CN108907410A - A kind of stable robot wire feed system - Google Patents
A kind of stable robot wire feed system Download PDFInfo
- Publication number
- CN108907410A CN108907410A CN201810889637.9A CN201810889637A CN108907410A CN 108907410 A CN108907410 A CN 108907410A CN 201810889637 A CN201810889637 A CN 201810889637A CN 108907410 A CN108907410 A CN 108907410A
- Authority
- CN
- China
- Prior art keywords
- wire
- axis
- welding
- feed
- welding gun
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of stable robot wire feed systems, it is characterised in that：The robot wire feed system includes sequentially connected axis pedestal, an axis rotating seat, two axis, three axis, four axis, five axis, six axis, welding gun；Every shaft connection place is fitted with speed reducer；It further include the welding wire conduit of the wire-feed motor being installed between three axis and four axis, the wire tray box being mounted on two axis and the connection wire-feed motor and wire tray box, the welding wire catheter interior has welding wire；The wire tray box is that circle is box-like, is installed on tossing about for two spindle motors, and the wire tray box upper side has the wire vent nozzle for passing through welding wire.The present invention is by forming the organic coordination of the multiple technologies means such as stall motor and the cooperation of wire tray box, the utilization of the interface flexibility of push pull wire feeder and welding gun, the built-in structure of welding gun, miniature wire-feed motor, it reduces welding wire and rocks frequency as caused by robot motion, keep wire feed more stable, weld seam is firm and beautiful.
Description
Technical field
The present invention relates to the wire feed system of welding robot, in particular to a kind of stable welding robot wire feed system.
Background technique
Arc welding robot is the highest six-shaft industrial robot of required precision in current industry, and path accuracy and repetition are fixed
Position precision is all the important reference indicator for evaluating its performance.Therefore it needs a kind of co-ordination and to stablize the arc-welding machine of wire feed
People's wire feed system could improve its precision level.
Arc welding robot main composition part is divided into body part and welding machine part, also has partial monopoly document to disclose
The feature of some welding robots, such as Chinese patent CN107598433A disclose a kind of automatic welding machine people, including
Robotic arm, plumb joint and wire feeder are provided with spiral helicine lines on the tube wall of the delivery pipe, and the entrance of delivery pipe is set
It is equipped with wire feeder, the wire feeder is mounted on index arm comprising movable pulley and quiet pulley, the movable pulley pass through wire feed
Motor drives rotation, clamps welding wire between movable pulley and quiet pulley, is both provided on the wheel face of movable pulley and quiet pulley around one
The V-groove in week, the two sides of V-groove are provided with symmetrical roller.Chinese patent CN206779755U discloses a kind of novel welding
Robot, structure include robot base, floating bearing, decelerating motor, robot, laser displacement sensor, welding gun, wire feed
Machine, servo motor, wire reel, robot base top are equipped with floating bearing, and robot base is vertically fixed on floating bearing,
Robot, robot and floating bearing are equipped with above robot base using interference fit, robot top is equipped with wire-feed motor, machine
Device people and wire-feed motor are gap-matched；Robot is equipped with welding gun, robot and welding gun using interference fit, and laser displacement passes
Sensor is set to robot interior.CN205218356U discloses a kind of pocket joint welding robot, including fixed clamping dress
It sets, waist swing mechanism and mechanical arm, the waist swing mechanism are fixed on above the fixed gripping mechanism, the waist time
It is connect by swivel base with one end of the mechanical arm above rotation mechanism, the other end of the mechanical arm connects welding gun seat；The machine
People further includes wire feeder, and the wire feeder includes pad and wire feed guide wheel.
But usually there are the following problems for popular arc welding robot：
First, wire tray case assembly is installed on an axis rotating seat, is in linkage status with an axis rotating seat, when robot transports
Turn two axis and its when with upper joint, different degrees of stretching can occur for welding wire.Meanwhile it is long to be suspended in aerial welding wire conduit, itself fortune
The vibration and its acceleration for changing the line of production raw make welding wire conduit in continuous whipping in the air, and the internal welding wire high frequency passed through is caused to shake
It swings, causes the problem of welding wire positional shift and wire feed rate unevenness, to influence the effect of wire feed, and then influence the jail of weld seam
Solidity.
Second, in general, install European damping inside existing arc welding robot wire tray box, by control internal compression spring come
Cooperate wire feed rate, it is ensured that welding wire will not cause wire vent difficult in wire vent because welding wire is loose.But it is described to welding wire receipts
When tight effect only occurs in positive wire feed, and when wire vent it is excessive, need reversely to receive silk, then welding wire can not be tightened, Zhi Nengsong
It is deposited in wire tray box scatteredly, it is likely that will cause wire vent difficulty.Also, the speed and length of wire vent can not precise quantification, very
The problem inaccurate with wire vent length it is possible that wire vent is obstructed.
Third, general arc welding robot are equipped with wire-feed motor, continue wire feeding mode using constant speed, but because of itself scrambling
Feature can not reduce the spatter loss coefficient of welding, it is necessary to allow gas shield welding molten drop to become regular.
4th, external welding gun is the common assembly method of arc welding robot, the seal wire nozzle company out of welding gun tail portion and wire-feed motor
It connects, welding gun copperhead is packed into wire-feed motor and is gone out in seal wire nozzle copperhead, is locked copperhead with screw, the tail portion of welding gun is made to be in fixing shape
State, and welding gun front position remains with the movement in five or six joints and is distorted, stretches, and be easy to cause gun hose and letter
The fracture of number line.In addition, external gun hose part distorts in the sky and whipping, wire feed effect is more influenced, reduces welding gun
Service life.
5th, gun hose can not accomplish the state being straightened completely, while welding wire catheter diameter is deposited with gage of wire size
In certain gap, this state not being straightened and certain gap to have existed certain distortion in welding wire conduit, institute
With when welding gun stretches, welding wire is exposed to the length outside pipette tips, and when welding gun bending, then welding wire is exposed to pipette tips
The phenomenon that external length shortens, and the length that the welding wire stretches out pipette tips changes with the variation of robot operating posture
Especially have outstanding performance in argon arc welding, and this phenomenon centainly will affect wire melting effect, directly translate into weld seam unsightly,
Not prison welding is leaned on.
Based on above-mentioned technical problem, this popular arc welding robot wire feed system not can guarantee welding effect, for
For user, seeking a arc welding robot wire feed system that can accomplish that wire feed is more stable is its final pursuit, and this
The main contents of invention.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of stable robot wire feed systems.The present invention will be by that will block up
Rotating motor and the cooperation of wire tray box, the interface flexibility of push pull wire feeder and welding gun, the built-in structure of welding gun, the fortune of miniature wire-feed motor
With etc. multiple technologies means organic coordination composition, design it is a kind of can stablize wire feed welding robot.
The technical solution adopted by the present invention is that：A kind of stable robot wire feed system, it is characterised in that：The robot
Wire feed system includes sequentially connected axis pedestal, an axis rotating seat, two axis, three axis, four axis, five axis, six axis, welding gun；Every axis
Junction is fitted with speed reducer；The robot wire feed system further includes the wire-feed motor being installed between three axis and four axis, peace
The welding wire conduit of wire tray box and the connection wire-feed motor and wire tray box on two axis, the welding wire catheter interior
With welding wire；The wire tray box is that circle is box-like, is installed on tossing about for two spindle motors, and the wire tray box upper side has for passing through
The wire vent nozzle of welding wire.
Further, the inner hub location of the wire tray box has axis body, and the axis body includes to be fixed on wire tray box
Central spindle and axle sleeve around central spindle rotation, the wire reel in the wire tray box are fixed on the axle sleeve, connect on the axle sleeve
Have when positive wire vent or it is reversed receive silk when guarantee welding wire wrap tightly wire reel keep wire vent smooth and can precisely quantify wire vent speed and
The stall motor of length.
Further, the robot wire feed system further includes miniature wire-feed motor and AC servo motor, described miniature to send
Silk machine is fixed on five axis by mounting plate, the AC servo electricity direct-connected with miniature wire-feed motor of the AC servo motor
Arbor passes through the rotation of wire feed rolls of the flat key directly with actuating miniature wire-feed motor.The miniature wire-feed motor includes motor and is sleeved on electricity
Wire feed rolls on arbor.
Further, the welding gun uses internal hidden type structure, and welding gun tail portion connects the wire vent nozzle of wire-feed motor, and passes through three
Axis, four axis, five axis, the welding gun front end are pierced by from six axis centers.
Further, the stall motor, wire-feed motor, the signal of AC servo motor are synchronous, the AC servo motor
Wire vent length, wire vent speed with miniature wire-feed motor control welding wire are accurate definite value.
Further, the wire feed nozzle of the wire-feed motor and the interface of welding gun tail portion are multipurpose rotary structure and in centre have
Hole, the welding wire come out from the wire feed nozzle pass through inner hole and enter in welding gun tail portion, send using miniature wire-feed motor to welding gun
Front end, when the operating of welding gun front end, welding gun tail portion also operates therewith.
Further, as a kind of optional embodiment of the present invention, the multipurpose rotary structure is conducting slip ring, described
The center of conducting slip ring, which has, is used to pass through the through-hole of welding wire, the conducting slip ring be used to connect the wire feed nozzle of the wire-feed motor with
The electric current of the interface two sides cable of welding gun tail portion.
As a kind of optional embodiment of the present invention, wire feed nozzle is connect with welding gun tail portion by the bearing rotated；It is described
Wire feed nozzle, the welding gun tail portion outer ring that connecting shaft is held respectively, inner ring or the wire feed nozzle, the welding gun tail portion connect respectively
The inner ring of joint bearing, outer ring；The bearing is conductive bearing, electric for the two sides of interface of wire feed nozzle and welding gun tail portion are connected
The electric current of cable.
As a kind of optional embodiment of the present invention, the bearing is rolling bearing, the inner ring of the bearing, outer ring,
Rolling member between Internal and external cycle is metal good conductor, and the rolling member is spin or roller, and the lubricant of bearing is to lead
Electro-graphitic.
Further, the inner ring of the bearing, outer as a preferred embodiment, the bearing is rolling bearing
Circle is double-layer structure, and the inner ring of the bearing, the main body of outer ring are steel material, the outer wall of the inner ring of the bearing, the bearing
The inner wall of outer ring inlay or be coated with certain thickness metallic copper or copper alloy, the rolling member between the Internal and external cycle of the bearing
It is metallic copper or copper alloy, the rolling member is spin or roller, and the lubricant of the bearing is electrically conductive graphite.
As a kind of optional embodiment of the present invention, the bearing is sliding bearing, and the inner ring of the bearing, outer ring are equal
For metal good conductor, multiple depressions or cavity, the depression or sky are evenly distributed on the outer wall of the inner ring of the sliding bearing
Electrically conductive graphite is filled in hole.
Further, as a preferred embodiment, the bearing be sliding bearing, the sliding bearing it is interior
Circle, outer ring are double-layer structure, the inner ring of the bearing, outer ring main body be steel material, it is the outer wall of the inner ring of the bearing, described
Certain thickness metallic copper or copper alloy are inlayed or be coated with to the inner wall of the outer ring of bearing, and the outer wall of the inner ring of the bearing uniformly divides
It is furnished with multiple depressions or cavity, the depression or filled in cavities have electrically conductive graphite.
Further, the wire-feed motor is push pull wire feeder, and control welding wire is sent by certain frequency and step pitch to molten bath
Into the droplet transfer is forced, the frequency of transition is equal to the frequency of push-pull wire feeding.
Further, the wire tray box is tightly locked on two axis by wire tray box mounting kit, and the wire tray box is fixed on peace
On assembling kit.
Further, the side of the wire tray box has the baffle with fixed guide frame welding cable, and the baffle, which has, to be used
To pass through the circular hole of cable.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) robot wire feed system provided by the invention, wire tray box are mounted on two axis, shorten the length of external welding wire,
Reduce that welding wire is skyborne rocks degree.Most importantly wire feed is stablized：Because most of wire tray box is mounted in one in the prior art
Axis, and an axis significantly rotates in the horizontal direction, two axis significantly rotate in the vertical direction, in this way, the welding wire in wire feed box
A large amount of movements are not only generated in the horizontal direction, but also also generate a large amount of displacements in the vertical direction, and welding wire is caused to be easy to be drawn
It pulls and distorts；And in the present invention, and wire tray is box-packed on two axis, an axis is compared, position into silk mouth of two wheelbases from wire-feed motor
The traveled distance for so shortening filament mouth apart from shorter to welding wire between wire-feed motor is set, and is not present when robot operating
The case where welding wire stretches, is reduced welding wire and is rocked frequency as caused by robot motion, keep wire feed more stable.
(2) robot wire feed system steadily of centre of gravity provided by the invention, by two spindle motor of wire tray box device in the present invention
It tosses about, by wire tray box and motor point according in the two sides of two axis, carrys out the weight of balance motor to two axis by the weight of wire tray box
It influences, so that the operating of two axis is more steady, further improves the stability of wire feed and welding.
(3) wire feed is carried out equipped with stall motor in the center of robot wire feed system provided by the invention, wire tray box, instead of
Traditional damping unit, so that welding wire all will not be loose in forward and reverse wire feed：Speed is steady when positive wire vent and welding wire wraps tightly
In wire reel, continual and steady wire vent；When needing reversed receipts silk, it can equally guarantee that welding wire is tightly rolled on wire reel.Together
When, moreover it is possible to wire vent process is subjected to quantum chemical method, guarantees more accurate wire vent length and wire vent speed.And conventional damper is then
Without this function.
(4) robot wire feed system provided by the invention makes gas shield welding molten drop become have rule using push pull wire feeder
Rule, greatly reduces the spatter loss coefficient of welding, improves the stability of wire feed.
(5) robot wire feed system provided by the invention, welding gun tail portion are connected by rotary part with wire-feed motor wire vent nozzle,
When the operating of welding gun front end, welding gun tail portion also can flexibly operate therewith, reduce the degreeof tortuosity of gun hose part, improve welding gun
The service life used.
(6) robot wire feed system provided by the invention, it is logical with the wire feed nozzle of wire-feed motor and the interface two sides of welding gun tail portion
Conductive swivel bearing connection is crossed, bearing inner race and outer ring directly have biggish contact area, both guaranteed wire feed nozzle and welding gun
Tail portion can be even more with Arbitrary Rotation, such as 720 ° of rotation, and can guarantee the conducting of two sides cable, and electric current is stablized logical
It crosses, guarantees the stability of wire feed.And traditional approach is directly connected to using cable, on the one hand rotates limited angle, is on the other hand revolved
Cable pulls the stability that also will affect welding wire when turning, furthermore, cable due to distorting repeatedly for a long time, also can fatigue and
Loss, reduces the service life of cable, and will affect the stability of welding machine robot work.
(7) robot wire feed system provided by the invention, the inner ring of the bearing of the interface of wire feed nozzle and welding gun tail portion with
The contact surface of outer ring is adopted as copper material or Copper alloy material, and electric conductivity is more preferable, and electric current is more stable.
(8) using for the bearing of the interface of robot wire feed system provided by the invention, wire feed nozzle and welding gun tail portion is rolled
Dynamic bearing, multiple balls or roller carry out an even contact in the inner ring and outer ring of bearing, and electric current stabilization passes through, and guarantee wire feed
Stability；And compared with sliding bearing and conducting slip ring, keep the flexibility of welding gun more preferable, resistance is small, thus sensitivity is more preferable,
Welding gun more can be accurately controlled, guarantees its stability and precision.
(9) AC servo motor and miniature wire-feed motor are installed in robot wire feed system provided by the invention, five axle portion positions, will
Stall motor, push pull wire feeder, AC servo motor signal are synchronous, are precisely controlled the wire vent length of welding wire, make welding gun front end
The wire vent length of welding wire will not be affected because robot operates the variation of posture, improve the stability of wire feed, so that welding
Stronger and weld seam is more beautiful, this advantage is reflected more clearly in argon arc welding.Robot wire feed system of the invention,
Even welding wire rear end is distorted and is pullled, and under the action of miniature wire-feed motor, will not influence the stabilization of front end welding wire
Property and accuracy.And traditional welding machine robot, then the not no miniature wire-feed motor of front end, in welding gun operating, welding wire rear end
The stability for influencing whether the front end of welding wire is pullled and distorted, causes welding effect not high.
(10) robot wire feed system provided by the invention, the welding gun use internal hidden type structure, and welding gun passes through three axis, four
Axis, five axis, and be pierced by from six axis centers, the cable run distance of such welding wire is shorter, and the stroke of welding wire is more stable and safe,
Also the service life of welding wire is improved.
(11) robot wire feed system provided by the invention has the baffle with cable in the side of wire tray box, in this way, weldering
The again more supporting points of cable are connect, the amplitude of vibration is reduced.
(12) robot wire feed system provided by the invention, weld seam is firm and beautiful, and stable wire feed can weld workpiece
Set welding effect out, weld seam are in place, firm and beautiful.
Detailed description of the invention
Fig. 1 is robot wire feed system the structure left view of the invention；
Fig. 2 is robot wire feed system structure rearview of the invention；
Fig. 3 is that wire tray case assembly installs detail view in the present invention；
Fig. 4 is the wire feed nozzle of wire-feed motor in the present invention and the structural schematic diagram of welding gun tail portion interface；
Fig. 5 is the scheme of installation of AC servo motor and miniature wire-feed motor in the present invention；
Fig. 6 is the mounting structure schematic diagram of the miniature wire-feed motor in the present invention；
Appended drawing reference is as follows in figure：One axis pedestal 1, an axis rotating seat 2, two axis 3, three axis 4, four axis 5, five axis 6, six axis 7,
Welding gun 8, wire-feed motor 9, welding wire conduit 10, wire tray box 11, stall motor 12, miniature wire-feed motor 13, mounting kit 14, wire feed nozzle
15, welding gun tail portion 16, bearing 17, AC servo motor 18, mounting plate 19, wire feed rolls 20, baffle 21, cable 22.
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
Embodiment 1
As shown in Figure 1 and Figure 2, a kind of stable robot wire feed system, which includes sequentially connected
One axis pedestal 1, an axis rotating seat 2, two axis 3, three axis 4, four axis 5, five axis 6, six axis 7, welding gun 8；Every shaft connection place is fitted with
Speed reducer；The silk that robot wire feed system further includes the wire-feed motor 9 being installed between three axis 4 and four axis 5, is mounted on two axis 3
Tray salver 11 and the welding wire conduit 10 for connecting wire-feed motor 9 and wire tray box 11, have welding wire inside welding wire conduit 10；Wire tray box 11
It is box-like for circle, it is installed on tossing about for two axis, 3 motor, 11 upper side of wire tray box has the wire vent nozzle for passing through welding wire.
As shown in figure 3, the inner hub location of wire tray box 11 has axis body, axis body includes the central spindle for being fixed on wire tray box 11
With the axle sleeve around central spindle rotation, the wire reel in wire tray box 11 is fixed on axle sleeve, is connected on axle sleeve to propeller shaft sleeve
Stall motor 12, when positive wire vent or it is reversed receive silk when, can guarantee that welding wire wraps tightly wire reel, guarantee that wire vent is smooth, Er Qieneng
The precisely speed and length of quantization wire vent, it is ensured that welding effect.
As shown in Figure 5, Figure 6, robot wire feed system further includes miniature wire-feed motor 13 and AC servo motor 18, miniature to send
Silk machine 13 is fixed on five axis 6 by mounting plate 19, the AC servo electricity direct-connected with miniature wire-feed motor 13 of AC servo motor 18
18 axis of machine passes through the rotation of wire feed rolls of the flat key directly with actuating miniature wire-feed motor 13.Miniature wire-feed motor 13 includes motor and is sleeved on
Wire feed rolls 20 on motor shaft.
Welding gun 8 uses internal hidden type structure, and welding gun tail portion 16 connects the wire vent nozzle 15 of wire-feed motor 9, and passes through three axis 4, four axis
5, five axis 6,8 front end of welding gun are pierced by from six axis, 7 center.Stall motor 12, wire-feed motor 9, the signal of AC servo motor 18 are synchronous,
AC servo motor 18 and miniature wire-feed motor 13 control the wire vent length of welding wire, wire vent speed is accurate definite value.Concretely,
To reach set objective, theoretical wire vent length, wire vent speed and wire feed pressure value can be designed in program in advance.
Wire-feed motor 9 is push pull wire feeder, and control welding wire is sent into molten bath by certain frequency and step pitch and forces molten drop mistake
It crosses, the frequency of transition is equal to the frequency of push-pull wire feeding.Tightly lock is on two axis 3 by wire tray box mounting kit 14 for wire tray box 11, silk
Tray salver 11 is fixed on mounting kit 14.The side of wire tray box 11 has the baffle 21 with fixed guide frame welding cable 22, baffle
21 have the circular hole to pass through cable.
The wire feed nozzle 15 of wire-feed motor 9 and the interface of welding gun tail portion 16 are multipurpose rotary structure and there is inner hole in centre, from wire feed
The welding wire that nozzle 15 comes out passes through inner hole and enters in welding gun tail portion 16, send using miniature wire-feed motor 13 to the front end of welding gun 8, when
When welding gun front end operates, welding gun tail portion 16 also operates therewith.
Refering to what is shown in Fig. 4, wire feed nozzle 15 is connect with welding gun tail portion 16 by the bearing 17 of rotation；Wire feed nozzle 15, welding gun tail
Portion 16 is separately connected outer ring, inner ring or the wire feed nozzle 15 of bearing 17, welding gun tail portion 16 is separately connected the inner ring, outer of bearing 17
Circle；Bearing 17 is conductive bearing, for the electric current of wire feed nozzle 15 with the two sides cable of the interface of welding gun tail portion 16 is connected.
In the present embodiment, bearing 17 is rolling bearing, and the inner ring of bearing, outer ring, the rolling member between Internal and external cycle are equal
For metal good conductor, rolling member is spin or roller, and the lubricant of bearing is electrically conductive graphite.
Embodiment 2
As shown in Figure 1 and Figure 2, a kind of stable robot wire feed system, which includes sequentially connected
One axis pedestal 1, an axis rotating seat 2, two axis 3, three axis 4, four axis 5, five axis 6, six axis 7, welding gun 8；Every shaft connection place is fitted with
Speed reducer；The silk that robot wire feed system further includes the wire-feed motor 9 being installed between three axis 4 and four axis 5, is mounted on two axis 3
Tray salver 11 and the welding wire conduit 10 for connecting wire-feed motor 9 and wire tray box 11, have welding wire inside welding wire conduit 10；Wire tray box 11
It is box-like for circle, it is installed on tossing about for two axis, 3 motor, 11 upper side of wire tray box has the wire vent nozzle for passing through welding wire.
In the present embodiment, bearing 17 is rolling bearing, and the inner ring of bearing, outer ring are double-layer structure, the inner ring of bearing, outer
The main body of circle is steel material, and certain thickness metallic copper is inlayed or are coated with to the outer wall of the inner ring of bearing, the inner wall of the outer ring of bearing
Or copper alloy, the rolling member between the Internal and external cycle of bearing are metallic copper or copper alloy, rolling member is spin or roller, axis
The lubricant held is electrically conductive graphite.The structure and function of other component is the same as embodiment 1.
Embodiment 3
As shown in Figure 1 and Figure 2, a kind of stable robot wire feed system, which includes sequentially connected
One axis pedestal 1, an axis rotating seat 2, two axis 3, three axis 4, four axis 5, five axis 6, six axis 7, welding gun 8；Every shaft connection place is fitted with
Speed reducer；The silk that robot wire feed system further includes the wire-feed motor 9 being installed between three axis 4 and four axis 5, is mounted on two axis 3
Tray salver 11 and the welding wire conduit 10 for connecting wire-feed motor 9 and wire tray box 11, have welding wire inside welding wire conduit 10；Wire tray box 11
It is box-like for circle, it is installed on tossing about for two axis, 3 motor, 11 upper side of wire tray box has the wire vent nozzle for passing through welding wire.
In the present embodiment, bearing 17 is sliding bearing, and the inner ring of bearing, outer ring are metal good conductor, sliding bearing
Inner ring outer wall on be evenly distributed with multiple depressions or cavity, depression or filled in cavities have electrically conductive graphite.Other component
Structure and function is the same as embodiment 1.
Embodiment 4
As shown in Figure 1 and Figure 2, a kind of stable robot wire feed system, which includes sequentially connected
One axis pedestal 1, an axis rotating seat 2, two axis 3, three axis 4, four axis 5, five axis 6, six axis 7, welding gun 8；Every shaft connection place is fitted with
Speed reducer；The silk that robot wire feed system further includes the wire-feed motor 9 being installed between three axis 4 and four axis 5, is mounted on two axis 3
Tray salver 11 and the welding wire conduit 10 for connecting wire-feed motor 9 and wire tray box 11, have welding wire inside welding wire conduit 10；Wire tray box 11
It is box-like for circle, it is installed on tossing about for two axis, 3 motor, 11 upper side of wire tray box has the wire vent nozzle for passing through welding wire.
In the present embodiment, bearing 17 is sliding bearing, and the inner ring of sliding bearing, outer ring are double-layer structure, bearing it is interior
Circle, outer ring main body be steel material, certain thickness gold is inlayed or are coated with to the outer wall of the inner ring of bearing, the inner wall of the outer ring of bearing
Belong to copper or copper alloy, the outer wall of the inner ring of bearing are evenly distributed with multiple depressions or cavity, depression or filled in cavities have conduction
Graphite.The structure and function of other component is the same as embodiment 1.
Embodiment 5
As shown in Figure 1 and Figure 2, a kind of stable robot wire feed system, which includes sequentially connected
One axis pedestal 1, an axis rotating seat 2, two axis 3, three axis 4, four axis 5, five axis 6, six axis 7, welding gun 8；Every shaft connection place is fitted with
Speed reducer；The silk that robot wire feed system further includes the wire-feed motor 9 being installed between three axis 4 and four axis 5, is mounted on two axis 3
Tray salver 11 and the welding wire conduit 10 for connecting wire-feed motor 9 and wire tray box 11, have welding wire inside welding wire conduit 10；Wire tray box 11
It is box-like for circle, it is installed on tossing about for two axis, 3 motor, 11 upper side of wire tray box has the wire vent nozzle for passing through welding wire.
In the present embodiment, as a kind of optional embodiment of the present invention, the wire feed nozzle 15 of wire-feed motor 9 and welding gun tail portion
16 interface is that multipurpose rotary structure is conducting slip ring, and the center of conducting slip ring has the through-hole for being used to pass through welding wire, and conduction is sliding
Ring is used to connect the electric current of the wire feed nozzle 15 of wire-feed motor 9 and the interface two sides cable of welding gun tail portion 16.The knot of other component
Structure and function are the same as embodiment 1.
The present invention is by by stall motor and the cooperation of wire tray box, the interface flexibility of push pull wire feeder and welding gun, welding gun
The organic coordination composition of the multiple technologies means such as the utilization of built-in structure, miniature wire-feed motor reduces welding wire since robot transports
Frequency is rocked caused by dynamic, keeps wire feed more stable.Weld seam is firm and beautiful.
The preferred embodiment of the present invention has shown and described in above description, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations, modification and
Environment, and can be changed within that scope of the inventive concept describe herein by the above teachings or related fields of technology or knowledge
It is dynamic.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be appended by the present invention
In scope of protection of the claims.
Claims (10)
1. a kind of stable robot wire feed system, it is characterised in that：The robot wire feed system includes sequentially connected one
Axis pedestal (1), an axis rotating seat (2), two axis (3), three axis (4), four axis (5), five axis (6), six axis (7), welding gun (8)；Every axis
Junction is fitted with speed reducer；The robot wire feed system further includes being installed between three axis (4) and four axis (5)
Wire-feed motor (9), the wire tray box (11) being mounted on two axis (3) and the connection wire-feed motor (9) and wire tray box (11)
Welding wire conduit (10), the welding wire conduit (10) is internal to have welding wire；The wire tray box (11) is that circle is box-like, is installed on two axis
(3) motor is tossed about, and wire tray box (11) upper side has the wire vent nozzle for passing through welding wire.
2. stable robot wire feed system according to claim 1, it is characterised in that：The inside of the wire tray box (11)
Center has axis body, and the axis body includes the axle sleeve for being fixed on the central spindle of wire tray box (11) and rotating around central spindle, described
Wire reel in wire tray box (11) is fixed on the axle sleeve, is connected on the axle sleeve when positive wire vent or is reversely received Si Shibao
Card welding wire, which wraps tightly wire reel, to be kept wire vent smooth and can precisely quantify the speed of wire vent and the stall motor (12) of length.
3. stable robot wire feed system according to claim 1, it is characterised in that：The robot wire feed system is also
Including miniature wire-feed motor (13) and AC servo motor (18), the miniature wire-feed motor (13) is fixed on five by mounting plate (19)
On axis (6), the AC servo motor (18) it is direct-connected with miniature wire-feed motor (13), AC servo motor (18) axis passes through
The rotation of the flat key directly wire feed rolls with actuating miniature wire-feed motor (13).
4. stable robot wire feed system according to claim 1, it is characterised in that：The welding gun (8) is using built-in
Formula structure, welding gun tail portion (16) connect the wire vent nozzle (15) of wire-feed motor (9), and pass through three axis (4), four axis (5), five axis (6), institute
Welding gun (8) front end is stated to be pierced by from six axis (7) center.
5. stable robot wire feed system according to claim 1, it is characterised in that：The stall motor (12) is sent
Silk machine (9), the signal of AC servo motor (18) are synchronous, the AC servo motor (18) and miniature wire-feed motor (13) control weldering
Wire vent length, the wire vent speed of silk are accurate definite value.
6. stable robot wire feed system according to claim 1-5, it is characterised in that：The wire-feed motor
(9) interface of wire feed nozzle (15) and welding gun tail portion (16) is multipurpose rotary structure and there is inner hole in centre, from the wire feed nozzle
(15) welding wire come out passes through inner hole and enters in welding gun tail portion (16), send using miniature wire-feed motor (13) to welding gun (8)
Front end, when the operating of welding gun front end, welding gun tail portion (16) also operate therewith.
7. stable robot wire feed system according to claim 6, it is characterised in that：Wire feed nozzle (15) and welding gun tail portion
(16) pass through bearing (17) connection of rotation；The wire feed nozzle (15), the welding gun tail portion (16) are separately connected bearing (17)
Outer ring, inner ring or the wire feed nozzle (15), the welding gun tail portion (16) are separately connected the inner ring of bearing (17), outer ring；It is described
Bearing (17) is conductive bearing, for the electric current of wire feed nozzle (15) with the interface two sides cable of welding gun tail portion (16) is connected.
8. stable robot wire feed system according to claim 7, it is characterised in that：The bearing (17) is the axis of rolling
It holds, the inner ring of the bearing, outer ring, the rolling member between Internal and external cycle are metal good conductor, and the rolling member is spin
Or roller, the lubricant of bearing are electrically conductive graphite.
9. stable robot wire feed system according to claim 7, it is characterised in that：The bearing (17) is sliding axle
It holds, the inner ring of the bearing, outer ring are metal good conductor, are evenly distributed on the outer wall of the inner ring of the sliding bearing multiple
Depression or cavity, the depression or filled in cavities have electrically conductive graphite.
10. stable robot wire feed system according to claim 6, it is characterised in that：The multipurpose rotary structure is
Conducting slip ring, the center of the conducting slip ring have the through-hole for being used to pass through welding wire, and the conducting slip ring is used to connect described send
The electric current of the interface two sides cable of the wire feed nozzle (15) and welding gun tail portion (16) of silk machine (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810889637.9A CN108907410B (en) | 2018-08-07 | 2018-08-07 | Stable robot wire feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810889637.9A CN108907410B (en) | 2018-08-07 | 2018-08-07 | Stable robot wire feeding system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108907410A true CN108907410A (en) | 2018-11-30 |
| CN108907410B CN108907410B (en) | 2023-10-13 |
Family
ID=64393709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810889637.9A Active CN108907410B (en) | 2018-08-07 | 2018-08-07 | Stable robot wire feeding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108907410B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623103A (en) * | 2019-01-31 | 2019-04-16 | 杭州凯尔达机器人科技股份有限公司 | Welding wire buffer device, welding robot and welding system |
| CN109746545A (en) * | 2019-03-21 | 2019-05-14 | 杭州凯尔达机器人科技股份有限公司 | Welding robot mounting structure and welding system |
| CN112620882A (en) * | 2020-12-29 | 2021-04-09 | 广州松兴电气股份有限公司 | Automatic switch over and send a welder's device |
| CN114378407A (en) * | 2021-12-31 | 2022-04-22 | 杭州凯尔达焊接机器人股份有限公司 | Variable damping formula silk dish fixing device and welding equipment |
| CN114523179A (en) * | 2022-01-25 | 2022-05-24 | 重庆凯安机电制造有限公司 | Intelligent welding mechanical arm for new energy automobile door |
| CN114905523A (en) * | 2022-04-11 | 2022-08-16 | 李跃武 | Five-axis welding robot |
| CN117020368A (en) * | 2023-10-07 | 2023-11-10 | 湖北亿广同盛科技有限公司 | Automatic welding robot for end beam of crane |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05177355A (en) * | 1991-12-02 | 1993-07-20 | Mitsubishi Materials Corp | Tig welding robot |
| JPH1133723A (en) * | 1997-07-16 | 1999-02-09 | Yaskawa Electric Corp | Device for transport of wire |
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| CN202571561U (en) * | 2012-04-20 | 2012-12-05 | 无锡市迪索数控焊接设备有限公司 | Welding wire winding prevention mechanism of automatic pipe plate welding machine for large wire disc |
| CN104759745A (en) * | 2015-04-10 | 2015-07-08 | 汪会义 | CO2 gas shielded welding gun |
| CN204673120U (en) * | 2015-06-05 | 2015-09-30 | 珠海格力电器股份有限公司 | Welding equipment |
| CN205218356U (en) * | 2015-12-01 | 2016-05-11 | 李迪 | Pocket joint welding robot |
| CN106238859A (en) * | 2016-08-05 | 2016-12-21 | 江苏现代造船技术有限公司 | A kind of boats and ships ferrum Xi part robot welding system |
| CN206464738U (en) * | 2017-01-13 | 2017-09-05 | 南京顶瑞电机有限公司 | Minisize self wire tray formula wire feed gas protective welding gun |
| CN208728879U (en) * | 2018-08-07 | 2019-04-12 | 南通振康机械有限公司 | A kind of stable robot wire feed system |
-
2018
- 2018-08-07 CN CN201810889637.9A patent/CN108907410B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05177355A (en) * | 1991-12-02 | 1993-07-20 | Mitsubishi Materials Corp | Tig welding robot |
| JPH1133723A (en) * | 1997-07-16 | 1999-02-09 | Yaskawa Electric Corp | Device for transport of wire |
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| CN202571561U (en) * | 2012-04-20 | 2012-12-05 | 无锡市迪索数控焊接设备有限公司 | Welding wire winding prevention mechanism of automatic pipe plate welding machine for large wire disc |
| CN104759745A (en) * | 2015-04-10 | 2015-07-08 | 汪会义 | CO2 gas shielded welding gun |
| CN204673120U (en) * | 2015-06-05 | 2015-09-30 | 珠海格力电器股份有限公司 | Welding equipment |
| CN205218356U (en) * | 2015-12-01 | 2016-05-11 | 李迪 | Pocket joint welding robot |
| CN106238859A (en) * | 2016-08-05 | 2016-12-21 | 江苏现代造船技术有限公司 | A kind of boats and ships ferrum Xi part robot welding system |
| CN206464738U (en) * | 2017-01-13 | 2017-09-05 | 南京顶瑞电机有限公司 | Minisize self wire tray formula wire feed gas protective welding gun |
| CN208728879U (en) * | 2018-08-07 | 2019-04-12 | 南通振康机械有限公司 | A kind of stable robot wire feed system |
Non-Patent Citations (1)
| Title |
|---|
| 贺文雄: "《焊接生产》", 哈尔滨工业大学出版社, pages: 3 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623103A (en) * | 2019-01-31 | 2019-04-16 | 杭州凯尔达机器人科技股份有限公司 | Welding wire buffer device, welding robot and welding system |
| CN109746545A (en) * | 2019-03-21 | 2019-05-14 | 杭州凯尔达机器人科技股份有限公司 | Welding robot mounting structure and welding system |
| CN112620882A (en) * | 2020-12-29 | 2021-04-09 | 广州松兴电气股份有限公司 | Automatic switch over and send a welder's device |
| CN114378407A (en) * | 2021-12-31 | 2022-04-22 | 杭州凯尔达焊接机器人股份有限公司 | Variable damping formula silk dish fixing device and welding equipment |
| CN114523179A (en) * | 2022-01-25 | 2022-05-24 | 重庆凯安机电制造有限公司 | Intelligent welding mechanical arm for new energy automobile door |
| CN114905523A (en) * | 2022-04-11 | 2022-08-16 | 李跃武 | Five-axis welding robot |
| CN117020368A (en) * | 2023-10-07 | 2023-11-10 | 湖北亿广同盛科技有限公司 | Automatic welding robot for end beam of crane |
| CN117020368B (en) * | 2023-10-07 | 2024-02-20 | 湖北亿广同盛科技有限公司 | Automatic welding robot for end beam of crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108907410B (en) | 2023-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108907410A (en) | A kind of stable robot wire feed system | |
| CN208728879U (en) | A kind of stable robot wire feed system | |
| CN109623103A (en) | Welding wire buffer device, welding robot and welding system | |
| CN103470693B (en) | Drag chain used for ultra-long three-coordinate measuring machine | |
| WO2020147151A1 (en) | Rotating arc sensor | |
| CN201034632Y (en) | Universal serial lever meter clamp | |
| CN112229298B (en) | Self-propelled slewing bearing tooth jump detection device | |
| CN212512839U (en) | Outer rotor motor casing detection device | |
| CN103424058B (en) | A kind of bearing holder (housing, cover) Endoporus measuring device | |
| CN205691045U (en) | Housing alley concentricity meter | |
| CN209036205U (en) | A kind of metal parts electroplating processes burnishing device | |
| CN205668075U (en) | A kind of charging ram End assemblies of oil-bath type feeder | |
| CN113548461B (en) | Automatic feeding device of pneumatic manipulator for sheet metal parts | |
| CN210465296U (en) | Rocker operating mechanism of endoscope | |
| CN208991762U (en) | A kind of numerically controlled lathe loading and unloading device | |
| CN210981077U (en) | Checking fixture for position degree of inner spherical surface of differential shell to reference straight hole | |
| CN209598391U (en) | Welding wire buffer unit, welding robot and welding system | |
| CN210070821U (en) | Bearing detection equipment | |
| CN203489853U (en) | Drag chain used for ultra-long type coordinate measuring machine | |
| CN213812009U (en) | Bearing physical parameter detection device | |
| CN205940622U (en) | Aerovane | |
| CN214583096U (en) | TIP head concentricity measuring device | |
| CN213275648U (en) | Rotary cup type rotor current meter suitable for low-current scene | |
| CN212963208U (en) | Follow-on high accuracy laser triangle displacement sensor structure | |
| CN210952750U (en) | Tapered roller bearing outer ring raceway measuring instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |