CN108673000A - Three-dimensional welding robot - Google Patents
Three-dimensional welding robot Download PDFInfo
- Publication number
- CN108673000A CN108673000A CN201810487572.5A CN201810487572A CN108673000A CN 108673000 A CN108673000 A CN 108673000A CN 201810487572 A CN201810487572 A CN 201810487572A CN 108673000 A CN108673000 A CN 108673000A
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- China
- Prior art keywords
- axis
- welding
- sliding slot
- axis sliding
- servo motor
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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 to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
-
- 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
- B23K37/0211—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 to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
Abstract
The invention discloses a kind of three-dimensional welding robots, including：Welding unit, moving cell and control unit, the moving cell include：Pedestal；First X-axis slide rail component and the first X-axis slide block, the first X-axis slide rail component are arranged on the pedestal；First Z axis slide rail component and the first Z axis sliding block；First Y-axis slide track component and the first Y-axis sliding block；Second X-axis slide rail component and the second X-axis slide block, the second X-axis slide rail component are fixed on the bottom of the first Y-axis sliding block by connecting plate；Second Z axis slide rail component and the second Z axis sliding block；Second Y-axis slide track component and the second Y-axis sliding block；Dynamic component；Worm gear and worm screw.The present invention has the welding advantageous effect that range is big, welding precision is high.
Description
Technical field
The present invention relates to a kind of robots.It is more particularly related to which a kind of three-dimensional welding robot, belongs to machine
People's technical field.
Background technology
Welding is the most common technology of mechanical manufacturing field, and the manufacture of the products such as automobile, ship all be unable to do without welding, so
And using welding technique production product, there is also shortcomings, such as：Formed precision is not high, be not easy to be formed automation, it is artificial or
Semiautomatic working efficiency is low, welding generates a large amount of smog, to worker's body and environmental concerns, for high-precision and high welding
The product of quality, manual welding are difficult to ensure quality, and therefore, welding technique must be sent out towards process automation, intelligent direction
Exhibition, a series of problems, such as improving welding quality and efficiency by automation, intellectualized technology, improve poor working conditions.
Welding robot is a kind of automation equipment that can complete welding operation.Welding robot is made of multiple joints
Arm or other forms motion are operated, the auxiliary welding equipments such as welding gun are clamped in mechanism end, complete in welding operating space
At the required seam track movement of workpiece welding.Currently, welding robot generally uses general six jointed arm robot, or
Machine is operated for the special welding of specific seam track.For the former, welding precision is high, but welding range is relatively limited, fits
Welding for short distance complexity weld seam；For the latter, welding range is larger, but welding precision is not relatively high, is suitable for letter
The welding of simple form shape weld seam.As welding manufacture industry develops towards scale, enlargement and precise treatment direction, at present there is an urgent need to
Design it is a set of can realize big welding range, high welding precision practical automatic welding machine people.
Invention content
It is an object of the present invention to provide a kind of three-dimensional welding robot, welding operation on a large scale can be realized, and
And welding precision is high.
In order to realize these purposes and other advantages according to the present invention, a kind of three-dimensional welding robot is provided, including：
Welding unit, moving cell and control unit, the moving cell include：
Pedestal；
First X-axis slide rail component and the first X-axis slide block, the first X-axis slide rail component is arranged on the pedestal, described
First X-axis slide rail component includes：Horizontally disposed first X-axis sliding slot, the closure being rotatably provided on the first X-axis sliding slot
X-axis synchronous belt, a pair of of X-axis synchronous pulley are distributed in the both ends of the first X-axis sliding slot and are engaged with the X-axis synchronous belt,
The axis horizontal of X-axis synchronous pulley is arranged, and first X-axis slide block is fixed on the X-axis synchronous belt；
First Z axis slide rail component and the first Z axis sliding block, the first Z axis slide rail component include：The first Z being vertically arranged
Axis sliding slot, the closure Z axis synchronous belt being rotatably provided on the first Z axis sliding slot, the bottom end of the first Z axis sliding slot is fixed
In first X-axis slide block, a pair of of Z axis synchronous pulley be distributed in the both ends of the first Z axis sliding slot and with the Z axis
Synchronous belt engages, the axis horizontal setting of Z axis synchronous pulley and, the first Z axis cunning vertical with the axis of X-axis synchronous pulley
Block is fixed on the Z axis synchronous belt；
First Y-axis slide track component and the first Y-axis sliding block, the first Y-axis slide track component include：Horizontally disposed first Y
Axis sliding slot, the closure Y-axis synchronous belt being rotatably provided on the first Y-axis sliding slot, the first Y-axis sliding slot and described first
X-axis sliding slot and the first Z axis sliding slot are vertical, and one end of the first Y-axis sliding slot is fixed on the first Z axis sliding block,
A pair of of Y-axis synchronous pulley is distributed in the both ends of the first Y-axis sliding slot and is engaged with Y-axis synchronous belt, Y-axis synchronous pulley
Axis horizontal be arranged and it is parallel with the axis of Z axis synchronous pulley, the first Y-axis sliding block is fixed on the Y-axis synchronous belt；
Second X-axis slide rail component and the second X-axis slide block, the second X-axis slide rail component are fixed on described by connecting plate
The bottom of first Y-axis sliding block, the second X-axis slide rail component include：Horizontally disposed second X-axis sliding slot is rotatably disposed in
X-axis lead screw on the second X-axis sliding slot, the second X-axis sliding slot is parallel with the first X-axis sliding slot, and second X-axis is slided
Block is set on the X-axis lead screw；
Second Z axis slide rail component and the second Z axis sliding block, the second Z axis slide rail component include：The 2nd Z being vertically arranged
Axis sliding slot, the Z axis lead screw being rotatably disposed on the second Z axis sliding slot, the top of the second Z axis sliding slot are fixed on described
In second X-axis slide block, the second Z axis sliding block is set on the Z axis lead screw；
Second Y-axis slide track component and the second Y-axis sliding block, the second Y-axis slide track component include：Horizontally disposed 2nd Y
Axis sliding slot, the Y-axis lead screw being rotatably disposed on the second Y-axis sliding slot, the second Y-axis sliding slot are slided with second X-axis
Slot and the second Z axis sliding slot are vertical, and one end of the second Y-axis sliding slot is fixed on the second Z axis sliding block, and described
Two Y-axis sliding blocks are set on the Y-axis lead screw；
Dynamic component comprising：It is solid that output shaft is fixed on first servo motor on an X-axis synchronous pulley, output shaft
The second servo motor, the output shaft being scheduled on a Z axis synchronous pulley are fixed on the third servo electricity on a Y-axis synchronous pulley
The 5th servo electricity that the 4th servo motor, the output shaft that machine, output shaft are connect with the X-axis lead screw are connect with the Z axis lead screw
Machine, output shaft the 6th servo motor being connect with the Y-axis lead screw and the be fixed in the second Y-axis slider top the 7th
Servo motor；
Worm gear and worm screw, the worm screw pass through the output of the bottom and the 7th servo motor of the second Y-axis sliding slot
The bottom of axis connection, the second Y-axis sliding slot is provided with strip hole, so that the worm screw moves back with the second Y-axis sliding block,
The worm gear is engaged with the worm screw.
Preferably, the welding unit includes：Welding gun, wire feeder and the source of welding current, the welding gun pass through connecting rod
It is connect with the shaft of the worm gear, the wire feeder and the source of welding current are each attached on the pedestal.
Preferably, described control unit includes：Controller controls the dynamic component, the wire feeder and institute
State the operation of the source of welding current.
Preferably, described control unit further includes：
Weld information acquisition module is used to obtain position while welding, size and shape information；
Welding torch position acquisition module is used to obtain the spatial positional information of welding gun；
Weld task planning module formulates welding procedure according to position while welding, size and shape information；
Path of welding planning module formulates path of welding according to the spatial positional information of welding procedure and welding gun；
Welding parameter setup module sets welding parameter according to path of welding；
Welding processing file module is generated, the welding parameter set is converted into the language that controller can identify,
Welding processing file is generated, and is transported in controller.
Preferably, the first servo motor, second servo motor, the third servo motor, the described 4th
Servo motor, the 5th servo motor, the 6th servo motor and the 7th servo motor are DC servo electricity
Machine.
Preferably, the worm screw is cylindrical worm.
The present invention includes at least following advantageous effect：
(1) in three-dimensional welding robot provided by the invention, the first X-axis slide rail component and the first X-axis slide block, the first Z axis
Slide track component and the first Z axis sliding block and the first Y-axis slide track component and the first Y-axis sliding block are used cooperatively, and welding gun can be made three
Dimension space it is a wide range of in move along a straight line, to realize on a large scale welding operation.
(2) in three-dimensional welding robot provided by the invention, the second X-axis slide rail component and the second X-axis slide block, the second Z axis
Slide track component and the second Z axis sliding block and the second Y-axis slide track component and the second Y-axis sliding block are used cooperatively, can be with the sky of Butt welding gun
Between position be finely adjusted, while using worm gear and worm screw, welding gun can be made into horizontal deflection and pitching movement, to ensure that welding gun can essence
It really reaches commissure to be subjected to, to improve welding precision.
(3) three-dimensional welding robot provided by the invention can realize welding operation on a large scale, and welding precision is high, is
A kind of practicability welding robot of high degree of automation.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the structural schematic diagram of three-dimensional welding robot described in one of which technical solution of the present invention；
Fig. 2 is the schematic diagram of one of which technical solution described control unit of the present invention.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figure 1, 2, the present invention provides a kind of three-dimensional welding robots, including：Welding unit, moving cell and control
Unit processed, which is characterized in that the moving cell includes：
Pedestal；
First X-axis slide rail component and the first X-axis slide block 1, the first X-axis slide rail component are arranged on the pedestal, institute
Stating the first X-axis slide rail component includes：Horizontally disposed first X-axis sliding slot 2 is rotatably provided on the first X-axis sliding slot 2
Be closed X-axis synchronous belt, a pair of of X-axis synchronous pulley be distributed in the both ends of the first X-axis sliding slot 2 and with the X-axis synchronous belt
Engagement, so as to the movement of X-axis synchronous belt is driven when a pair of of X-axis synchronous pulley movement, the axis horizontal setting of X-axis synchronous pulley, institute
The first X-axis slide block 1 is stated to be fixed on the X-axis synchronous belt so that the first X-axis slide block 1 under the driving of X-axis synchronous belt in X-axis
Direction moves back and forth；
First Z axis slide rail component and the first Z axis sliding block 3, the first Z axis slide rail component include：The first Z being vertically arranged
Axis sliding slot 4, the closure Z axis synchronous belt being rotatably provided on the first Z axis sliding slot 4, the bottom end of the first Z axis sliding slot 4
It is fixed in first X-axis slide block 1, so that the first Z axis sliding slot 4 is moved back and forth with the first X-axis slide block 1 in X-direction, one
The both ends of the first Z axis sliding slot 4 are distributed in Z axis synchronous pulley and are engaged with the Z axis synchronous belt, so that a pair of of Z axis
Synchronous pulley move when drive Z axis synchronous belt movement, Z axis synchronous pulley axis horizontal setting and with the axis of X-axis synchronous pulley
Line is vertical, and the first Z axis sliding block 3 is fixed on the Z axis synchronous belt, so that drive of the first Z axis sliding block 3 in Z axis synchronous belt
It is moved back and forth in Z-direction under dynamic；
First Y-axis slide track component and the first Y-axis sliding block 5, the first Y-axis slide track component include：Horizontally disposed first Y
Axis sliding slot 6, the closure Y-axis synchronous belt being rotatably provided on the first Y-axis sliding slot 6, the first Y-axis sliding slot 6 with it is described
First X-axis sliding slot 2 and the first Z axis sliding slot 4 are vertical, the first Y-axis sliding slot 6 and the first X-axis sliding slot 2 and the first Z axis sliding slot 4
It being mutually perpendicular to, forms three-dimensional cartesian coordinate system, one end of the first Y-axis sliding slot 6 is fixed on the first Z axis sliding block 3, with
The first Y-axis sliding slot 6 is set to be moved back and forth in Z-direction with the first Z axis sliding block 3, a pair of of Y-axis synchronous pulley is distributed in described first
It the both ends of Y-axis sliding slot 6 and is engaged with Y-axis synchronous belt, so as to drive Y-axis synchronous belt fortune when a pair of of Y-axis synchronous pulley movement
Dynamic, the axis horizontal setting of Y-axis synchronous pulley and parallel with the axis of Z axis synchronous pulley, the first Y-axis sliding block 5 is fixed on
On the Y-axis synchronous belt, so that the first Y-axis sliding block 5 moves back and forth under the driving of Y-axis synchronous belt in Y direction；
Second X-axis slide rail component and the second X-axis slide block 7, the second X-axis slide rail component are fixed on institute by connecting plate 8
The bottom of the first Y-axis sliding block 5 is stated, the second X-axis slide rail component includes：Horizontally disposed second X-axis sliding slot 9 rotatable is set
The X-axis lead screw on the second X-axis sliding slot 9 is set, the second X-axis sliding slot 9 is parallel with the first X-axis sliding slot 2, and described
Two X-axis slide blocks 7 are set on the X-axis lead screw, so that X-axis lead screw drives the second X-axis slide block 7 to come in X-direction when rotating
It backhauls dynamic；
Second Z axis slide rail component and the second Z axis sliding block 10, the second Z axis slide rail component include：Second be vertically arranged
The top of Z axis sliding slot 11, the Z axis lead screw being rotatably disposed on the second Z axis sliding slot 11, the second Z axis sliding slot 11 is solid
It is scheduled in second X-axis slide block 7, so that the second Z axis sliding slot 11 is moved with the second X-axis slide block 7, second Z axis is slided
Block 7 is set on the Z axis lead screw, so that Z axis lead screw drives the second Z axis sliding block 7 to be moved back and forth in Z-direction when rotating；
Second Y-axis slide track component and the second Y-axis sliding block 12, the second Y-axis slide track component include：Horizontally disposed second
Y-axis sliding slot 13, the Y-axis lead screw being rotatably disposed on the second Y-axis sliding slot 13, the second Y-axis sliding slot 13 and described the
Two X-axis sliding slots 9 and the second Z axis sliding slot 11 are vertical, the second Y-axis sliding slot 13 and the second X-axis sliding slot 9 and the second Z axis sliding slot
11 are mutually perpendicular to, and form three-dimensional cartesian coordinate system, one end of the second Y-axis sliding slot 13 is fixed on the second Z axis sliding block 10
On, so that the second Y-axis sliding slot 13 is moved with the second Z axis sliding block 10, the second Y-axis sliding block 12 is set in the Y-axis silk
On bar, so that Y-axis lead screw drives the second Y-axis sliding block 12 to be moved back and forth in Y direction when rotating；
Dynamic component comprising：It is solid that output shaft is fixed on first servo motor on an X-axis synchronous pulley, output shaft
The second servo motor, the output shaft being scheduled on a Z axis synchronous pulley are fixed on the third servo electricity on a Y-axis synchronous pulley
The 5th servo electricity that the 4th servo motor, the output shaft that machine, output shaft are connect with the X-axis lead screw are connect with the Z axis lead screw
Machine, output shaft the 6th servo motor being connect with the Y-axis lead screw and the be fixed in the second Y-axis slider top the 7th
Servo motor 14；Dynamic component provides driving force for the moving component of three-dimensional welding robot；
Worm gear 15 and worm screw 16, the worm screw 16 pass through bottom and the 7th servo electricity of the second Y-axis sliding slot 13
The bottom of the output axis connection of machine 14, the second Y-axis sliding slot 13 is provided with strip hole, so that the worm screw 16 is with the 2nd Y
Axis sliding block 12 moves back, and the worm gear 15 is engaged with the worm screw 16, and worm gear 15 and worm screw 16 are used cooperatively, and may be implemented to weld
The deflection and pitching of rifle 17.
In this technical solution, a pair of of X-axis synchronous pulley rotation of first servo motor driving, and then X-axis is driven to synchronize
Band movement, the first X-axis slide block 1 being fixed on X-axis synchronous belt is done in X-direction therewith to be moved back, the first Z axis sliding slot 4 with
The first X-axis slide block 1, also X-direction moves back and forth, a pair of of Z axis synchronous pulley rotation of the second servo motor driving, in turn
The movement of Z axis synchronous belt, the first Z axis sliding block 3 being fixed on Z axis synchronous belt is driven to be moved back and forth therewith in Z-direction, and the
One Z axis sliding block 3 on the first Z axis sliding slot 4, can move back and forth, such first again with 4 X-direction of the first Z axis sliding slot
Z axis sliding block 3 can do moving back and forth for X-axis and Z-direction, and the first Y-axis sliding slot 6 is fixed on the first Z axis sliding block 3, this
The first Y-axis of sample sliding slot 6 can also do moving back and forth for X-axis and Z-direction, a pair of of Y-axis synchronous pulley of third servo motor driving
Movement, and then the movement of Y-axis synchronous belt is driven, the first Y-axis sliding block 5 is moved back and forth in Y direction therewith, and the first Y-axis sliding block 5
Positioned at the first Y-axis sliding slot 6, such first Y-axis sliding block 5 can do moving back and forth for X-axis, Y-axis and Z-direction, to realize
Linear motion of the first Y-axis sliding block 5 in three dimensions is a wide range of, the 4th servo motor drives the rotation of X-axis lead screw, and then drives
Second X-axis slide block, 7 X-direction moves back and forth, and the 5th servo motor drives the rotation of Z axis lead screw, and then the second Z axis is driven to slide
10 Z-direction of block moves back and forth, and the second Z axis sliding slot 11 is fixed in the second X-axis slide block 7, can do X-direction therewith
It moves back and forth, the second Z axis sliding block 10 can thus be made to do moving back and forth for X-axis and Z-direction, the 6th servo motor drives Y
Axial filament bar rotates, and then the second Y-axis sliding block 12 is driven to be moved back and forth in Y direction, and the second Y-axis sliding block 12 can be with second
Z axis sliding block 10 moves, to realize the second Y-axis sliding block 12 in the linear motion of three dimensions a small range, the 7th servo motor
14 driving worm screws 16 rotate, and worm screw 16 drives worm gear 15 to move, it is final realize worm gear 15 in three dimensions position it is a wide range of
It adjusts and finely tunes.
Using this technical solution, the first X-axis slide rail component and the first X-axis slide block 1, the first Z axis slide rail component and the first Z
Axis sliding block 3 and the first Y-axis slide track component and the first Y-axis sliding block 5 are used cooperatively, and it is big in three dimensions that welding unit may be implemented
Linear motion in range, and the second X-axis slide rail component and the second X-axis slide block 7, the second Z axis slide rail component and the second Z axis sliding block
10 and second Y-axis slide track component and the second Y-axis sliding block 12 be used cooperatively, welding unit may be implemented in three dimensions small range
Interior linear motion is finely adjusted the spatial position of welding unit, and worm gear 15 and worm screw 16 are used cooperatively, and may be implemented to weld
The deflection and pitching of order member finally enable welding unit accurately reach commissure and are subjected to, to realize big model
Welding operation in enclosing, while improving welding precision.
In another technical solution, the welding unit includes：Welding gun 17, wire feeder and the source of welding current, the weldering
Rifle 17 is connect by connecting rod 18 with the shaft of the worm gear 15, and the wire feeder and the source of welding current are each attached to described
On pedestal.Welding gun 17 connects the linear motion that welding gun 17 can be made to do three dimensions with worm gear 15 with the shaft of worm gear 15, and
It can deflect and pitching, welding gun 17 is enable accurately to reach commissure, complete welding operation.
In another technical solution, described control unit includes：Controller controls the dynamic component, described send
The operation of silk mechanism and the source of welding current.The automation and intelligence of three-dimensional welding robot may be implemented in controller.
In another technical solution, described control unit further includes：
Weld information acquisition module is used to obtain position while welding, size and shape information；
Welding torch position acquisition module is used to obtain the spatial positional information of welding gun；
Weld task planning module formulates welding procedure according to position while welding, size and shape information；
Path of welding planning module formulates path of welding according to the spatial positional information of welding procedure and welding gun；
Welding parameter setup module sets welding parameter according to path of welding；
Welding processing file module is generated, the welding parameter set is converted into the language that controller can identify,
Welding processing file is generated, and is transported in controller.
Using this technical solution, control unit can provide welding processing file to controller well, to realize weldering
Connect the automation of operation.
In another technical solution, the first servo motor, second servo motor, third servo electricity
Machine, the 4th servo motor, the 5th servo motor, the 6th servo motor and the 7th servo motor 14 are equal
For DC servo motor.For DC servo motor compares AC servo motor, small, light weight can mitigate three-dimensional weldering
The load of welding robot enables three-dimensional welding robot is more flexible to stably accomplish welding operation.
In another technical solution, the worm screw 16 is cylindrical worm.Cylindrical worm is most commonly seen worm screw type,
It is easy to get, it is cheap, advantageously reduce the manufacturing cost of three-dimensional welding robot.
Number of devices and treatment scale described herein are the explanations for simplifying the present invention.To three-dimensional welding of the present invention
The application of robot, modifications and variations will be readily apparent to persons skilled in the art.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (6)
1. three-dimensional welding robot, including：Welding unit, moving cell and control unit, which is characterized in that the moving cell
Including：
Pedestal；
First X-axis slide rail component and the first X-axis slide block, the first X-axis slide rail component are arranged on the pedestal, and described first
X-axis slide rail component includes：Horizontally disposed first X-axis sliding slot, the closure X-axis being rotatably provided on the first X-axis sliding slot
Synchronous belt, a pair of of X-axis synchronous pulley are distributed in the both ends of the first X-axis sliding slot and are engaged with the X-axis synchronous belt, X-axis
The axis horizontal of synchronous pulley is arranged, and first X-axis slide block is fixed on the X-axis synchronous belt；
First Z axis slide rail component and the first Z axis sliding block, the first Z axis slide rail component include：The first Z axis being vertically arranged is slided
Slot, the closure Z axis synchronous belt being rotatably provided on the first Z axis sliding slot, the bottom end of the first Z axis sliding slot is fixed on institute
It states in the first X-axis slide block, a pair of of Z axis synchronous pulley is distributed in both ends of the first Z axis sliding slot and synchronous with the Z axis
Band engagement, the axis horizontal setting of Z axis synchronous pulley and vertical with the axis of X-axis synchronous pulley, the first Z axis sliding block is solid
It is scheduled on the Z axis synchronous belt；
First Y-axis slide track component and the first Y-axis sliding block, the first Y-axis slide track component include：Horizontally disposed first Y-axis is slided
Slot, the closure Y-axis synchronous belt being rotatably provided on the first Y-axis sliding slot, the first Y-axis sliding slot and first X-axis
Sliding slot and the first Z axis sliding slot are vertical, and one end of the first Y-axis sliding slot is fixed on the first Z axis sliding block, a pair of
Y-axis synchronous pulley is distributed in the both ends of the first Y-axis sliding slot and is engaged with Y-axis synchronous belt, the axis of Y-axis synchronous pulley
Horizontally disposed and parallel with the axis of Z axis synchronous pulley, the first Y-axis sliding block is fixed on the Y-axis synchronous belt；
Second X-axis slide rail component and the second X-axis slide block, the second X-axis slide rail component are fixed on the first Y by connecting plate
The bottom of axis sliding block, the second X-axis slide rail component include：Horizontally disposed second X-axis sliding slot is rotatably disposed in described
X-axis lead screw on two X-axis sliding slots, the second X-axis sliding slot is parallel with the first X-axis sliding slot, and second X-axis slide block is arranged
On the X-axis lead screw；
Second Z axis slide rail component and the second Z axis sliding block, the second Z axis slide rail component include：The second Z axis being vertically arranged is slided
Slot, the Z axis lead screw being rotatably disposed on the second Z axis sliding slot, the top of the second Z axis sliding slot are fixed on described second
In X-axis slide block, the second Z axis sliding block is set on the Z axis lead screw；
Second Y-axis slide track component and the second Y-axis sliding block, the second Y-axis slide track component include：Horizontally disposed second Y-axis is slided
Slot, the Y-axis lead screw being rotatably disposed on the second Y-axis sliding slot, the second Y-axis sliding slot and the second X-axis sliding slot and
The second Z axis sliding slot is vertical, and one end of the second Y-axis sliding slot is fixed on the second Z axis sliding block, the 2nd Y
Axis sliding block is set on the Y-axis lead screw；
Dynamic component comprising：First servo motor that output shaft is fixed on an X-axis synchronous pulley, output shaft are fixed on
The second servo motor, output shaft on one Z axis synchronous pulley be fixed on third servo motor on a Y-axis synchronous pulley,
The 5th servo motor that the 4th servo motor that output shaft is connect with the X-axis lead screw, output shaft are connect with the Z axis lead screw,
The 6th servo motor that output shaft is connect with the Y-axis lead screw and what is be fixed in the second Y-axis slider top the 7th watch
Take motor；
Worm gear and worm screw, the worm screw pass through the bottom of the second Y-axis sliding slot to connect with the output shaft of the 7th servo motor
It connecing, the bottom of the second Y-axis sliding slot is provided with strip hole, so that the worm screw moves back with the second Y-axis sliding block, it is described
Worm gear is engaged with the worm screw.
2. three-dimensional welding robot as described in claim 1, which is characterized in that the welding unit includes：Welding gun, wire-feed motor
Structure and the source of welding current, the welding gun are connect by connecting rod with the shaft of the worm gear, the wire feeder and welding electricity
Source is each attached on the pedestal.
3. three-dimensional welding robot as claimed in claim 2, which is characterized in that described control unit includes：Controller, control
Make the operation of the dynamic component, the wire feeder and the source of welding current.
4. three-dimensional welding robot as claimed in claim 3, which is characterized in that described control unit further includes：
Weld information acquisition module is used to obtain position while welding, size and shape information；
Welding torch position acquisition module is used to obtain the spatial positional information of welding gun；
Weld task planning module formulates welding procedure according to position while welding, size and shape information；
Path of welding planning module formulates path of welding according to the spatial positional information of welding procedure and welding gun；
Welding parameter setup module sets welding parameter according to path of welding；
Welding processing file module is generated, the welding parameter set is converted into the language that controller can identify, is generated
Welding processing file, and be transported in controller.
5. three-dimensional welding robot as described in claim 1, which is characterized in that the first servo motor, described second are watched
Take motor, the third servo motor, the 4th servo motor, the 5th servo motor, the 6th servo motor with
And the 7th servo motor is DC servo motor.
6. three-dimensional welding robot as described in claim 1, which is characterized in that the worm screw is cylindrical worm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022077665A1 (en) * | 2020-10-15 | 2022-04-21 | 苏州莱锦机电自动化有限公司 | Electromechanical automatic welding device |
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