to claim 1, wherein four elastic feet are installed at the bottom of the welding robot base (1).
3. The multi-face welding robot according to claim 1, characterized in that the welding gun arc motion assembly (2) comprises a welding gun motion limiting piece (2.1) and a welding gun arc motion device (2.2); the welding gun arc-shaped movement device (2.2) consists of a 75-degree arc-shaped sliding rail and a sliding block which can freely move on the sliding rail; a slide rail of the welding gun arc-shaped movement device (2.2) is fixed on the welding gun bearing frame I (8.2) or the welding gun bearing frame II (8.3) through a bolt group, and a slide block of the welding gun arc-shaped movement device (2.2) is fixed with a welding gun bearing seat (4.16) through a bolt; the welding gun motion limiting pieces (2.1) are arranged at two ends of a sliding rail of the welding gun arc motion device (2.2) through bolts and used for limiting the motion range of the welding gun bearing seat (4.16); the slide block of the welding gun arc-shaped moving device (2.2) freely moves along the slide rail of the slide rail, and the welding gun (3) is driven to freely move along the slide rail of the welding gun arc-shaped moving device (2.2) by the welding gun bearing seat (4.16).
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| CN108637553B true CN108637553B (en) | 2020-04-24 |
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| CN109569931B (en) * | 2018-12-28 | 2020-09-08 | 重庆新久融科技有限公司 | Paint sprayer special for spraying aluminum alloy plate |
| CN110142543B (en) * | 2019-06-29 | 2021-10-29 | 万静丹 | Intelligent welding robot |
| CN111975366B (en) * | 2020-07-20 | 2022-01-04 | 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 |
| 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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| CN2100953U (en) * | 1991-10-05 | 1992-04-08 | 天津市铰链厂 | Automatic frame profiling full ring air protective welder machine |
| JP3655137B2 (en) * | 1999-08-27 | 2005-06-02 | 本田技研工業株式会社 | Body assembly equipment |
| CN204160080U (en) * | 2014-10-28 | 2015-02-18 | 广西科技大学 | A kind of truss-like automatic soldering device |
| CN204673189U (en) * | 2015-02-06 | 2015-09-30 | 安吉金科机械设备有限公司 | A kind of rotary module for coordinate welding manipulator |
| CN205254376U (en) * | 2015-12-18 | 2016-05-25 | 武汉工程大学 | Build -up welding robot workstation |
| CN105834632B (en) * | 2016-05-23 | 2017-12-22 | 肖兴金 | A kind of novel welding industrial robot high precision mobile platform |
| CN105855667B (en) * | 2016-06-12 | 2018-02-13 | 航天科工哈尔滨风华有限公司 | One kind is based on controlled in wireless four-degree-of-freedom TIG automatic surfacing rotary tables |
| CN107052624A (en) * | 2016-11-30 | 2017-08-18 | 北京科慧通智慧科技有限公司 | Multistation Intelligent welding robot |
| CN106736112A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | A kind of clamp pipe type insertion pipe welding robot |
| CN107243902A (en) * | 2017-05-25 | 2017-10-13 | 无锡职业技术学院 | A kind of flexible ladle body turning device based on simulation manipulator |
| CN107855791B (en) * | 2017-11-16 | 2019-05-31 | 中国矿业大学 | A kind of multi-parallel flexible cable formula optical fabrication device |
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