CN111545869A - Five-axis welding robot - Google Patents
Five-axis welding robot Download PDFInfo
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- CN111545869A CN111545869A CN202010666145.0A CN202010666145A CN111545869A CN 111545869 A CN111545869 A CN 111545869A CN 202010666145 A CN202010666145 A CN 202010666145A CN 111545869 A CN111545869 A CN 111545869A
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- welding
- fixing block
- wire feeding
- block
- bolt
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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
- B23K9/126—Controlling the spatial relationship between the work and the gas torch
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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
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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
- B23K9/32—Accessories
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- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a five-axis welding robot, which comprises a rack, a workbench, a rotary driving mechanism, a welding gun, a moving device and a wire feeding device, wherein the workbench is arranged on the rack; the workbench is rotatably connected to the rack and used for mounting a workpiece; the rotary driving mechanism is connected with the workbench and is used for acting to drive the workbench to rotate; the welding gun is connected to the moving device; the moving device is connected to the rack and is used for moving to drive the welding gun to move so that the welding gun can weld a workpiece on the workbench in the moving process; the wire feeder is connected to the frame and is operable to feed welding wire to the welding gun. The invention can weld complex welding seams without welding dead angles, and can improve the welding precision and the welding quality.
Description
Technical Field
The invention relates to a five-axis welding robot.
Background
At present, in order to improve the welding efficiency and reduce the labor cost, the welding robot is generally applied in the welding field. However, the existing welding robot can only weld simple welding seams and cannot weld complex welding seams, and the existing welding robot is low in welding precision and poor in welding quality, and welding dead angles often appear in the working process.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a five-axis welding robot which can weld complex welding seams, has no welding dead angle and can improve the welding precision and the welding quality.
In order to solve the technical problems, the technical scheme of the invention is as follows: a five-axis welding robot comprises a frame, a workbench, a rotary driving mechanism, a welding gun, a moving device and a wire feeding device; wherein the content of the first and second substances,
the workbench is rotatably connected to the rack and used for mounting a workpiece;
the rotary driving mechanism is connected with the workbench and is used for acting to drive the workbench to rotate;
the welding gun is connected to the moving device;
the moving device is connected to the rack and is used for moving to drive the welding gun to move so that the welding gun can weld a workpiece on the workbench in the moving process;
the wire feeder is connected to the frame and is operable to feed welding wire to the welding gun.
Further provides a concrete scheme of the moving device, the moving device comprises an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism; wherein the content of the first and second substances,
the Z-direction moving mechanism comprises:
the Z-direction seat is connected to the rack;
the Z-direction sliding block is connected to the Z-direction seat in a sliding mode along the Z direction;
the Z-direction lead screw is rotatably connected to the Z-direction seat and is in threaded connection with the Z-direction sliding block;
the Z-direction motor is connected to the Z-direction base and is used for driving the Z-direction lead screw to rotate so as to drive the Z-direction sliding block to slide;
the X-direction moving mechanism includes:
the X-direction seat is connected to the Z-direction sliding block;
the X-direction sliding block is connected to the X-direction seat in a sliding manner along the X direction;
the X-direction lead screw is rotatably connected to the X-direction seat and is in threaded connection with the X-direction sliding block;
the X-direction motor is connected to the X-direction seat and is connected with the X-direction lead screw and used for driving the X-direction lead screw to rotate so as to drive the X-direction sliding block to slide;
the Y-direction moving mechanism includes:
the Y-direction seat is connected to the X-direction sliding block;
the Y-direction sliding block is connected to the Y-direction seat in a sliding manner along the Y direction;
the Y-direction lead screw is rotatably connected to the Y-direction seat and is in threaded connection with the Y-direction sliding block;
the Y-direction motor is connected to the Y-direction seat and is connected with the Y-direction lead screw and used for driving the Y-direction lead screw to rotate so as to drive the Y-direction sliding block to slide;
the welding gun is connected to the Y-direction sliding block.
In order to weld the welding seams with different shapes and structures, the welding gun is connected to the Y-direction sliding block through a rotating block; wherein the content of the first and second substances,
the welding gun is connected to the rotating block;
the rotating block is rotatably connected to the Y-direction sliding block;
a first scale is arranged on the Y-direction sliding block;
and a first pointer which is matched with the first scale to indicate the angle position of the rotating block is arranged on the rotating block.
Further to measure the longitudinal position of the workpiece, the five-axis welding robot further comprises a measuring device connected to the frame and acting to measure the longitudinal position of the workpiece on the worktable, wherein the measuring device comprises a cylinder, a measuring rod and a magnetic grid ruler, and the magnetic grid ruler comprises a magnetic stripe and a magnetic head; wherein the content of the first and second substances,
the measuring rod is connected to the rack in a sliding mode along the longitudinal direction;
the magnetic strip is connected to the rack;
the magnetic head is connected to the measuring rod;
the air cylinder is installed on the rack and connected with the measuring rod, and the air cylinder is used for acting to drive the measuring rod to move downwards to be abutted against the workpiece, so that the magnetic head is driven to move relative to the magnetic stripe to measure the longitudinal position of the workpiece.
Further provides a concrete structure of the rack, and the rack comprises a base, a stand column, a cross beam, a first adjusting mechanism and a second adjusting mechanism; wherein the content of the first and second substances,
the upright post is connected to the base in a sliding manner along the front-back direction;
the first adjusting mechanism is connected to the base and connected with the upright post, and is used for being actuated to drive the upright post to slide along the front-back direction and locking the position of the upright post when the upright post slides in place;
the cross beam is connected to the upright posts in a sliding mode along the left and right direction;
the second adjusting mechanism is connected to the upright post and connected with the cross beam, and the second adjusting mechanism is used for being actuated to drive the cross beam to slide along the left-right direction and lock the position of the cross beam when the cross beam slides in place.
Further provides a specific scheme of the first adjusting mechanism and the second adjusting mechanism, the first adjusting mechanism comprises at least one front fixing block, a front bolt corresponding to the front fixing block, at least one rear fixing block, a rear bolt corresponding to the rear fixing block and at least one first pressing plate, and a first flange part is arranged at the lower end part of the upright post; wherein the content of the first and second substances,
the front fixing block and the rear fixing block are connected to the base, and the upright post is connected between the front fixing block and the rear fixing block in a sliding manner;
the front fixing block is provided with a front connecting hole, the rod part of the front bolt penetrates through the front connecting hole in the corresponding front fixing block and then is connected to the upright post in a threaded manner, and the head part of the front bolt abuts against the front fixing block so as to drive the upright post to slide forwards by screwing the front bolt;
the rear fixing block is provided with a rear connecting hole, the rod part of the rear bolt penetrates through the rear connecting hole in the corresponding rear fixing block and then is in threaded connection with the upright post, and the head part of the rear bolt abuts against the rear fixing block so as to drive the upright post to slide backwards by screwing the rear bolt;
the first pressure plate is connected to the base through a first bolt and used for pressing the first flange part on the base when the upright post slides in place so as to lock the position of the upright post;
the second adjusting mechanism comprises at least one left fixing block, a left bolt corresponding to the left fixing block, at least one right fixing block, a right bolt corresponding to the right fixing block and at least one second pressing plate, and a second flange part is arranged at one end part of the cross beam; wherein the content of the first and second substances,
the left fixing block and the right fixing block are connected to the upper end portion of the upright post, and the cross beam is connected between the left fixing block and the right fixing block in a sliding mode;
the left fixing block is provided with a left connecting hole, the rod part of the left bolt penetrates through the left connecting hole in the corresponding left fixing block and then is connected to the cross beam in a threaded mode, and the head part of the left bolt abuts against the left fixing block so that the cross beam can be driven to slide leftwards by screwing the left bolt;
the right fixing block is provided with a right connecting hole, the rod part of the right bolt penetrates through the right connecting hole in the corresponding right fixing block and then is connected to the cross beam in a threaded mode, and the head part of the right bolt abuts against the right fixing block so that the cross beam can be driven to slide rightwards by screwing the right bolt;
the second pressing plate is connected to the upper end portion of the upright post through a second bolt and used for pressing the second flange portion on the upright post when the cross beam slides in place so as to lock the position of the cross beam.
Further, the five-axis welding robot further comprises an electric welding machine and a conductive mechanism connected to the rack, wherein the conductive mechanism comprises a mounting block, an elastic piece and a conductive block; wherein the content of the first and second substances,
the mounting block is connected to the rack in an insulating manner;
the conductive block is connected to the mounting block in a sliding mode and is electrically connected with any one of the positive pole and the negative pole of the electric welding machine;
the elastic piece is arranged between the mounting block and the conductive block and used for pushing the conductive block to abut against the side wall of the workbench;
the welding gun is connected to the mobile device in an insulated manner and is electrically connected with the rest one of the positive electrode and the negative electrode of the electric welding machine;
the frame is connected with the ground in an insulating way.
Further, the workpiece is connected to the workbench through a tool, and a pneumatic element and/or an electric element are arranged in the tool; the workbench is also connected with a rotary joint; the pneumatic element is connected with an external air source through the rotary joint and/or the electric element is connected with an external power supply through the rotary joint;
and/or a second scale is further arranged on the outer peripheral part of the workbench, and a second pointer which is used for being matched with the second scale to indicate the angle position of the workbench is connected to the rack.
Further, in order to avoid the overflow of harmful gas generated by welding, the five-axis welding robot further comprises a housing, wherein the rack, the workbench, the rotary driving mechanism, the welding gun, the moving device and the wire feeding device are all arranged in the housing; wherein the content of the first and second substances,
the rear end part of the housing is provided with at least one electric appliance cabinet;
and/or the left and right ends of the housing are respectively provided with a side door;
and/or the front end part of the housing is provided with a front door;
and/or the upper end part of the housing is provided with a gas outlet;
and/or the interior of the housing is also connected with a camera device, the exterior of the housing is connected with a display device, and the display device is connected with the camera device and is used for displaying pictures shot by the camera device.
Further provides a concrete scheme of the wire feeding device, wherein a wire feeding channel is arranged in the wire feeding device, and the wire feeding device comprises a wire feeding disc, a wire feeding pipe, a power mechanism, a speed measuring mechanism and a straightening mechanism; wherein the content of the first and second substances,
the wire feeding channel is arranged between the wire feeding disc and the wire feeding pipe;
welding wires are wound on the wire feeding disc;
one end of the wire feeding pipe is connected to the welding gun, and one end of the welding wire on the wire feeding disc penetrates through the wire feeding channel and then extends into the wire feeding pipe, penetrates through the wire feeding pipe and then extends to the welding gun;
the power mechanism is arranged between the wire feeding disc and the wire feeding pipe and used for clamping the welding wire in the wire feeding channel and conveying the welding wire to move towards the welding gun;
the straightening mechanism is arranged between the power mechanism and the wire feeding disc and is used for straightening the welding wire in the wire feeding channel;
the speed measuring mechanism is arranged between the power mechanism and the wire feeding disc and used for clamping the welding wire in the wire feeding channel and measuring the moving speed of the welding wire.
After the technical scheme is adopted, the Z-direction motor can drive the Z-direction sliding block to slide when driving the Z-direction lead screw to rotate, and further can drive the welding gun to move along the Z direction; the X-direction motor can drive the X-direction sliding block to slide when driving the X-direction lead screw to rotate, and further can drive the welding gun to move along the X direction; the Y-direction motor can drive the Y-direction sliding block to slide when driving the Y-direction lead screw to rotate, and further can drive the welding gun to move along the Y direction; and the workbench is matched to drive the workpiece to rotate when rotating, so that the welding gun can weld complex welding seams with various shapes and structures, no welding dead angle exists in the welding process, and the welding precision and the welding quality of the complex welding seams are improved.
And the cylinder can drive the measuring rod to move downwards to be abutted against the workpiece, so that the magnetic head is driven to move relative to the magnetic strip to measure the longitudinal position of the workpiece, and the dimensional accuracy of the workpiece after welding is improved.
And a short circuit is formed between the positive electrode and the negative electrode of the electric welding machine through the welding gun, the workpiece, the workbench and the conductive block, and then the workpiece is welded through the welding gun. The mounting block is in insulated connection with the rack, the welding gun is in insulated connection with the moving device, and the rack is in insulated connection with the ground, so that electromagnetic interference on servo systems such as the moving device and the rotary driving mechanism can be avoided in the welding process, the action precision of the moving device and the rotary driving mechanism is improved, and the welding precision and quality of complex welding seams are further improved.
Drawings
Fig. 1 is a schematic structural view of the front side of a five-axis welding robot of the present invention;
FIG. 2 is a schematic structural view of the back side of the five-axis welding robot of the present invention;
fig. 3 is a schematic structural diagram of a welding gun of the five-axis welding robot of the present invention;
FIG. 4 is a cross-sectional view of a five-axis welding robot of the present invention;
fig. 5 is a schematic structural diagram of a first adjusting mechanism of the five-axis welding robot of the invention;
FIG. 6 is a schematic structural diagram of a workbench and a conductive mechanism of the five-axis welding robot of the invention;
FIG. 7 is an external structural view of a worktable of the five-axis welding robot of the present invention;
FIG. 8 is a schematic structural diagram of a wire feeding device of the five-axis welding robot of the present invention;
fig. 9 is a schematic structural diagram of a housing of the five-axis welding robot of the present invention.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in fig. 1 to 8, a five-axis welding robot comprises a frame 1, a workbench 2, a rotary driving mechanism, a welding gun 3, a moving device 4 and a wire feeding device 5; wherein the content of the first and second substances,
the workbench 2 is rotatably connected to the rack 1 and is used for mounting a workpiece 6;
the rotary driving mechanism is connected with the workbench 2 and is used for acting to drive the workbench 2 to rotate so as to drive the workpiece 6 on the workbench 2 to rotate;
the welding gun 3 is connected to the moving device 4;
the moving device 4 is connected to the frame 1 and is used for moving to drive the welding gun 3 to move, so that the welding gun 3 welds a workpiece 6 on the workbench 2 in the moving process;
the wire feeder 5 is connected to the frame 1 and is operable to feed welding wire to the welding gun 3.
In this embodiment, the moving device 4 is configured to drive the welding gun 3 to move along the direction X, Y, Z, and drive the workpiece 6 to rotate when the workbench 2 rotates, so that the welding gun 3 can weld complex welding seams with various shapes and structures, no welding dead angle exists in the welding process, and the welding precision and the welding quality of the complex welding seams are improved.
In this embodiment, the rotation driving mechanism is, for example, but not limited to, the following structure, which includes:
a rotating motor 7 connected to the frame 1;
a drive gear 8 connected to an output shaft of the rotating electric machine 7;
and the driven gear 9 is connected to the workbench 2 and meshed with the driving gear 8, so that the rotating motor 7 drives the driving gear 8 to rotate, and further drives the driven gear 9 and the workbench 2 to rotate.
As shown in fig. 1 to 4, the moving device 4 includes, for example, but not limited to, an X-direction moving mechanism, a Y-direction moving mechanism, and a Z-direction moving mechanism; wherein the content of the first and second substances,
the Z-direction moving mechanism may include:
a Z-direction seat 10 connected to the frame 1;
a Z-direction slider 11 connected to the Z-direction base 10 in a sliding manner along the Z direction;
a Z-direction lead screw which is rotatably connected to the Z-direction base 10 and is in threaded connection with the Z-direction slider 11;
the Z-direction motor 12 is connected to the Z-direction base 10, and the Z-direction motor 12 is connected to the Z-direction lead screw and is used for driving the Z-direction lead screw to rotate so as to drive the Z-direction slide block 11 to slide;
the X-direction moving mechanism may include:
an X-direction seat 13 connected to the Z-direction slider 11;
an X-direction slider 14 slidably connected to the X-direction base 13 in the X direction;
an X-direction lead screw rotatably connected to the X-direction base 13 and in threaded connection with the X-direction slider 14;
the X-direction motor 15 is connected to the X-direction base 13, and the X-direction motor 15 is connected with the X-direction lead screw and used for driving the X-direction lead screw to rotate so as to drive the X-direction sliding block 14 to slide;
the Y-direction moving mechanism may include:
a Y-direction seat 16 connected to the X-direction slider 14;
a Y-direction slider 17 connected to the Y-direction base 16 in a sliding manner along the Y direction;
a Y-direction lead screw which is rotatably connected to the Y-direction base 16 and is in threaded connection with the Y-direction slider 17;
the Y-direction motor 18 is connected to the Y-direction base 16, and the Y-direction motor 18 is connected with the Y-direction lead screw and is used for driving the Y-direction lead screw to rotate so as to drive the Y-direction sliding block 17 to slide;
the welding gun 3 is connected to the Y-direction slider 17 so that the welding gun 3 can be moved in the direction X, Y, Z. In this embodiment, the Z direction is a longitudinal direction, the X direction is a left-right direction, and the Y direction is a front-back direction; specifically, the Z-direction seat 10 is fixedly connected to the frame 1, the X-direction seat 13 is fixedly connected to the Z-direction slider 11, and the Y-direction seat 16 is fixedly connected to the X-direction slider 14; the length direction of the Z-direction lead screw is arranged along the Z direction, the length direction of the X-direction lead screw is arranged along the X direction, and the length direction of the Y-direction lead screw is arranged along the Y direction; the Z-direction motor 12, the X-direction motor 15 and the Y-direction motor 18 can be absolute value servo motors; the Z-direction seat 10 is further connected with a first shell 19 for covering the Z-direction motor 12, the X-direction seat 13 is further connected with a second shell 20 for covering the X-direction motor 15, and the Y-direction seat 16 is further connected with a third shell for covering the Y-direction motor 18.
As shown in fig. 3, the welding gun 3 may be connected to the Y-slide 17 by a rotary block 21; wherein the content of the first and second substances,
the welding gun 3 is connected to the rotating block 21;
the rotating block 21 is rotatably connected to the Y-direction sliding block 17;
a first scale 22 is arranged on the Y-direction sliding block 17;
a first pointer 23 which is matched with the first scale 22 to indicate the angular position of the rotating block 21 is arranged on the rotating block 21; specifically, the rotating block 21 rotates around the Y-direction slide block 17 in a rotating shaft direction parallel to the Y-direction, and the angular position of the welding gun 3 can be adjusted through the above design, so that the angular position of the welding gun 3 is most suitable for welding the workpiece 6, and further, the welding of complex welding seams can be adapted, and the occurrence of welding dead angles is avoided.
As shown in fig. 1, 2, 4, and 7, the five-axis welding robot may further include a measuring device attached to the frame 1 and operable to measure the longitudinal position of the workpiece 6 on the table 2, such as, but not limited to, a structure including an air cylinder 24, a measuring rod 25, and a magnetic scale, which may include a magnetic strip 26 and a magnetic head 27; wherein the content of the first and second substances,
the measuring rod 25 is connected to the frame 1 in a sliding manner along the longitudinal direction;
the magnetic strip 26 is connected to the rack 1;
the magnetic head 27 is connected to the measuring rod 25;
the air cylinder 24 is mounted on the frame 1 and connected to the measuring rod 25, and the air cylinder 24 is used for actuating to drive the measuring rod 25 to move downwards to abut against the workpiece 6, so as to drive the magnetic head 27 to move relative to the magnetic strip 26 to measure the longitudinal position of the workpiece 6, thereby improving the dimensional accuracy of the workpiece 6 after welding. In this embodiment, magnetic stripe 26's length direction is along vertical setting, magnetic stripe 26 with magnetic head 27's position mutually supports, the magnetic grid chi receives the temperature influence less, and anti mechanical vibration, iron fillings and oil pollution ability reinforce can also shield external magnetic interference, can guarantee the measurement accuracy requirement, still be convenient for maintain.
As shown in fig. 1, 2, 4, 5 and 7, the frame 1 may include a base 28, a column 29, a beam 30, a first adjusting mechanism and a second adjusting mechanism; wherein the content of the first and second substances,
the upright 29 is connected to the base 28 in a sliding manner along the front-back direction;
the first adjusting mechanism is connected to the base 28 and the upright 29, and is used for being actuated to drive the upright 29 to slide in the front-back direction and locking the position of the upright 29 when the upright 29 slides to the position;
the cross beam 30 is connected to the upright 29 in a sliding manner along the left-right direction;
the second adjusting mechanism is connected to the upright 29 and the cross beam 30, and the second adjusting mechanism is used for being actuated to drive the cross beam 30 to slide in the left-right direction and lock the position of the cross beam 30 when the cross beam 30 slides in place. In this embodiment, a first slide rail is connected to the base 28, a first slide groove adapted to the first slide rail is disposed at the bottom of the upright 29, and the upright 29 is slidably connected to the base 28 through the cooperation of the first slide rail and the first slide groove; the upper end of the upright post 29 is connected with a second slide rail, one end of the cross beam 30 is provided with a second slide groove matched with the second slide rail, and the cross beam 30 is connected to the upper end of the upright post 29 in a sliding manner through the matching of the second slide rail and the second slide groove.
In this embodiment, the measuring device is connected to the cross beam 30, and the position of the measuring device can be adjusted by adjusting the front-rear position of the upright 29 and adjusting the left-right position of the cross beam 30; specifically, the workpiece 6 may be an explosion tube, the size of the longitudinal position of the step inside the explosion tube is very high, the error must be controlled within 15 wires, otherwise, after the automobile is impacted, the explosion tube cannot work normally, and the airbag cannot pop up. Further specifically, the lower tip of measuring stick 25 is equipped with measuring head 31, measuring head 31 need stretch into in the blast tube in order to measure the vertical position size of the inside step of blast tube, through adjusting measuring device's position can make measuring head 31 is accurate stretch into in the blast tube, and then make measuring device can accurately measure the vertical position size of the inside step of blast tube.
As shown in fig. 1, 2 and 5, the first adjusting mechanism may include at least one front fixing block 32, a front bolt 33 corresponding to the front fixing block 32, at least one rear fixing block 34, a rear bolt 35 corresponding to the rear fixing block 34, and at least one first pressing plate 36, and a first flange portion 37 is provided at a lower end of the upright 29; wherein the content of the first and second substances,
the front fixing block 32 and the rear fixing block 34 are both connected to the base 28, and the upright 29 is slidably connected between the front fixing block 32 and the rear fixing block 34;
the front fixing block 32 is provided with a front connecting hole, the rod part of the front bolt 33 passes through the front connecting hole in the corresponding front fixing block 32 and then is connected to the upright post 29 in a threaded manner, and the head part of the front bolt 33 abuts against the front fixing block 32 so as to drive the upright post 29 to slide forwards by screwing the front bolt 33;
the rear fixing block 34 is provided with a rear connecting hole, the rod part of the rear bolt 35 passes through the corresponding rear connecting hole in the rear fixing block 34 and then is connected to the upright post 29 in a threaded manner, and the head part of the rear bolt 35 abuts against the rear fixing block 34 so as to drive the upright post 29 to slide backwards by screwing the rear bolt 35;
the first pressure plate 36 is connected to the base 28 by a first bolt and is used for pressing the first flange part 37 on the base 28 to lock the position of the upright 29 when the upright 29 slides to the position;
the second adjusting mechanism may include at least one left fixing block 38, a left bolt corresponding to the left fixing block 38, at least one right fixing block 39, a right bolt corresponding to the right fixing block 39, and at least one second pressing plate 40, and a second flange portion 41 is disposed at one end of the cross beam 30; wherein the content of the first and second substances,
the left fixing block 38 and the right fixing block 39 are both connected to the upper end of the upright 29, and the cross beam 30 is connected between the left fixing block 38 and the right fixing block 39 in a sliding manner;
the left fixing block 38 is provided with a left connecting hole, the rod part of the left bolt penetrates through the corresponding left connecting hole in the left fixing block 38 and then is connected to the cross beam 30 in a threaded manner, and the head part of the left bolt abuts against the left fixing block 38 so as to drive the cross beam 30 to slide leftwards by screwing the left bolt;
the right fixing block 39 is provided with a right connecting hole, the rod part of the right bolt penetrates through the corresponding right connecting hole in the right fixing block 39 and then is connected to the cross beam 30 in a threaded manner, and the head part of the right bolt abuts against the right fixing block 39 so as to drive the cross beam 30 to slide rightwards by screwing the right bolt;
the second pressing plate 40 is connected to the upper end of the upright 29 by a second bolt and serves to press the second flange portion 41 against the upright 29 to lock the position of the cross member 30 when the cross member 30 is slid into place. In this embodiment, there are two front fixing blocks 32 and two rear fixing blocks 34, the front bolts 33 correspond to the front fixing blocks 32 one by one, and the rear bolts 35 correspond to the rear fixing blocks 34 one by one; the left fixing block 38 and the right fixing block 39 are respectively provided with one, and the left bolt and the right bolt are respectively provided with two.
As shown in fig. 1, 2, 3, 4 and 6, the five-axis welding robot may further include a welding machine and a conductive mechanism connected to the machine frame 1, and the conductive mechanism may include a mounting block 42, an elastic member 43 and a conductive block 44; wherein the content of the first and second substances,
the mounting block 42 is connected to the frame 1 in an insulating manner;
the conductive block 44 is slidably connected to the mounting block 42 and electrically connected to any one of the positive pole and the negative pole of the welding machine through a wire;
the elastic piece 43 is arranged between the mounting block 42 and the conductive block 44 and used for pushing the conductive block 44 to abut against the side wall of the workbench 2;
the welding gun 3 is connected to the moving device 4 in an insulated manner and is electrically connected with the rest one of the positive pole and the negative pole of the electric welding machine;
the rack 1 is in insulated connection with the ground; in this embodiment, at least one sliding rod 45 is disposed on the conductive block 44, the sliding rod 45 is slidably connected to the mounting block 42, so that the conductive block 44 is slidably connected to the mounting block 42, the elastic member 43 may be a spring, and the spring and the sliding rod 45 are in one-to-one correspondence and are sleeved on the corresponding sliding rod 45. Specifically, a short circuit is formed between the positive electrode and the negative electrode of the electric welding machine through the welding gun 3, the workpiece 6, the workbench 2 and the conductive block 44, and then the workpiece 6 is welded through the welding gun 3. Through the insulating connection of the mounting block 42 and the rack 1, the insulating connection of the welding gun 3 and the mobile device 4, and the insulating connection of the rack 1 and the ground, electromagnetic interference generated by servo systems such as the mobile device 4 and a rotary driving mechanism in the welding process can be avoided, so that the action precision of the mobile device 4 and the rotary driving mechanism can be improved, and the welding precision and quality of complex welding seams are further improved. More specifically, the welding gun 3 is connected to the Y-direction slider 17 in the moving device 4 through a rotating block 21, a rubber mat 46 is arranged between the welding gun 3 and the rotating block 21, a plurality of rubber mats 46 are arranged between the rack 1 and the ground, the conductive block 44 is also connected to the rack 1 through the rubber mat 46 in an insulating manner, and specifically, the mounting block 42 is connected to the base 28.
As shown in fig. 4, 6 and 7, the workpiece 6 is connected to the worktable 2 through a tool 47, and a pneumatic element 48 and an electric element are arranged in the tool 47; the workbench 2 is also connected with a rotary joint 49; the pneumatic element 48 is connected with an external air source through the rotary joint 49, and the electric element is connected with an external power supply through the rotary joint 49;
a second scale 50 is further disposed on the outer peripheral portion of the workbench 2, and a second pointer 51 used for being matched with the second scale 50 to indicate the angular position of the workbench 2 is connected to the frame 1. In the present embodiment, the rotary joint 49 is connected to the working table 2 through a connecting plate, and a solenoid valve 52 is further connected between the rotary joint 49 and the pneumatic element 48, and the solenoid valve 52 is also connected to the connecting plate. Specifically, a working cavity 53 is formed in the workbench 2, the connecting plate, the rotary joint 49 and the electromagnetic valve 52 are all arranged in the working cavity 53, and a central shaft of the rotary joint 49 is coaxial with a rotating shaft of the workbench 2; the specific structure of the rotary joint 49 is well known in the prior art, and is not described in detail in this embodiment.
As shown in fig. 1 and 9, the five-axis welding robot may further include a housing 54, and the frame 1, the worktable 2, the rotary driving mechanism, the welding gun 3, the moving device 4 and the wire feeder 5 are all disposed in the housing 54; wherein the content of the first and second substances,
at least one electric appliance cabinet is arranged at the rear end part of the housing 54, and the electric welding machine can be placed in the electric appliance cabinet;
the left end and the right end of the housing 54 are respectively provided with a side door 55;
a front door 56 is arranged at the front end part of the cover shell 54;
the upper end part of the housing 54 is provided with a gas outlet 57;
the inside of the cover 54 is also connected with a camera device, the outside of the cover 54 is connected with a display device 58, and the display device 58 is connected with the camera device and is used for displaying pictures shot by the camera device so as to observe the condition in the cover 54; specifically, the enclosure 54 is used to prevent toxic gases generated by welding from escaping. In this embodiment, the gas outlet 57 may be connected to an external exhaust gas treatment device, the lower end of the gas outlet 57 is provided with a gas collecting part with a small top and a large bottom, the front door 56 may be a rolling door, the exterior of the housing 54 is further connected to an electric fan 59, and the display device 58 may be a display screen.
As shown in fig. 1, 2, 3, and 8, a wire feeding channel may be disposed in the wire feeding device 5, and the wire feeding device 5 includes, for example and without limitation, a wire feeding disc 60, a wire feeding tube 61, a power mechanism, a speed measuring mechanism, and a straightening mechanism; wherein the content of the first and second substances,
the wire feeding channel is arranged between the wire feeding disc 60 and the wire feeding pipe 61;
the wire feeding disc 60 is wound with welding wires;
one end of the wire feeding pipe 61 is connected to the welding gun 3, and one end of the welding wire on the wire feeding disc 60 passes through the wire feeding channel and then extends into the wire feeding pipe 61, passes through the wire feeding pipe 61 and then extends to the welding gun 3;
the power mechanism is arranged between the wire feeding disc 60 and the wire feeding pipe 61 and is used for clamping the welding wire in the wire feeding channel and feeding the welding wire to move towards the welding gun 3;
the straightening mechanism is arranged between the power mechanism and the wire feeding disc 60 and is used for straightening the welding wire in the wire feeding channel;
the speed measuring mechanism is arranged between the power mechanism and the wire feeding disc 60 and is used for clamping the welding wire in the wire feeding channel and measuring the moving speed of the welding wire. In this embodiment, the wire feeding disc 60 is rotatably connected to the frame 1, and a part of the wire feeding tube 61 is also connected to the frame 1.
Specifically, the power mechanism may include a wire feeding motor 62, a power wheel 63, and a first pinch roller 64; the wire feeding motor 62 is connected to the rack 1, the power wheel 63 is connected to an output shaft of the wire feeding motor 62, and the first pressing wheel 64 is used for pressing the welding wire in the wire feeding channel onto the power wheel 63, so that the wire feeding motor 62 drives the power wheel 63 to rotate and drive the welding wire to move.
The speed measuring mechanism can comprise an encoder 65, a speed measuring wheel 66 and a second pressing wheel 67; the encoder 65 is connected to the frame 1, the speed measuring wheel 66 is connected to the encoder 65, and the second pressing wheel 67 is used for pressing the welding wire in the wire feeding channel against the speed measuring wheel 66, so that the welding wire is driven to rotate when moving, and the moving speed of the welding wire is measured through the encoder 65.
The straightening mechanism may include at least two fixed straightening wheels 68, at least one movable straightening wheel 69, a wheel mount 70 and an adjustment bar 71; the fixed straightening wheel 68 is rotatably connected to the frame 1 and located on one side of the welding wire, the movable straightening wheel 69 is rotatably connected to the wheel seat 70 and located on the other side of the welding wire, and the fixed straightening wheel 68 and the movable straightening wheel 69 are arranged in a staggered manner in the length direction of the welding wire; the wheel seat 70 is slidably connected to the frame 1, the adjusting rod 71 is rotatably connected to the frame 1 and is in threaded connection with the wheel seat 70, so that the adjusting rod 71 is screwed to drive the wheel seat 70 to slide, and the movable straightening wheel 69 is driven to move towards or away from the fixed straightening wheel 68, so as to achieve the purpose of straightening the welding wire; specifically, the machine frame 1 is further connected with a proximity switch 72 for sensing whether a welding wire is present in the wire feeding channel.
The working principle of the invention is as follows:
when the Z-direction motor 12 drives the Z-direction lead screw to rotate, the Z-direction slide block 11 can be driven to slide, and the welding gun 3 can be driven to move along the Z direction; when the X-direction motor 15 drives the X-direction lead screw to rotate, the X-direction sliding block 14 can be driven to slide, and the welding gun 3 can be driven to move along the X direction; when the Y-direction motor 18 drives the Y-direction lead screw to rotate, the Y-direction slide block 17 can be driven to slide, and the welding gun 3 can be driven to move along the Y direction; and the workbench 2 is matched to drive the workpiece 6 to rotate when rotating, so that the welding gun can weld complex welding seams with various shapes and structures, no welding dead angle exists in the welding process, and the welding precision and the welding quality of the complex welding seams are improved.
And the cylinder 24 can drive the measuring rod 25 to move downwards to abut against the workpiece 6, so as to drive the magnetic head 27 to move relative to the magnetic strip 26 to measure the longitudinal position of the workpiece 6, and further improve the dimensional accuracy of the workpiece 6 after welding.
And a short circuit is formed between the positive electrode and the negative electrode of the welding machine through the welding gun 3, the workpiece 6, the workbench 2 and the conductive block 44, and then the workpiece 6 is welded through the welding gun 3. The mounting block 42 is in insulated connection with the rack 1, the welding gun 3 is in insulated connection with the mobile device 4, and the rack 1 is in insulated connection with the ground, so that electromagnetic interference on servo systems such as the mobile device 4 and a rotary driving mechanism can be avoided in the welding process, the action precision of the mobile device 4 and the rotary driving mechanism is further improved, and the welding precision and quality of complex welding seams are further improved.
The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the mechanism or the element that is referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
Claims (10)
1. A five-axis welding robot is characterized by comprising a rack (1), a workbench (2), a rotary driving mechanism, a welding gun (3), a moving device (4) and a wire feeding device (5); wherein the content of the first and second substances,
the workbench (2) is rotatably connected to the rack (1) and is used for mounting a workpiece (6);
the rotary driving mechanism is connected with the workbench (2) and is used for acting to drive the workbench (2) to rotate;
the welding gun (3) is connected to the moving device (4);
the moving device (4) is connected to the rack (1) and is used for moving to drive the welding gun (3) to move, so that the welding gun (3) can weld a workpiece (6) on the workbench (2) in the moving process;
the wire feeder (5) is connected to the frame (1) and is used for acting to feed welding wire to the welding gun (3).
2. The five-axis welding robot according to claim 1, characterized in that the moving means (4) comprises an X-direction moving mechanism, a Y-direction moving mechanism and a Z-direction moving mechanism; wherein the content of the first and second substances,
the Z-direction moving mechanism comprises:
a Z-direction seat (10) connected to the frame (1);
a Z-direction sliding block (11) which is connected to the Z-direction seat (10) in a sliding manner along the Z direction;
the Z-direction lead screw is rotatably connected to the Z-direction base (10) and is in threaded connection with the Z-direction sliding block (11);
the Z-direction motor (12) is connected to the Z-direction base (10), and the Z-direction motor (12) is connected with the Z-direction lead screw and used for driving the Z-direction lead screw to rotate so as to drive the Z-direction sliding block (11) to slide;
the X-direction moving mechanism includes:
an X-direction seat (13) connected to the Z-direction slider (11);
an X-direction slider (14) connected to the X-direction base (13) in a sliding manner along the X direction;
the X-direction lead screw is rotatably connected to the X-direction seat (13) and is in threaded connection with the X-direction sliding block (14);
the X-direction motor (15) is connected to the X-direction base (13), and the X-direction motor (15) is connected with the X-direction lead screw and used for driving the X-direction lead screw to rotate so as to drive the X-direction sliding block (14) to slide;
the Y-direction moving mechanism includes:
a Y-direction seat (16) connected to the X-direction slider (14);
a Y-direction sliding block (17) connected to the Y-direction seat (16) in a sliding manner along the Y direction;
the Y-direction lead screw is rotatably connected to the Y-direction seat (16) and is in threaded connection with the Y-direction sliding block (17);
the Y-direction motor (18) is connected to the Y-direction base (16), and the Y-direction motor (18) is connected with the Y-direction lead screw and used for driving the Y-direction lead screw to rotate so as to drive the Y-direction sliding block (17) to slide;
the welding gun (3) is connected to the Y-direction sliding block (17).
3. The five-axis welding robot according to claim 2, characterized in that the welding gun (3) is connected to the Y-slide (17) by a rotating block (21); wherein the content of the first and second substances,
the welding gun (3) is connected to the rotating block (21);
the rotating block (21) is rotationally connected to the Y-direction sliding block (17);
a first scale (22) is arranged on the Y-direction sliding block (17);
the rotating block (21) is provided with a first pointer (23) which is matched with the first scale (22) to indicate the angular position of the rotating block (21).
4. The five-axis welding robot according to claim 1, characterized by further comprising a measuring device connected to the frame (1) and operative to measure the longitudinal position of a workpiece (6) on the table (2), the measuring device comprising a cylinder (24), a measuring rod (25) and a magnetic grid ruler, the magnetic grid ruler comprising a magnetic strip (26) and a magnetic head (27); wherein the content of the first and second substances,
the measuring rod (25) is connected to the rack (1) in a sliding mode along the longitudinal direction;
the magnetic strip (26) is connected to the rack (1);
the magnetic head (27) is connected to the measuring rod (25);
the air cylinder (24) is mounted on the rack (1) and connected with the measuring rod (25), and the air cylinder (24) is used for acting to drive the measuring rod (25) to move downwards to abut against the workpiece (6), so that the magnetic head (27) is driven to move relative to the magnetic strip (26) to measure the longitudinal position of the workpiece (6).
5. The five-axis welding robot according to claim 1, characterized in that the frame (1) comprises a base (28), a column (29), a beam (30), a first adjustment mechanism and a second adjustment mechanism; wherein the content of the first and second substances,
the upright post (29) is connected to the base (28) in a sliding manner along the front-back direction;
the first adjusting mechanism is connected to the base (28) and is connected with the upright post (29), and the first adjusting mechanism is used for being actuated to drive the upright post (29) to slide in the front-back direction and lock the position of the upright post (29) when the upright post (29) slides in place;
the cross beam (30) is connected to the upright post (29) in a sliding manner along the left-right direction;
the second adjusting mechanism is connected to the upright post (29) and connected with the cross beam (30), and is used for being actuated to drive the cross beam (30) to slide along the left-right direction and lock the position of the cross beam (30) when the cross beam (30) slides in place.
6. The five-axis welding robot of claim 5,
the first adjusting mechanism comprises at least one front fixing block (32), a front bolt (33) corresponding to the front fixing block (32), at least one rear fixing block (34), a rear bolt (35) corresponding to the rear fixing block (34) and at least one first pressing plate (36), and a first flange part (37) is arranged at the lower end part of the upright post (29); wherein the content of the first and second substances,
the front fixing block (32) and the rear fixing block (34) are connected to the base (28), and the upright column (29) is connected between the front fixing block (32) and the rear fixing block (34) in a sliding manner;
the front fixing block (32) is provided with a front connecting hole, the rod part of the front bolt (33) penetrates through the front connecting hole in the corresponding front fixing block (32) and then is connected to the upright post (29) in a threaded manner, and the head part of the front bolt (33) abuts against the front fixing block (32) so as to drive the upright post (29) to slide forwards by screwing the front bolt (33);
the rear fixing block (34) is provided with a rear connecting hole, the rod part of the rear bolt (35) penetrates through the rear connecting hole in the corresponding rear fixing block (34) and then is connected to the upright post (29) in a threaded manner, and the head part of the rear bolt (35) abuts against the rear fixing block (34) so as to drive the upright post (29) to slide backwards by screwing the rear bolt (35);
the first pressure plate (36) is connected to the base (28) through a first bolt and is used for pressing the first flange part (37) on the base (28) when the upright (29) slides in place so as to lock the position of the upright (29);
the second adjusting mechanism comprises at least one left fixing block (38), a left bolt corresponding to the left fixing block (38), at least one right fixing block (39), a right bolt corresponding to the right fixing block (39) and at least one second pressing plate (40), and a second flange part (41) is arranged at one end part of the cross beam (30); wherein the content of the first and second substances,
the left fixing block (38) and the right fixing block (39) are connected to the upper end portion of the upright post (29), and the cross beam (30) is connected between the left fixing block (38) and the right fixing block (39) in a sliding mode;
a left connecting hole is formed in the left fixing block (38), the rod part of the left bolt penetrates through the corresponding left connecting hole in the left fixing block (38) and then is connected to the cross beam (30) in a threaded mode, and the head part of the left bolt abuts against the left fixing block (38) so that the left bolt can be screwed to drive the cross beam (30) to slide leftwards;
a right connecting hole is formed in the right fixing block (39), the rod part of the right bolt penetrates through the right connecting hole in the corresponding right fixing block (39) and then is connected to the cross beam (30) in a threaded mode, and the head part of the right bolt abuts against the right fixing block (39) so that the right bolt can be screwed to drive the cross beam (30) to slide rightwards;
the second pressure plate (40) is connected to the upper end of the upright post (29) through a second bolt and is used for pressing the second flange part (41) on the upright post (29) when the cross beam (30) slides in place so as to lock the position of the cross beam (30).
7. The five-axis welding robot according to claim 1, characterized by further comprising an electric welding machine and a conductive mechanism connected to the frame (1), the conductive mechanism comprising a mounting block (42), an elastic member (43) and a conductive block (44); wherein the content of the first and second substances,
the mounting block (42) is connected to the rack (1) in an insulating manner;
the conductive block (44) is connected to the mounting block (42) in a sliding mode and is electrically connected with any one of the positive pole and the negative pole of the electric welding machine;
the elastic piece (43) is arranged between the mounting block (42) and the conductive block (44) and used for pushing the conductive block (44) to abut against the side wall of the workbench (2);
the welding gun (3) is connected to the moving device (4) in an insulated mode and is electrically connected with the rest one of the positive pole and the negative pole of the electric welding machine;
the frame (1) is connected with the ground in an insulating mode.
8. The five-axis welding robot of claim 1,
the workpiece (6) is connected to the workbench (2) through a tool (47), and a pneumatic element (48) and/or an electric element are arranged in the tool (47); the workbench (2) is also connected with a rotary joint (49); the pneumatic element (48) is connected to an external air source through the rotary joint (49) and/or the electrical element is connected to an external power source through the rotary joint (49);
and/or a second scale (50) is further arranged on the outer periphery of the workbench (2), and a second pointer (51) which is used for being matched with the second scale (50) to indicate the angle position of the workbench (2) is connected to the rack (1).
9. The five-axis welding robot according to claim 1, characterized by further comprising a housing (54), wherein the frame (1), the worktable (2), the rotary driving mechanism, the welding gun (3), the moving device (4) and the wire feeding device (5) are all arranged in the housing (54); wherein the content of the first and second substances,
the rear end part of the housing (54) is provided with at least one electric appliance cabinet;
and/or the left and right ends of the housing (54) are respectively provided with a side door (55);
and/or the front end part of the housing (54) is provided with a front door (56);
and/or the upper end of the casing (54) is provided with a gas outlet (57);
and/or the interior of the housing (54) is also connected with a camera device, the exterior of the housing (54) is connected with a display device (58), and the display device (58) is connected with the camera device and is used for displaying pictures shot by the camera device.
10. The five-axis welding robot according to claim 1, wherein a wire feeding channel is arranged in the wire feeding device (5), and the wire feeding device (5) comprises a wire feeding disc (60), a wire feeding pipe (61), a power mechanism, a speed measuring mechanism and a straightening mechanism; wherein the content of the first and second substances,
the wire feeding channel is arranged between the wire feeding disc (60) and the wire feeding pipe (61);
welding wires are wound on the wire feeding disc (60);
one end of the wire feeding pipe (61) is connected to the welding gun (3), one end of the welding wire on the wire feeding disc (60) penetrates through the wire feeding channel and then extends into the wire feeding pipe (61), and penetrates through the wire feeding pipe (61) and then extends to the welding gun (3);
the power mechanism is arranged between the wire feeding disc (60) and the wire feeding pipe (61), and is used for clamping the welding wire in the wire feeding channel and conveying the welding wire to move towards the welding gun (3);
the straightening mechanism is arranged between the power mechanism and the wire feeding disc (60) and is used for straightening the welding wire in the wire feeding channel;
the speed measuring mechanism is arranged between the power mechanism and the wire feeding disc (60), and is used for clamping the welding wire in the wire feeding channel and measuring the moving speed of the welding wire.
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| CN112917063A (en) * | 2021-03-11 | 2021-06-08 | 常州凯特工业机器人有限公司 | Automatic welding equipment for shaft products |
| CN114260545A (en) * | 2022-01-14 | 2022-04-01 | 浙江自然来环境科技有限公司 | Circular seam welding equipment for metal corrugated hose |
| CN117428334A (en) * | 2023-12-18 | 2024-01-23 | 苏州托玛斯机器人集团有限公司 | Robot laser welding workstation |
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