CN108907552B - Positioning and traveling device of double-shaft five-coordinate welding robot - Google Patents
Positioning and traveling device of double-shaft five-coordinate welding robot Download PDFInfo
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- CN108907552B CN108907552B CN201811204885.1A CN201811204885A CN108907552B CN 108907552 B CN108907552 B CN 108907552B CN 201811204885 A CN201811204885 A CN 201811204885A CN 108907552 B CN108907552 B CN 108907552B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
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- Butt Welding And Welding Of Specific Article (AREA)
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Abstract
The invention relates to the technical field of welding machine equipment, in particular to a positioning and walking device of a double-shaft five-coordinate welding robot; the lower end of the hydraulic upright post is provided with a hydraulic cylinder, and the core rod of the hydraulic upright post is upward; the inner part of the core rod is hollowed into a cylindrical shape, the upper end of the core rod is provided with an opening, and the middle section of the core rod faces to the cylinder wall of the circle center of the annular track and is back to the cylinder wall of the circle center of the annular track and is provided with symmetrical core rod openings; a lower annular magnet is arranged at an opening at the upper end of the core rod of the hydraulic upright column, an upper annular magnet is arranged at the outer edge of the upper end of the suspension column, the upper annular magnet and the lower annular magnet repel each other, and the suspension column is suspended in the core rod barrel through the magnetic contact; the bottom end of the suspension column is provided with a lower end magnet, and the bottom end of a hollow area of the core bar below the lower end magnet is fixedly provided with lower end lead groups which are uniformly distributed in a radial shape; according to the invention, two of the three displacement coordinates are compensated by two electromagnetic control axis coordinates, so that the equipment cost is greatly reduced while the equipment precision is ensured, and the improvement potential of further improving the equipment precision by improving the electronic control signal precision is provided.
Description
The technical field is as follows:
the invention relates to the technical field of welding machine equipment, in particular to a positioning and traveling device of a double-shaft five-coordinate welding robot.
Background art:
in the industrial processing field, on the process that relates to welding process in adopting streamlined production process, need to use industrial robot to improve article accuse and production efficiency.
At present, when a welding robot is used for processing a workpiece clamped on a workpiece table, a mechanical arm type robot is mostly adopted, and a processing area in a large range can be obtained after positioning due to the fact that the degree of freedom of a mechanical arm is high. However, in the scheme, the mechanical arm has natural contradiction among high degree of freedom, positioning machining precision and cost, the positioning machining precision under the high degree of freedom is relatively difficult to improve, and the cost is difficult to control under the condition of simultaneously ensuring the high degree of freedom and the high precision, so that the popularization of an automatic production line is limited.
The invention content is as follows:
in view of the above, it is desirable to design a welding robot traveling device that has a high degree of freedom, is low-cost, and is easy to improve positioning accuracy.
Biax five coordinate welding robot location running gear includes: the device comprises an annular track, an annular movable pulley, a hydraulic upright post, a suspension post and a probe rod.
The annular rails are two concentric mutually, are horizontally laid on the ground, the circle center of the annular rails is overlapped with the workpiece table, and the bottom of the annular movable pulley is provided with a traveling wheel which is in movable contact with the annular rails through the traveling wheel; the upper surface of the circular block is provided with a sliding chute which points to the circle center of the circular track when the circular block moves to any position, and the hydraulic upright post is arranged on the circular block through the sliding chute and can move along the sliding chute.
The lower end of the hydraulic upright post is provided with a hydraulic cylinder, and the core rod of the hydraulic upright post is upward; the inner part of the core rod is hollowed into a cylindrical shape, the upper end of the core rod is provided with an opening, and the middle section of the core rod faces to the cylinder wall of the circle center of the annular track and is back to the cylinder wall of the circle center of the annular track and is provided with symmetrical core rod openings; a lower annular magnet is arranged at an opening at the upper end of the core rod of the hydraulic upright column, an upper annular magnet is arranged at the outer edge of the upper end of the suspension column, the upper annular magnet and the lower annular magnet repel each other, and the suspension column is suspended in the core rod cylinder through the magnetic repulsion force; the bottom end of the suspension column is provided with a lower end magnet, and the bottom end of a hollow area of the core bar below the lower end magnet is fixedly provided with lower end lead groups which are uniformly distributed in a radial mode.
A suspension column opening is formed in the middle section of the suspension column, a probe rod extends into the suspension column opening from the core rod opening and is hinged in the suspension column opening, the probe rod is provided with a balance weight tail end, and the gravity center of the probe rod is overlapped with the hinge shaft; a plurality of probe rod rotating magnets are arranged in the openings of the suspension columns of the probe rods, and are uniformly distributed around the hinge shaft; a plurality of probe rod rotating leads are fixedly arranged in the position, corresponding to the probe rod rotating magnet, in the opening of the core rod.
When the welding device works, the welding device is arranged at one end of the probe rod, which faces the workpiece table; the circular sliding trolley slides along the circular track, so that the welding equipment rotates around the circumference of a workpiece, and the cutting-in angle is adjusted, namely a first coordinate; the hydraulic upright column slides in a sliding chute on the upper surface of the circular block, and the sliding chute points to the center of a circular track and the workpiece table at any position, so that the sliding action realizes the adjustment of the distance between the welding equipment and the workpiece, which is a second coordinate; the hydraulic upright column is actually a hydraulic cylinder, and the cutting height of the welding equipment can be adjusted by lifting the hydraulic cylinder, which is a third coordinate; the suspension post realizes suspension through the repulsion of the upper annular magnet and the lower annular magnet, when the suspension post vibrates, the lower end lead group and the lower end magnet are displaced mutually, and induced current generated in the lower end lead group can form damping on the lower end magnet, so that the damping effect is realized, and when the lower end lead group is electrified at the same time, the rotating driving force can be applied to the lower end magnet, so that the adjustment of the horizontal pointing angle of the probe rod is realized, and the adjustment is a fourth coordinate; the probe rod is balanced by the counter weight tail end which is extended reversely, the probe rod rotating magnet automatically balances the counter weight, and when the probe rod rotating lead is electrified, the interaction force of the probe rod rotating magnet and the probe rod rotating magnet can realize the adjustment of the pitching angle of the probe rod, which is a fifth coordinate.
Because the welding robot has more requirements on the precision of a processing point, relatively, the requirement on the precision of a path reaching the processing point is lower, and the path is only used for avoiding obstacles, therefore, the mechanical precision of a first coordinate in the design can be compensated by the electromagnetic precise control of a fourth coordinate, and the mechanical precision of a second coordinate or a third coordinate can also be compensated by the electromagnetic precise control of a fifth coordinate; because the suspension column is in a suspension state and the probe rod is in a balance weight state, the driving resistance is small and stable, and the working precision can be greatly improved by adjusting the precision of the pulse electrical signal.
Preferably, the feeler lever rotating magnet is only arranged below the feeler lever, and the counterweight ball is arranged at the corresponding position above the feeler lever, so that the equipment cost is further reduced.
Preferably, the lower ring magnets are arranged concentrically, the horizontal projection of the upper ring magnet is positioned between the two lower ring magnets, and the design can reduce the movable range of the upper ring magnet in the magnetic field of the lower ring magnet, increase the constraint on the suspension columns, reduce the requirement on the machining precision of parts and further reduce the equipment cost.
Preferably, the lower end magnet is an annular magnet, adverse effects of the accuracy of the inner edge of the rotating lead of the probe rod on the rotating magnet of the probe rod are reduced, and the action accuracy of the equipment is further improved.
Preferably, the upper end of the suspension post is provided with an upper annular magnet bracket on the outer edge, and the upper annular magnet is fixedly connected with the suspension post through the upper annular magnet bracket.
The invention provides a double-shaft five-coordinate welding robot, which adopts a mode of compensating two of three displacement coordinates by two electromagnetic control shaft coordinates, greatly reduces equipment cost while ensuring equipment precision, and has the improvement potential of further improving the equipment precision by a mode of improving the precision of an electronic control signal.
Description of the drawings:
FIG. 1 is a schematic structural diagram of a specific embodiment of a positioning and traveling device of a biaxial five-coordinate welding robot;
FIG. 2 is a schematic view of a partial structure of a core bar, a suspension post and a probe rod hinge shaft of a specific embodiment of a biaxial five-coordinate welding robot positioning and walking device;
FIG. 3 is a schematic view of a partial structure of a rotating wire of a probe rod of an embodiment of a positioning and traveling device of a biaxial five-coordinate welding robot.
In the figure: the device comprises an annular track 1, a circular block 2, a sliding chute 201, a hydraulic upright column 3, a core rod opening 301, a lower annular magnet 302, a lower end lead group 303, a probe rod rotating lead 304, a suspension column 4, an upper annular magnet bracket 401, an upper annular magnet 402, a suspension column opening 403, a lower end annular magnet 404, a probe rod 5, a hinge shaft 501, a probe rod rotating magnet 502, a counterweight ball 503 and a workpiece table 6.
The specific implementation mode is as follows:
biax five coordinate welding robot location running gear includes: the device comprises an annular track 1, an annular movable pulley 2, a hydraulic upright post 3, a suspension post 4 and a probe rod 5.
The annular rails 1 are two concentric mutually, are horizontally laid on the ground, the circle center of the annular rails is overlapped with the workpiece table 6, and the bottom of the annular pulley 2 is provided with a traveling wheel which is in movable contact with the annular rails 1 through the traveling wheel; the upper surface of the circular block 2 is provided with a sliding groove 201, the sliding groove 201 points to the center of the circular track 1 when the circular block 2 moves to any position, and the hydraulic upright post 3 is installed on the circular block 2 through the sliding groove 201 and can move along the sliding groove 201.
The lower end of the hydraulic upright post 3 is provided with a hydraulic cylinder, and the core rod of the hydraulic cylinder is upward; the inner part of the core rod is hollowed into a cylindrical shape, the upper end of the core rod is provided with an opening, and the middle section of the core rod, facing to and back to the cylinder wall of the circle center of the annular track 1, is provided with symmetrical core rod openings 301; two concentric lower annular magnets 302 are installed at an opening at the upper end of a core rod of the hydraulic upright post 3, an upper annular magnet bracket 401 at the outer edge is arranged at the upper end of the suspension post 4, an upper annular magnet 402 is installed on the suspension post 4 through the upper annular magnet bracket 401, the upper annular magnet 402 and the lower annular magnet 302 repel each other, the horizontal projection of the upper annular magnet 402 is positioned between the two lower annular magnets 302, and the suspension post 4 is suspended in a core rod cylinder through the magnetic repulsion force; the bottom end of the suspension column 4 is provided with a lower end annular magnet 404, and the bottom end of a hollow area of the core bar below the lower end annular magnet 404 is fixedly provided with lower end lead groups 303 which are uniformly arranged in a radial shape.
A suspension column opening 403 is formed in the middle section of the suspension column 4, the probe rod 5 extends into the suspension column opening 403 from the core rod opening 301 and is hinged in the suspension column opening 403, the probe rod 5 is provided with a counterweight tail end, and the gravity center of the probe rod 5 is overlapped with the hinge shaft 501; a plurality of probe rotating magnets 502 are arranged in the suspension column opening 403 of the probe, the probe rotating magnets 502 are uniformly distributed below the probe 5 around a hinge shaft 501, and a counterweight ball 503 is arranged at a corresponding position above the probe 5; a plurality of probe rotating wires 304 are fixedly installed in the core rod opening 301 at positions corresponding to the probe rotating magnets 502.
Claims (5)
1. Biax five coordinate welding robot location running gear, its characterized in that includes: the device comprises an annular track, an annular movable pulley, a hydraulic upright post, a suspension post and a probe rod;
the annular rails are two concentric mutually, are horizontally laid on the ground, the circle center of the annular rails is overlapped with the workpiece table, and the bottom of the annular movable pulley is provided with a traveling wheel which is in movable contact with the annular rails through the traveling wheel; the upper surface of the circular block is provided with a chute, the chute points to the circle center of the circular track when the circular block moves to any position, and the hydraulic upright post is arranged on the circular block through the chute and can move along the chute;
the lower end of the hydraulic upright post is provided with a hydraulic cylinder, and the core rod of the hydraulic upright post is upward; the inner part of the core rod is hollowed into a cylindrical shape, the upper end of the core rod is provided with an opening, and the middle section of the core rod faces to the cylinder wall of the circle center of the annular track and is back to the cylinder wall of the circle center of the annular track and is provided with symmetrical core rod openings; a lower annular magnet is arranged at an opening at the upper end of the core rod of the hydraulic upright column, an upper annular magnet is arranged at the outer edge of the upper end of the suspension column, the upper annular magnet and the lower annular magnet repel each other, and the suspension column is suspended in the core rod cylinder through the magnetic repulsion force; the bottom end of the suspension column is provided with a lower end magnet, and the bottom end of a hollow area of the core bar below the lower end magnet is fixedly provided with lower end lead groups which are uniformly distributed in a radial shape;
a suspension column opening is formed in the middle section of the suspension column, a probe rod extends into the suspension column opening from the core rod opening and is hinged in the suspension column opening, the probe rod is provided with a balance weight tail end, and the gravity center of the probe rod is overlapped with the hinge shaft; a plurality of probe rod rotating magnets are arranged in the openings of the suspension columns of the probe rods, and are uniformly distributed around the hinge shaft; a plurality of probe rod rotating leads are fixedly arranged in the position, corresponding to the probe rod rotating magnet, in the opening of the core rod.
2. The positioning and traveling device of the biaxial five-coordinate welding robot as claimed in claim 1, wherein the probe rotating magnet is disposed only below the probe, and a counterweight ball is mounted above the probe at a corresponding position.
3. The positioning and traveling device for the biaxial five-coordinate welding robot as claimed in claim 1, wherein the lower ring magnets are arranged concentrically, and the horizontal projection of the upper ring magnet is located between the two lower ring magnets.
4. The positioning and traveling device of a biaxial five-coordinate welding robot as claimed in claim 1, wherein the lower end magnet is a ring magnet.
5. The positioning and traveling device of the biaxial five-coordinate welding robot as claimed in claim 1, wherein the upper end of the suspension post is provided with an upper ring-shaped magnet bracket having an outer edge, and the upper ring-shaped magnet is fixedly connected with the suspension post through the upper ring-shaped magnet bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811204885.1A CN108907552B (en) | 2018-10-16 | 2018-10-16 | Positioning and traveling device of double-shaft five-coordinate welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811204885.1A CN108907552B (en) | 2018-10-16 | 2018-10-16 | Positioning and traveling device of double-shaft five-coordinate welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108907552A CN108907552A (en) | 2018-11-30 |
| CN108907552B true CN108907552B (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811204885.1A Active CN108907552B (en) | 2018-10-16 | 2018-10-16 | Positioning and traveling device of double-shaft five-coordinate welding robot |
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| Country | Link |
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| CN (1) | CN108907552B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3920946A (en) * | 1973-02-21 | 1975-11-18 | Hitachi Ltd And Kawasaki Steel | Method and apparatus for automatic welding of steel pipes |
| CN201711682U (en) * | 2010-05-21 | 2011-01-19 | 北京石油化工学院 | Portable perforated connecting pipe and saddle-shaped seam welding integrated machine |
| CN201808062U (en) * | 2010-09-01 | 2011-04-27 | 华南理工大学 | Structure of mixed driving type tiny robot |
| CN205271234U (en) * | 2015-12-03 | 2016-06-01 | 成都环龙智能系统设备有限公司 | Two -way reciprocating type mobile rail of welding robot high accuracy |
| CN206356776U (en) * | 2016-11-09 | 2017-07-28 | 西安建筑科技大学 | A kind of multiple degrees of freedom welding robot |
| CN206455322U (en) * | 2017-01-20 | 2017-09-01 | 郑州越达自动化焊接设备有限公司 | Large-scaled Elbow automatic welding special plane |
| CN207013711U (en) * | 2017-08-10 | 2018-02-16 | 安徽理工大学 | Series parallel type may move heavily loaded foundry robot |
-
2018
- 2018-10-16 CN CN201811204885.1A patent/CN108907552B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3920946A (en) * | 1973-02-21 | 1975-11-18 | Hitachi Ltd And Kawasaki Steel | Method and apparatus for automatic welding of steel pipes |
| CN201711682U (en) * | 2010-05-21 | 2011-01-19 | 北京石油化工学院 | Portable perforated connecting pipe and saddle-shaped seam welding integrated machine |
| CN201808062U (en) * | 2010-09-01 | 2011-04-27 | 华南理工大学 | Structure of mixed driving type tiny robot |
| CN205271234U (en) * | 2015-12-03 | 2016-06-01 | 成都环龙智能系统设备有限公司 | Two -way reciprocating type mobile rail of welding robot high accuracy |
| CN206356776U (en) * | 2016-11-09 | 2017-07-28 | 西安建筑科技大学 | A kind of multiple degrees of freedom welding robot |
| CN206455322U (en) * | 2017-01-20 | 2017-09-01 | 郑州越达自动化焊接设备有限公司 | Large-scaled Elbow automatic welding special plane |
| CN207013711U (en) * | 2017-08-10 | 2018-02-16 | 安徽理工大学 | Series parallel type may move heavily loaded foundry robot |
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| Publication number | Publication date |
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| CN108907552A (en) | 2018-11-30 |
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