CN108907410B - Stable robot wire feeding system - Google Patents
Stable robot wire feeding system Download PDFInfo
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- CN108907410B CN108907410B CN201810889637.9A CN201810889637A CN108907410B CN 108907410 B CN108907410 B CN 108907410B CN 201810889637 A CN201810889637 A CN 201810889637A CN 108907410 B CN108907410 B CN 108907410B
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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
- 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
Abstract
The invention provides a stable robot wire feeding system, which is characterized in that: the robot wire feeding system comprises a first shaft base, a first shaft rotating seat, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft and a welding gun which are connected in sequence; a speed reducer is arranged at the joint of each shaft; the welding wire guide tube is internally provided with welding wires; the wire disc box is in a round box shape and is arranged on the opposite side of the two-shaft motor, and a wire outlet nozzle for penetrating through welding wires is arranged above the side of the wire disc box. According to the invention, through the organic coordination of a plurality of technical means such as the coordination of the locked rotor motor and the wire disc box, the flexible butt joint of the push-pull wire feeder and the welding gun, the built-in structure of the welding gun, the application of the miniature wire feeder and the like, the sloshing frequency of welding wires caused by the movement of a robot is reduced, the wire feeding is more stable, and the welding seam is firm and attractive.
Description
Technical Field
The invention relates to a welding robot wire feeding system, in particular to a stable welding robot wire feeding system.
Background
Arc welding robots are six-axis industrial robots with highest precision requirements in the industry at present, and track precision and repeated positioning precision are important reference indexes for evaluating the performance of the arc welding robots. Therefore, an arc welding robot wire feeding system capable of working cooperatively and stably feeding wires is needed to improve the precision level.
The arc welding robot mainly comprises a body part and a welding machine part, some patent documents disclose the characteristics of some welding robots, for example, chinese patent CN107598433A discloses an automatic welding robot, the automatic welding robot comprises a robot arm, a welding head and a wire feeding mechanism, spiral lines are arranged on the pipe wall of a conveying pipe, a wire feeding mechanism is arranged at the inlet of the conveying pipe, the wire feeding mechanism is arranged on a finger arm and comprises a movable pulley and a fixed pulley, the movable pulley is driven to rotate by a wire feeding motor, welding wires are clamped between the movable pulley and the fixed pulley, V-shaped grooves surrounding one circle are formed in the wheel surfaces of the movable pulley and the fixed pulley, and symmetrical rollers are arranged on two sides of each V-shaped groove. Chinese patent CN206779755U discloses a novel welding robot, the structure of which comprises a robot base, a swivel bearing, a gear motor, a robot, a laser displacement sensor, a welding gun, a wire feeder, a servo motor and a wire reel, the top of the robot base is provided with the swivel bearing, the robot base is vertically fixed on the swivel bearing, a robot is arranged above the robot base, the robot and the swivel bearing adopt interference fit, the top of the robot is provided with a wire feeder, and the robot and the wire feeder adopt clearance fit; be equipped with the welder on the robot, robot and welder adopt interference fit, and laser displacement sensor locates inside the robot. CN205218356U discloses a portable joint welding robot, which comprises a fixed clamping device, a waist rotation mechanism and a mechanical arm, wherein the waist rotation mechanism is fixed above the fixed clamping device, the upper part of the waist rotation mechanism is connected with one end of the mechanical arm through a swivel mount, and the other end of the mechanical arm is connected with a welding gun seat; the robot also includes a wire feed mechanism including a bonding pad and a wire feed guide.
However, the popular arc welding robot generally has the following problems:
first, the wire reel box assembly is installed on a shaft rotating seat, is in a linkage state with the shaft rotating seat, and when the robot runs two shafts and joints above the two shafts, the welding wires are stretched to different degrees. Meanwhile, the length of the overhead welding wire guide pipe is suspended, vibration and acceleration generated by running of the overhead welding wire guide pipe enable the welding wire guide pipe to continuously swing in mid-air, high-frequency vibration of welding wires passing through the overhead welding wire guide pipe is caused, and the problems of position deviation and uneven wire feeding speed of the welding wires are caused, so that the wire feeding effect is affected, and the firmness of welding joints is further affected.
Second, generally, the prior arc welding robot wire reel box is internally provided with European damping, and the wire feeding speed is matched by controlling an internal compression spring, so that the wire is ensured not to be difficult to be discharged due to loosening of the welding wire when the welding wire is discharged. However, the effect of tightening the welding wire only occurs when the wire is fed forward, but when the wire is fed out excessively and the wire is required to be received reversely, the welding wire cannot be tightened and can only be loosely stacked in the wire tray box, and the wire feeding difficulty is likely to be caused. In addition, the wire outlet speed and length cannot be precisely quantified, and problems of wire outlet blockage and inaccurate wire outlet length are likely to occur.
Third, a typical arc welding robot is equipped with a wire feeder and uses a constant-speed continuous wire feeding method, but the spatter rate of welding cannot be reduced due to the messy characteristics of the robot itself, and it is necessary to regularly make gas shielded welding droplets.
Fourthly, the external assembly mode of arc welding robot is that the welder is external, and the welder afterbody is connected with the wire guide mouth that goes out of wire feeder, with welder copper head cover feed wire feeder go out in the wire guide mouth copper head, lock the copper head with the screw, make the afterbody of welder be in the fixed state, and welder front end position still is along with five six joint movements take place distortion, tensile, causes the fracture of welder hose and signal line easily. In addition, the external welding gun hose part twists and swings in the air, so that the wire feeding effect is more influenced, and the service life of the welding gun is reduced.
Fifth, the welding gun hose cannot be completely straightened, meanwhile, a certain gap exists between the inner diameter of the welding wire guide pipe and the diameter of the welding wire, and certain distortion exists in the welding wire guide pipe due to the fact that the welding wire guide pipe is not straightened and the certain gap, so that when the welding gun is straightened, the length of the welding wire exposed outside the gun head is prolonged, when the welding gun is bent, the length of the welding wire exposed outside the gun head is shortened, the phenomenon that the length of the welding wire extending out of the gun head changes along with the change of the operation posture of the robot is particularly prominent in argon arc welding, and the phenomenon can affect the welding wire melting effect, and is directly manifested as unattractive welding seams and unstable welding.
Based on the technical problems, the popular arc welding robot wire feeding system cannot guarantee the welding effect, and for users, the aim of seeking an arc welding robot wire feeding system capable of achieving more stable wire feeding is the final aim of the arc welding robot wire feeding system, and the main content of the invention is also provided.
Disclosure of Invention
Aiming at the technical problems, the invention provides a stable robot wire feeding system. The welding robot capable of stably feeding wires is designed by combining a locked rotor motor with a wire tray box, flexibly butting a push-pull wire feeder with a welding gun, a built-in structure of the welding gun, application of a miniature wire feeder and other technical means in an organic coordination mode.
The technical scheme adopted by the invention is as follows: a stable robotic wire feed system, characterized by: the robot wire feeding system comprises a first shaft base, a first shaft rotating seat, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a sixth shaft and a welding gun which are connected in sequence; a speed reducer is arranged at the joint of each shaft; the robot wire feeding system further comprises a wire feeder arranged between the three shafts and the four shafts, a wire disc box arranged on the two shafts and a welding wire guide pipe connected with the wire feeder and the wire disc box, wherein welding wires are arranged in the welding wire guide pipe; the wire disc box is in a round box shape and is arranged on the opposite side of the two-shaft motor, and a wire outlet nozzle for penetrating through welding wires is arranged above the side of the wire disc box.
Further, the inside central point of silk dish box puts and has the axis body, the axis body contains the axle core that is fixed in silk dish box and around the rotatory axle sleeve of axle core, the wire reel in the silk dish box is fixed on the axle sleeve, be connected with on the axle sleeve and guarantee that the welding wire tightly wraps up the wire reel when forward wire outlet or reverse wire collecting makes the wire smooth and easy and can accurate quantification wire outlet's speed and length locked rotor motor.
Further, the robot wire feeding system further comprises a miniature wire feeding machine and an alternating current servo motor, the miniature wire feeding machine is fixed on the five shafts through a mounting plate, the alternating current servo motor is directly connected with the miniature wire feeding machine, and the alternating current servo motor shaft directly drives a wire feeding wheel of the miniature wire feeding machine to rotate through a flat key. The miniature wire feeder comprises a motor and a wire feeding wheel sleeved on a motor shaft.
Furthermore, the welding gun adopts a built-in structure, the tail part of the welding gun is connected with a wire outlet nozzle of a wire feeder and penetrates through three shafts, four shafts and five shafts, and the front end of the welding gun penetrates out from the center of the six shafts.
Further, signals of the locked rotor motor, the wire feeder and the alternating current servo motor are synchronous, and the alternating current servo motor and the miniature wire feeder control wire outlet length and wire outlet speed of the welding wire to be accurate fixed values.
Furthermore, the interface between the wire feeding nozzle of the wire feeding machine and the tail part of the welding gun is of a multi-circle rotating structure, an inner hole is formed in the middle of the interface, welding wires coming out of the wire feeding nozzle penetrate through the inner hole and enter the tail part of the welding gun, and then the welding wires are fed to the front end of the welding gun through the miniature wire feeding machine, and when the front end of the welding gun runs, the tail part of the welding gun also runs.
Further, as an optional implementation manner of the invention, the multi-turn rotating structure is a conductive slip ring, a through hole for passing through a welding wire is arranged in the center of the conductive slip ring, and the conductive slip ring is used for connecting currents of cables at two sides of an interface of a wire feeding nozzle of the wire feeding machine and the tail part of the welding gun.
As an alternative embodiment of the invention, the wire feeding nozzle is connected with the tail part of the welding gun through a rotary bearing; the wire feeding nozzle and the tail part of the welding gun are respectively connected with the outer ring and the inner ring of the bearing, or the wire feeding nozzle and the tail part of the welding gun are respectively connected with the inner ring and the outer ring of the bearing; the bearing is a conductive bearing and is used for conducting current of cables on two sides at the interface of the wire feeding nozzle and the tail part of the welding gun.
As an alternative embodiment of the invention, the bearing is a rolling bearing, rolling parts among an inner ring, an outer ring and an inner ring of the bearing are all good metal conductors, the rolling parts are rolling balls or rollers, and a lubricant of the bearing is conductive graphite.
Further, as a preferable embodiment, the bearing is a rolling bearing, the inner ring and the outer ring of the bearing are of a double-layer structure, the main bodies of the inner ring and the outer ring of the bearing are made of steel materials, the outer wall of the inner ring of the bearing and the inner wall of the outer ring of the bearing are embedded or plated with metal copper or copper alloy with a certain thickness, rolling parts between the inner ring and the outer ring of the bearing are all made of metal copper or copper alloy, the rolling parts are rolling balls or rollers, and the lubricant of the bearing is conductive graphite.
As an optional implementation mode of the invention, the bearing is a sliding bearing, the inner ring and the outer ring of the bearing are both good metal conductors, a plurality of hollows or hollows are uniformly distributed on the outer wall of the inner ring of the sliding bearing, and the hollows or hollows are filled with conductive graphite.
Further, as a preferred embodiment, the bearing is a sliding bearing, the inner ring and the outer ring of the sliding bearing are of a double-layer structure, the main bodies of the inner ring and the outer ring of the bearing are made of steel materials, the outer wall of the inner ring of the bearing and the inner wall of the outer ring of the bearing are embedded or plated with metal copper or copper alloy with a certain thickness, a plurality of concave cavities or hollows are uniformly distributed on the outer wall of the inner ring of the bearing, and conductive graphite is filled in the concave cavities or hollows.
Further, the wire feeder is a push-pull wire feeder, and the welding wire is controlled to feed forced molten drops to the molten pool according to a certain frequency and step distance, and the transition frequency is equal to the push-pull wire feeding frequency.
Further, the silk dish box is tightly locked on the two shafts through the silk dish box installation external member, the silk dish box is fixed on the installation external member.
Further, the side of the wire tray box is provided with a baffle plate for fixing the wire rack to weld the cable, and the baffle plate is provided with a round hole for penetrating the cable.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the robot wire feeding system provided by the invention, the wire disc box is arranged on the two shafts, so that the length of an external welding wire is shortened, and the swinging degree of the welding wire in the air is reduced. Most important is that the wire feeding is stable: because most of the wire disc boxes in the prior art are arranged on one shaft, the one shaft rotates in the horizontal direction to a large extent, and the two shafts rotate in the vertical direction to a large extent, the welding wires in the wire feeding box move in the horizontal direction to a large extent and displace in the vertical direction to a large extent, so that the welding wires are easily pulled and twisted; in the invention, the wire disc box is arranged on the two shafts, and compared with the one shaft, the two shafts are shorter in distance from the wire inlet of the wire feeder, so that the actual stroke of the welding wire between the wire outlet and the wire feeder is shortened, the condition that the welding wire stretches when the robot runs is avoided, the sloshing frequency of the welding wire caused by the movement of the robot is reduced, and the wire feeder is more stable.
(2) The center of gravity of the robot wire feeding system provided by the invention is stable, the wire disc box and the motor are respectively arranged on the opposite sides of the two-shaft motor of the wire disc box device, the influence of the weight of the motor on the two-shaft is balanced by the weight of the wire disc box, so that the two-shaft is more stable in operation, and the stability of wire feeding and welding is further improved.
(3) According to the robot wire feeding system provided by the invention, the center of the wire disc box is provided with the locked rotor motor for wire feeding, so that a traditional damping device is replaced, and welding wires cannot be loosened during forward and reverse wire feeding: the forward wire outlet speed is stable, and the welding wire is tightly wrapped in the wire reel to continuously and stably outlet the wire; when the wire needs to be reversely wound, the welding wire can be ensured to be tightly wrapped on the wire reel. Meanwhile, the wire discharging process can be quantitatively calculated, so that more accurate wire discharging length and wire discharging speed are ensured. And conventional damping does not.
(4) The robot wire feeding system provided by the invention adopts the push-pull wire feeding machine, so that the gas shielded welding molten drops become regular, the welding splashing rate is greatly reduced, and the wire feeding stability is improved.
(5) According to the robot wire feeding system provided by the invention, the tail part of the welding gun is connected with the wire outlet nozzle of the wire feeder through the rotating part, and when the front end of the welding gun runs, the tail part of the welding gun can also flexibly run, so that the distortion degree of a hose part of the welding gun is reduced, and the service life of the welding gun is prolonged.
(6) The robot wire feeding system provided by the invention is connected with the wire feeding nozzle of the wire feeding machine through the conductive rotating bearings at the two sides of the interface of the tail part of the welding gun, and the inner ring and the outer ring of the bearing directly have larger contact areas, so that the wire feeding nozzle and the tail part of the welding gun can rotate at any angle, such as 720 degrees or more, the conduction of cables at the two sides can be ensured, the current stably passes, and the wire feeding stability is ensured. The traditional mode adopts cable lug connection, and rotation angle is limited on the one hand, and the cable wire also can influence the stability of welding wire when on the other hand rotates, and moreover, the cable wire also can fatigue and loss owing to long-time repeated distortion, has reduced the life of cable wire, can influence the stability of welding machine robot work again.
(7) According to the robot wire feeding system provided by the invention, the contact surface of the inner ring and the outer ring of the bearing at the interface of the wire feeding nozzle and the tail part of the welding gun is made of copper or copper alloy, so that the conductivity is better, and the current is more stable.
(8) According to the robot wire feeding system provided by the invention, the rolling bearing is adopted for the bearing at the interface of the wire feeding nozzle and the tail part of the welding gun, and a plurality of balls or rollers are in point equilibrium contact with the inner ring and the outer ring of the bearing, so that the current stably passes, and the wire feeding stability is ensured; compared with a sliding bearing and a conductive slip ring, the welding gun has better flexibility and small resistance, thus the sensitivity is better, the welding gun can be controlled more accurately, and the stability and the precision of the welding gun are ensured.
(9) According to the robot wire feeding system provided by the invention, the alternating current servo motor and the miniature wire feeder are arranged at the five-axis part, signals of the locked rotor motor, the push-pull wire feeder and the alternating current servo motor are synchronized, the wire feeding length of the welding wire is precisely controlled, the wire feeding length of the welding wire at the front end of the welding gun is not influenced by the change of the running posture of the robot, the wire feeding stability is improved, the welding is firmer, the welding seam is more attractive, and the advantage is more obvious in argon arc welding. The robot wire feeding system disclosed by the invention can not influence the stability and accuracy of the front-end welding wire under the action of the miniature wire feeder even if the rear end of the welding wire is twisted and pulled. The traditional welding machine robot does not have a miniature wire feeder at the front end, and when a welding gun runs, the pulling and twisting of the rear end of the welding wire can influence the stability of the front end of the welding wire, so that the welding effect is not high.
(10) According to the robot wire feeding system provided by the invention, the welding gun adopts the concealed structure, and passes through the three shafts, the four shafts and the five shafts and is penetrated out from the center of the six shafts, so that the wire running distance of the welding wire is shorter, the travel of the welding wire is more stable and safer, and the service life of the welding wire is prolonged.
(11) According to the robot wire feeding system provided by the invention, the baffle plate using the cable is arranged on the side surface of the wire tray box, so that a supporting point is additionally arranged on the welding cable, and the vibration amplitude is reduced.
(12) The robot wire feeding system provided by the invention has firm and attractive welding seams, and stable wire feeding can weld workpieces to have a given welding effect, so that the welding seams are in place, firm and attractive.
Drawings
FIG. 1 is a left side view of the structure of a robotic wire feed system of the present invention;
FIG. 2 is a rear view of the robotic wire feed system of the present invention;
FIG. 3 is a detail view of the installation of the silk fibroin cartridge assembly of the present invention;
FIG. 4 is a schematic diagram of the structure of the wire feeder nozzle and gun tail interface of the wire feeder of the present invention;
FIG. 5 is a schematic diagram of the installation of an AC servo motor and a miniature wire feeder in the present invention;
FIG. 6 is a schematic view of the mounting structure of the micro wire feeder of the present invention;
reference numerals in the drawings are as follows: the welding wire feeder comprises a one-shaft base 1, a one-shaft rotating seat 2, a two-shaft 3, a three-shaft 4, a four-shaft 5, a five-shaft 6, a six-shaft 7, a welding gun 8, a wire feeder 9, a welding wire guide pipe 10, a wire disc box 11, a locked rotor motor 12, a miniature wire feeder 13, a mounting sleeve 14, a wire feeder nozzle 15, a welding gun tail 16, a bearing 17, an alternating current servo motor 18, a mounting plate 19, a wire feeding wheel 20, a baffle 21 and a cable 22.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 and 2, a stable robot wire feeding system comprises a one-axis base 1, a one-axis rotating base 2, two-axis 3, three-axis 4, four-axis 5, five-axis 6, six-axis 7 and a welding gun 8 which are sequentially connected; a speed reducer is arranged at the joint of each shaft; the robot wire feeding system further comprises a wire feeder 9 arranged between the three shafts 4 and the four shafts 5, a wire disc box 11 arranged on the two shafts 3, and a welding wire guide pipe 10 connected with the wire feeder 9 and the wire disc box 11, wherein welding wires are arranged in the welding wire guide pipe 10; the wire disc box 11 is in a round box shape and is arranged at the opposite side of the motor of the two shafts 3, and a wire outlet nozzle for passing through welding wires is arranged above the side of the wire disc box 11.
As shown in fig. 3, the inner center of the wire reel box 11 is provided with a shaft body, the shaft body comprises a shaft core fixed on the wire reel box 11 and a shaft sleeve rotating around the shaft core, the wire reel in the wire reel box 11 is fixed on the shaft sleeve, a locked rotor motor 12 for driving the shaft sleeve is connected on the shaft sleeve, when wire is discharged in the forward direction or is received in the reverse direction, the wire reel can be tightly wrapped by the welding wire, the smooth wire discharge is ensured, the wire discharge speed and length can be accurately quantized, and the welding effect is ensured.
As shown in fig. 5 and 6, the robot wire feeding system further includes a micro wire feeder 13 and an ac servo motor 18, the micro wire feeder 13 is fixed on the five shafts 6 through a mounting plate 19, the ac servo motor 18 is directly connected with the micro wire feeder 13, and the shaft of the ac servo motor 18 directly drives the wire feeding wheel of the micro wire feeder 13 to rotate through a flat key. The miniature wire feeder 13 comprises a motor and a wire feeding wheel 20 sleeved on a motor shaft.
The welding gun 8 adopts a concealed structure, the tail 16 of the welding gun is connected with a wire outlet nozzle 15 of the wire feeder 9, and penetrates through the three shafts 4, the four shafts 5 and the five shafts 6, and the front end of the welding gun 8 penetrates out from the center of the six shafts 7. The signals of the locked rotor motor 12, the wire feeder 9 and the alternating current servo motor 18 are synchronous, and the alternating current servo motor 18 and the miniature wire feeder 13 control the wire outlet length and the wire outlet speed of the welding wire to be accurate fixed values. Specifically, theoretical wire-out length, wire-out speed and wire-feeding pressure values can be designed in advance in a program in order to achieve the set target.
The wire feeder 9 is a push-pull wire feeder, and controls the welding wire to feed the forced molten drops to the molten pool according to a certain frequency and step distance, and the transition frequency is equal to the frequency of push-pull wire feeding. The wire tray 11 is locked on the two shafts 3 by the wire tray mounting sleeve 14, and the wire tray 11 is fixed on the mounting sleeve 14. The side of the wire tray 11 has a baffle 21 for welding the cable 22 with a fixing wire frame, and the baffle 21 has a circular hole for passing through the cable.
The interface of the wire feeding nozzle 15 of the wire feeding machine 9 and the welding gun tail 16 is of a multi-circle rotating structure, an inner hole is formed in the middle of the interface, welding wires coming out of the wire feeding nozzle 15 pass through the inner hole and enter the welding gun tail 16, and then are fed to the front end of the welding gun 8 through the miniature wire feeding machine 13, and when the front end of the welding gun runs, the welding gun tail 16 also runs.
Referring to fig. 4, the wire feeder 15 is connected with the tail 16 of the welding gun through a rotary bearing 17; the wire feeding nozzle 15 and the welding gun tail 16 are respectively connected with the outer ring and the inner ring of the bearing 17, or the wire feeding nozzle 15 and the welding gun tail 16 are respectively connected with the inner ring and the outer ring of the bearing 17; the bearing 17 is a conductive bearing and is used for conducting current of cables on two sides at the interface of the wire feeding nozzle 15 and the tail 16 of the welding gun.
In this embodiment, the bearing 17 is a rolling bearing, rolling parts among an inner ring, an outer ring and an inner ring of the bearing are all good metal conductors, the rolling parts are rolling balls or rollers, and a lubricant of the bearing is conductive graphite.
Example 2
As shown in fig. 1 and 2, a stable robot wire feeding system comprises a one-axis base 1, a one-axis rotating base 2, two-axis 3, three-axis 4, four-axis 5, five-axis 6, six-axis 7 and a welding gun 8 which are sequentially connected; a speed reducer is arranged at the joint of each shaft; the robot wire feeding system further comprises a wire feeder 9 arranged between the three shafts 4 and the four shafts 5, a wire disc box 11 arranged on the two shafts 3, and a welding wire guide pipe 10 connected with the wire feeder 9 and the wire disc box 11, wherein welding wires are arranged in the welding wire guide pipe 10; the wire disc box 11 is in a round box shape and is arranged at the opposite side of the motor of the two shafts 3, and a wire outlet nozzle for passing through welding wires is arranged above the side of the wire disc box 11.
In this embodiment, the bearing 17 is a rolling bearing, the inner ring and the outer ring of the bearing are of a double-layer structure, the main bodies of the inner ring and the outer ring of the bearing are made of steel materials, the outer wall of the inner ring of the bearing and the inner wall of the outer ring of the bearing are embedded or plated with metal copper or copper alloy with a certain thickness, rolling parts between the inner ring and the outer ring of the bearing are all made of metal copper or copper alloy, the rolling parts are rolling balls or rollers, and the lubricant of the bearing is conductive graphite. The structure and function of other components are the same as those of embodiment 1.
Example 3
As shown in fig. 1 and 2, a stable robot wire feeding system comprises a one-axis base 1, a one-axis rotating base 2, two-axis 3, three-axis 4, four-axis 5, five-axis 6, six-axis 7 and a welding gun 8 which are sequentially connected; a speed reducer is arranged at the joint of each shaft; the robot wire feeding system further comprises a wire feeder 9 arranged between the three shafts 4 and the four shafts 5, a wire disc box 11 arranged on the two shafts 3, and a welding wire guide pipe 10 connected with the wire feeder 9 and the wire disc box 11, wherein welding wires are arranged in the welding wire guide pipe 10; the wire disc box 11 is in a round box shape and is arranged at the opposite side of the motor of the two shafts 3, and a wire outlet nozzle for passing through welding wires is arranged above the side of the wire disc box 11.
In this embodiment, the bearing 17 is a sliding bearing, the inner ring and the outer ring of the bearing are both good metal conductors, and a plurality of cavities or hollows are uniformly distributed on the outer wall of the inner ring of the sliding bearing, and the cavities or hollows are filled with conductive graphite. The structure and function of other components are the same as those of embodiment 1.
Example 4
As shown in fig. 1 and 2, a stable robot wire feeding system comprises a one-axis base 1, a one-axis rotating base 2, two-axis 3, three-axis 4, four-axis 5, five-axis 6, six-axis 7 and a welding gun 8 which are sequentially connected; a speed reducer is arranged at the joint of each shaft; the robot wire feeding system further comprises a wire feeder 9 arranged between the three shafts 4 and the four shafts 5, a wire disc box 11 arranged on the two shafts 3, and a welding wire guide pipe 10 connected with the wire feeder 9 and the wire disc box 11, wherein welding wires are arranged in the welding wire guide pipe 10; the wire disc box 11 is in a round box shape and is arranged at the opposite side of the motor of the two shafts 3, and a wire outlet nozzle for passing through welding wires is arranged above the side of the wire disc box 11.
In this embodiment, the bearing 17 is a sliding bearing, the inner ring and the outer ring of the sliding bearing are of a double-layer structure, the main bodies of the inner ring and the outer ring of the bearing are made of steel materials, the outer wall of the inner ring of the bearing and the inner wall of the outer ring of the bearing are embedded or plated with metal copper or copper alloy with a certain thickness, a plurality of cavities or hollows are uniformly distributed on the outer wall of the inner ring of the bearing, and conductive graphite is filled in the cavities or hollows. The structure and function of other components are the same as those of embodiment 1.
Example 5
As shown in fig. 1 and 2, a stable robot wire feeding system comprises a one-axis base 1, a one-axis rotating base 2, two-axis 3, three-axis 4, four-axis 5, five-axis 6, six-axis 7 and a welding gun 8 which are sequentially connected; a speed reducer is arranged at the joint of each shaft; the robot wire feeding system further comprises a wire feeder 9 arranged between the three shafts 4 and the four shafts 5, a wire disc box 11 arranged on the two shafts 3, and a welding wire guide pipe 10 connected with the wire feeder 9 and the wire disc box 11, wherein welding wires are arranged in the welding wire guide pipe 10; the wire disc box 11 is in a round box shape and is arranged at the opposite side of the motor of the two shafts 3, and a wire outlet nozzle for passing through welding wires is arranged above the side of the wire disc box 11.
In this embodiment, as an alternative embodiment of the present invention, the interface between the wire feeding nozzle 15 of the wire feeder 9 and the tail 16 of the welding gun is a multi-turn rotating structure and is a conductive slip ring, the center of the conductive slip ring is provided with a through hole for passing through the welding wire, and the conductive slip ring is used for connecting the current of the cables at the two sides of the interface between the wire feeding nozzle 15 of the wire feeder 9 and the tail 16 of the welding gun. The structure and function of other components are the same as those of embodiment 1.
According to the invention, through the organic coordination of a plurality of technical means such as the coordination of the locked rotor motor and the wire disc box, the flexible butt joint of the push-pull wire feeder and the welding gun, the built-in structure of the welding gun, the application of the miniature wire feeder and the like, the sloshing frequency of welding wires caused by the movement of a robot is reduced, and the wire feeding is more stable. The welding seam is firm and beautiful.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, as noted above, it is to be understood that the invention is not limited to the forms disclosed herein but is not to be construed as excluding other embodiments, and that various other combinations, modifications and environments are possible and may be made within the scope of the inventive concepts described herein, either by way of the foregoing teachings or by those of skill or knowledge of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (6)
1. A stable robotic wire feed system, characterized by: the robot wire feeding system comprises a first shaft base (1), a first shaft rotating seat (2), a second shaft (3), a third shaft (4), a fourth shaft (5), a fifth shaft (6), a sixth shaft (7) and a welding gun (8) which are connected in sequence; a speed reducer is arranged at the joint of each shaft; the robot wire feeding system further comprises a wire feeder (9) arranged between the three shafts (4) and the four shafts (5), a wire disc box (11) arranged on the two shafts (3), and a wire guide pipe (10) connected with the wire feeder (9) and the wire disc box (11), wherein welding wires are arranged in the wire guide pipe (10); the wire disc box (11) is in a round box shape and is arranged at the opposite side of the motor of the two shafts (3), and a wire outlet nozzle for passing through welding wires is arranged above the side of the wire disc box (11);
the robot wire feeding system further comprises a miniature wire feeder (13) and an alternating current servo motor (18), wherein the miniature wire feeder (13) is fixed on the five shafts (6) through a mounting plate (19), the alternating current servo motor (18) is directly connected with the miniature wire feeder (13), and the shaft of the alternating current servo motor (18) directly drives a wire feeding wheel of the miniature wire feeder (13) to rotate through a flat key;
the welding gun (8) adopts a built-in structure, a welding gun tail (16) is connected with a wire feeding nozzle (15) of the wire feeding machine (9) and penetrates through the three shafts (4), the four shafts (5) and the five shafts (6), and the front end of the welding gun (8) penetrates out from the center of the six shafts (7);
the interface of a wire feeding nozzle (15) of the wire feeding machine (9) and a welding gun tail (16) is of a multi-circle rotating structure, an inner hole is formed in the middle of the interface, welding wires coming out of the wire feeding nozzle (15) pass through the inner hole and enter the welding gun tail (16), and then are fed to the front end of a welding gun (8) through a miniature wire feeding machine (13), and when the front end of the welding gun runs, the welding gun tail (16) also runs;
the wire feeding nozzle (15) is connected with the tail part (16) of the welding gun through a rotary bearing (17); the wire feeding nozzle (15) and the welding gun tail (16) are respectively connected with the outer ring and the inner ring of the bearing (17), or the wire feeding nozzle (15) and the welding gun tail (16) are respectively connected with the inner ring and the outer ring of the bearing (17); the bearing (17) is a conductive bearing and is used for conducting current of cables at two sides of the interface of the wire feeding nozzle (15) and the tail part (16) of the welding gun.
2. The stabilized robotic wire feed system of claim 1, wherein: the wire reel box is characterized in that a shaft body is arranged at the inner center of the wire reel box (11), the shaft body comprises a shaft core fixed to the wire reel box (11) and a shaft sleeve rotating around the shaft core, a wire reel in the wire reel box (11) is fixed to the shaft sleeve, and a locked rotor motor (12) which ensures that the wire is tightly wrapped on the wire reel when the wire is discharged in the forward direction or is received in the reverse direction, so that the wire is discharged smoothly and the wire discharging speed and length can be accurately quantized is connected to the shaft sleeve.
3. The stabilized robotic wire feed system of claim 2, wherein: the signal synchronization of locked rotor motor (12), wire feeder (9), AC servo motor (18) and miniature wire feeder (13) control the wire length of going out of welding wire, go out silk speed and be accurate constant.
4. The stabilized robotic wire feed system of claim 1, wherein: the bearing (17) is a rolling bearing, rolling parts among an inner ring, an outer ring and an inner ring of the bearing are all good metal conductors, the rolling parts are rolling balls or rollers, and a lubricant of the bearing is conductive graphite.
5. The stabilized robotic wire feed system of claim 1, wherein: the bearing (17) is a sliding bearing, the inner ring and the outer ring of the bearing are both good metal conductors, a plurality of hollows or hollows are uniformly distributed on the outer wall of the inner ring of the sliding bearing, and conductive graphite is filled in the hollows or hollows.
6. The stabilized robotic wire feed system of claim 1, wherein: the multi-turn rotating structure is a conductive slip ring, a through hole for penetrating through a welding wire is formed in the center of the conductive slip ring, and the conductive slip ring is used for connecting currents of cables on two sides of an interface of a wire feeding nozzle (15) of the wire feeding machine (9) and a welding gun tail (16).
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| 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 |
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| CN114378407B (en) * | 2021-12-31 | 2023-05-09 | 杭州凯尔达焊接机器人股份有限公司 | Variable damping type wire tray fixing device and welding equipment |
| CN114523179B (en) * | 2022-01-25 | 2023-03-17 | 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 |
| 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 |
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