CN111660042A - Rotary automatic welding robot and welding method thereof - Google Patents
Rotary automatic welding robot and welding method thereof Download PDFInfo
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- CN111660042A CN111660042A CN202010425787.1A CN202010425787A CN111660042A CN 111660042 A CN111660042 A CN 111660042A CN 202010425787 A CN202010425787 A CN 202010425787A CN 111660042 A CN111660042 A CN 111660042A
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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 for a procedure covered by only one of the other main groups of this subclass
- 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
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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 for a procedure covered by only one of the other main groups of this subclass
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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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention relates to the related technical field of welding processes, in particular to a rotary automatic welding robot and a welding method thereof. This application improves process range and machining precision through the mode that wholly reaches three-dimensional processing and adjusts, guarantees processingquality.
Description
This patent is the divisional application, and the information of former application is as follows, the name: a rotary automatic welding robot and a welding method thereof are disclosed in the application number: 2019107995348, filing date: 2019/8/28.
Technical Field
The invention relates to the technical field related to welding processes, in particular to a rotary automatic welding robot and a welding method thereof.
Background
At present, in industrial production in China, a differentiated welding robot which can be customized individually and combined modularly and efficiently and quickly is required to meet the production requirements of customers, and the welding requirements of omnibearing weldments with different shapes and sizes are met.
Some automatic welding robots of current are because of too heavy huge, and the structure is complicated, can not carry out all-round automatic positioning welding from top to bottom, about and around moreover, and welder can not revolve round the welding work piece, and the work piece must use with the cooperation of machine of shifting, and the work piece will firmly assemble on the machine of shifting, and a ware that shifts can only assemble a work piece moreover, forms fixed welding point promptly after the assembly is accomplished, causes welding operation's controllability not enough.
Disclosure of Invention
The present invention is directed to a rotary automatic welding robot and a welding method thereof, which solve the problems of the background art mentioned above.
In order to achieve the purpose, the invention provides the following technical scheme:
a rotary automatic welding robot comprises a rotary base, wherein an operation rack is mounted on the rotary base, a Y-axis guide rail is mounted on the operation rack, an adjusting rack is movably mounted on the Y-axis guide rail, a Z-axis guide rail is mounted on the adjusting rack, a welding frame is movably mounted on the Z-axis guide rail, a bearing platform is fixedly mounted on the upper surface of the rotary base, a plurality of jig plates are arranged on the bearing platform, the rotary base comprises an upper bearing platform and a lower bearing platform, the upper bearing platform is mounted on the lower bearing platform through a supporting rotating shaft, two ends of the bottom of the operation rack are mounted on the upper surface of the upper bearing platform through fixing blocks, the bearing platform is mounted at the top of the supporting rotating shaft through bearings and does not move along with the upper bearing platform, a transmission cavity is formed in the inner cavity of the upper bearing platform, and an annular rack is arranged on, a transmission gear is arranged in the transmission cavity and meshed with the annular rack.
As a further scheme of the invention: the inner cavity of the lower carrier is provided with a driving cavity, a driving shaft is installed on the side wall of the driving cavity in a built-in mode, the driving shaft extends into the inner cavity of the driving cavity and is provided with a driving bevel gear, the bottom of the driving gear is provided with a driving shaft, the bottom end of the driving shaft is provided with a driven bevel gear, the driving bevel gear is meshed with the driven bevel gear, and the power input end of the driving shaft is provided with a driving handle.
As a further scheme of the invention: and a spiral fine adjuster is arranged on the driving handle.
As a further scheme of the invention: the Y-axis guide rail is provided with a Y-axis sliding block, a Y-axis screw is arranged in the Y-axis guide rail, a screw hole is arranged in the Y-axis sliding block and penetrates through the Y-axis screw through the screw hole, a Y-axis fixing plate is arranged on the Y-axis sliding block, and the adjusting rack is arranged on the Y-axis fixing plate through a locking bolt.
As a further scheme of the invention: and a Y-axis motor is arranged on the operation rack, and the Y-axis screw rod is connected to the driving end of the Y-axis motor.
As a further scheme of the invention: the welding device comprises a Z-axis guide rail, a welding frame, a Z-axis sliding block, a welding bolt, a transmission threaded sleeve, a Z-axis screw rod and a transmission threaded sleeve, wherein the Z-axis sliding block is installed on the Z-axis guide rail, the welding frame is installed on the Z-axis sliding block through the locking bolt, the transmission threaded sleeve is arranged at the bottom of the Z-axis sliding block, the Z-axis screw rod is installed in the.
As a further scheme of the invention: and a Z-axis motor is installed on the adjusting rack, and the Z-axis screw rod is connected to the driving end of the Z-axis motor.
As a further scheme of the invention: the welding gun angle measurement device is characterized in that a fixed base frame is arranged on the welding frame, a supporting plate is arranged at the top end of the fixed base frame, a swinging direction rack is arranged on the supporting plate through a movable shaft, a welding gun is arranged on the swinging direction rack, an angle measurement plate is further arranged on the supporting plate, an arc-shaped groove is formed in the angle measurement plate, and the swinging direction rack is arranged in the arc-shaped groove through a ball.
As a still further scheme of the invention: the built-in regulating motor that has of fixed bed frame, the motor shaft is installed to regulating motor's drive end, the adjusting plate is installed on the top of motor shaft, install the connecting block on the adjusting plate, install the diversion wheel on the fixed bed frame, be connected with the acting as go-between on the connecting block, it is connected with the welding rifle to act as go-between after turning through the diversion wheel.
The application takes the relative welding of two parts as an example, and also discloses a welding method of a rotary automatic welding robot,
the method comprises the following steps: the bearing platform is X-Y axis coordinates, coordinates of the welding source A are marked as A (X1 and Y1), and coordinates of the welding source B are marked as B (X2 and Y2);
step two; calculating an included angle alpha 1 between the coordinates A and B according to the coordinates A (X1, Y1) and B (X2, Y2);
step three: calculating a projection angle alpha 2 of the welding gun according to the included angle alpha 1; the driving handle is adjusted through the spiral fine adjuster, so that the upper carrying platform is driven to rotate, the angle of the upper carrying platform is adjusted, and the angle of the operation rack is adjusted;
step four, calculating Y-axis coordinates of welding points of the two parts according to the coordinates of A (X1, Y1) and B (X2, Y2), so as to adjust the Y-axis guide rail and move the position of the adjusting rack;
step five, calculating the height difference between the height difference and a welding point according to the height of the Y-axis guide rail, and movably adjusting the height of the welding frame by adjusting the Z-axis guide rail;
and step six, adjusting the welding angle of the welding gun by taking the angle measuring plate as a detection standard to achieve the effect of accurate welding.
Compared with the prior art, the invention has the beneficial effects that:
the machining coordinate adjusting device has the advantages that the operating rack is driven to rotate through the multi-stage gear transmission mechanism, the angle between the operating rack and the operating reference surface is adjusted, the machining coordinate is adjusted in the operating plane of the operating rack through the thread transmission in the Y-Z axis direction, and therefore the mode of three-dimensional machining adjustment is achieved integrally, the machining range is improved, welding treatment can be conducted on workpieces on multiple stations of a machine table, machining accuracy is greatly improved, and machining quality is guaranteed.
Secondly, this application still adds adjustment mechanism on the welding frame, and it uses the loose axle to swing as the axle center to cooperate through crank connecting rod transmission and fixed pulley mechanism to drive the backup pad to adjust the angle of welding rifle, the position of income rifle when adjusting the welding promptly, further guarantee the welding precision.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. Also, the drawings and the description are not intended to limit the scope of the present concepts in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art by reference to specific embodiments.
Fig. 1 is a schematic view of a top view structure of the present invention.
Fig. 2 is a schematic view of the front view structure of the present invention.
Fig. 3 is a schematic structural view of the Y-axis guide rail of the present invention.
Fig. 4 is a schematic structural view of a Z-axis guide rail according to the present invention.
Fig. 5 is a schematic structural view of the welding stand of the present invention.
In the figure: 1-rotary base, 10-bearing platform, 11-upper bearing platform, 12-lower bearing platform, 13-fixed block, 14-supporting rotating shaft, 15-transmission cavity, 16-annular rack, 17-transmission gear, 18-drive cavity, 19-drive bevel gear, 20-drive handle, 21-drive shaft, 22-driven bevel gear, 24-spiral trimmer, 3-jig plate, 4-operation rack, 41-Y-axis guide rail, 42-Y-axis sliding block, 43-Y-axis fixing plate, 44-Y-axis motor, 45-Y-axis screw, 5-adjusting rack, 51-Z-axis guide rail, 52-Z-axis sliding block, 53-transmission screw sleeve, 54-Z-axis screw, 55-Z-axis motor, 6-welding rack, 61-fixed base frame, 62-supporting plate, 63-swinging frame, 64-welding gun, 65-angle measuring plate, 66-arc groove, 67-ball, 68-motor shaft, 69-regulating disk, 71-connecting block, 72-direction-changing wheel and 73-pull wire.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, examples of which are shown in the drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements, unless otherwise indicated.
It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1 and 2, a rotary automatic welding robot and a welding method thereof include a rotary base 1, an operation rack 4 is mounted on the rotary base 1, a Y-axis guide rail 41 is mounted on the operation rack 4, an adjusting rack 5 is movably mounted on the Y-axis guide rail 41, a Z-axis guide rail 51 is mounted on the adjusting rack 5, a welding rack 6 is movably mounted on the Z-axis guide rail 51, a bearing platform 10 is fixedly mounted on the upper surface of the rotary base 1, and a plurality of jig plates 3 are disposed on the bearing platform 10.
In the present application, the rotating base 1 is a reference surface for welding work, the work frame 4 is a support frame for welding work, the Y-axis guide rail 41 adjusts the Y-axis coordinate, the Z-axis guide rail 51 adjusts the Z-axis coordinate, and the welding frame 6 performs welding work. Tool board 3 is detachable installation for place and treat the welded part, this kind of detachable structure can effectively increase the operation degree of freedom, with the adjustable structure of this application cooperate, makes the operation degree of freedom higher.
The rotary base 1 comprises an upper platform 11 and a lower platform 12, the upper platform 11 is mounted on the lower platform 12 through a support rotating shaft 14, two ends of the bottom of the operation frame 4 are mounted on the upper surface of the upper platform 11 through fixing blocks 13, and the bearing platform 10 is mounted on the top of the support rotating shaft 14 through a bearing and does not move along with the upper platform 11. Lower stage 12 is a fixed base, upper stage 11 can be adjusted in a rotating way, and bearing platform 10 is kept fixed, so that welding stability is facilitated.
The inner cavity of the upper carrying platform 11 is provided with a transmission cavity 15, the inner wall of the transmission cavity 15 is provided with an annular rack 16, a transmission gear 17 is arranged in the transmission cavity 15, the transmission gear 17 is meshed with the annular rack 16, the inner cavity of the lower carrying platform 12 is provided with a driving cavity 18, the side wall of the driving cavity 18 is internally provided with a driving shaft 21, the driving shaft 21 extends into the inner cavity of the driving cavity 18 and is provided with a driving bevel gear 19, the bottom of the transmission gear 17 is provided with a transmission shaft 21, the bottom end of the transmission shaft 21 is provided with a driven bevel gear 22, the driving bevel gear 19 is meshed with the driven bevel gear 22, and the power input end of the transmission shaft 21 is.
During operation, the driving handle 20 drives the driving bevel gear 19 to move, and the insection meshing transmission drives the upper carrier 11 to move, i.e. the operation angle of the operation frame 4 relative to the bearing platform 10 is adjusted.
Preferably, the driving handle 20 is provided with a spiral fine-adjuster 24, and the spiral fine-adjuster 24 is similar to a micrometer structure and is used for improving the adjustment precision of the driving handle 20, so that a person can conveniently grasp the rotation angle of the loading platform 11, the operation precision is well controlled, and the processing quality is ensured.
Referring to fig. 3, a Y-axis sliding block 42 is mounted on the Y-axis guide rail 41, a Y-axis screw 45 is mounted in the Y-axis guide rail 41, a screw hole is formed in the Y-axis sliding block 42 and penetrates through the screw hole on the Y-axis screw 45, a Y-axis fixing plate 43 is mounted on the Y-axis sliding block 42, and the adjusting machine frame 5 is mounted on the Y-axis fixing plate 43 through a locking bolt. The work machine frame 4 is provided with a Y-axis motor 44, and the Y-axis screw 45 is connected to the driving end of the Y-axis motor 44.
Referring to fig. 4, a Z-axis slider 52 is mounted on the Z-axis guide rail 51, the welding frame 6 is mounted on the Z-axis slider 52 through a locking bolt, a transmission threaded sleeve 53 is disposed at the bottom of the Z-axis slider 52, a Z-axis screw 54 is mounted in the Z-axis guide rail 51, and the transmission threaded sleeve 53 is mounted on the Z-axis screw 54. A Z-axis motor 55 is mounted on the adjusting frame 5, and the Z-axis screw 54 is connected to a driving end of the Z-axis motor 55.
And then the machining position is adjusted in the Y-Z axis direction through the thread transmission mechanism, so that the machining precision is improved, and the machining application range is enlarged.
This application drives operation frame 4 through multi-stage gear drive mechanism and rotates, adjusts the relative angle with the operation reference surface of operation frame 4, again through the screw drive of Y-Z axle direction, in the operation plane of operation frame 4, adjusts the processing coordinate to wholly reach the mode that three-dimensional processing was adjusted, the workable scope of not only improving can be to the welding treatment of the work piece on a plurality of stations of board, has still improved the accuracy of processing greatly, guarantees processingquality.
Example two:
referring to fig. 5, the embodiment is further optimized as an embodiment, and on the basis, in order to further improve the precision of the welding process, an adjusting mechanism is further added on the welding frame 6.
Install fixed bed frame 61 on the weld holder 6, backup pad 62 is installed on the top of fixed bed frame 61, install the pendulum through the loose axle on the backup pad 62 to frame 63, the pendulum is installed welding rifle 64 to frame 63 on, still install angle measurement board 65 on the backup pad 62, be provided with arc wall 66 on the angle measurement board 65, the pendulum is installed in arc wall 66 through ball 67 to frame 63.
The built-in regulating motor that has of fixed bed frame 61, motor shaft 68 is installed to the drive end of regulating motor, adjusting disk 69 is installed on the top of motor shaft 68, install connecting block 71 on the adjusting disk 69, install turning wheel 72 on the fixed bed frame 61, be connected with on the connecting block 71 and act as go-between 73, act as go-between 73 and be connected with welding gun 64 through turning wheel 72 backward.
During operation, the adjusting disc 69 is driven to move by the adjusting motor, the pull wire 73 is driven to move by the adjusting disc 69, the supporting plate 62 is driven to swing by taking the movable shaft as an axis through the pull wire 73, so that the angle of the welding gun 64 is adjusted, namely, the position of the welding gun is adjusted during welding, and the welding precision is further ensured.
Preferably, the present application also provides for the simultaneous use of a helical trimmer to adjust the direction of rotation of the motor shaft 68, taking into account the vibrations generated by the adjustment motor itself which can affect the accuracy of the adjustment.
The application takes two-part relative welding as an example, and discloses a welding method of a rotary automatic welding robot, which is used for more clearly explaining the application.
The method comprises the following steps: the carrying platform 10 is an X-Y axis coordinate, the coordinate of the welding source A is marked as A (X1 and Y1), and the coordinate of the welding source B is marked as B (X2 and Y2);
step two; calculating an included angle alpha 1 between the coordinates A and B according to the coordinates A (X1, Y1) and B (X2, Y2);
step three: calculating a projection angle alpha 2 of the welding gun according to the included angle alpha 1; the driving handle 20 is adjusted through the screw fine adjuster 24, so that the upper carrier 11 is driven to rotate, the angle of the upper carrier 11 is adjusted, and the angle of the working rack 4 is adjusted;
step four, calculating Y-axis coordinates of welding points of the two parts according to the coordinates of A (X1, Y1) and B (X2, Y2), so as to adjust the Y-axis guide rail 41 and move the position of the adjusting rack 5;
step five, calculating the height difference with the welding point according to the height of the Y-axis guide rail 41, and movably adjusting the height of the welding frame 6 by adjusting the Z-axis guide rail 51;
and step six, adjusting the welding angle of the welding gun 64 by taking the angle measuring plate 65 as a detection standard to achieve the effect of accurate welding.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A rotary automatic welding robot comprises a rotary base (1), wherein an operation rack (4) is installed on the rotary base (1), a Y-axis guide rail (41) is installed on the operation rack (4), an adjusting rack (5) is movably installed on the Y-axis guide rail (41), a Z-axis guide rail (51) is installed on the adjusting rack (5), a welding frame (6) is movably installed on the Z-axis guide rail (51), a bearing platform (10) is fixedly installed on the upper surface of the rotary base (1), a plurality of jig plates (3) are arranged on the bearing platform (10), the rotary automatic welding robot is characterized in that the rotary base (1) comprises an upper carrying platform (11) and a lower carrying platform (12), the upper carrying platform (11) is installed on the lower carrying platform (12) through a supporting rotating shaft (14), and two ends of the bottom of the operation rack (4) are installed on the upper surface of the upper carrying platform (11) through a fixing block (13), the bearing platform (10) is mounted at the top of the supporting rotating shaft (14) through a bearing and does not move along with the upper carrier (11), a transmission cavity (15) is formed in the inner cavity of the upper carrier (11), an annular rack (16) is arranged on the inner wall of the transmission cavity (15), a transmission gear (17) is mounted in the transmission cavity (15), and the transmission gear (17) is meshed with the annular rack (16);
a driving cavity (18) is formed in the inner cavity of the lower carrier (12), a driving shaft (21) is arranged on the side wall of the driving cavity (18) in a built-in mode, the driving shaft (21) extends into the inner cavity of the driving cavity (18) and is provided with a driving bevel gear (19), a transmission shaft (21) is arranged at the bottom of the transmission gear (17), a driven bevel gear (22) is arranged at the bottom end of the transmission shaft (21), the driving bevel gear (19) is meshed with the driven bevel gear (22), and a driving handle (20) is arranged at the power input end of the transmission shaft (21);
a spiral trimmer (24) is arranged on the driving handle (20);
the Y-axis guide rail (41) is internally provided with a Y-axis screw rod (45), the Y-axis sliding block (42) is internally provided with a screw hole and penetrates through the Y-axis screw rod (45) through the screw hole, the Y-axis sliding block (42) is provided with a Y-axis fixing plate (43), and the adjusting rack (5) is arranged on the Y-axis fixing plate (43) through a locking bolt.
2. Rotary automatic welding robot according to claim 1, characterized in that a Y-axis motor (44) is arranged on the working frame (4), and the Y-axis screw (45) is connected to the driving end of the Y-axis motor (44).
3. The rotary automatic welding robot according to claim 1, wherein a Z-axis slide block (52) is mounted on the Z-axis guide rail (51), the welding frame (6) is mounted on the Z-axis slide block (52) through a locking bolt, a transmission threaded sleeve (53) is disposed at the bottom of the Z-axis slide block (52), a Z-axis screw (54) is mounted in the Z-axis guide rail (51), and the transmission threaded sleeve (53) is mounted on the Z-axis screw (54).
4. Rotary automatic welding robot according to claim 3, characterized in that the adjusting frame (5) is mounted with a Z-axis motor (55), and the Z-axis screw (54) is connected to the driving end of the Z-axis motor (55).
5. The rotary automatic welding robot according to claim 1, wherein a fixed pedestal (61) is installed on the welding frame (6), a supporting plate (62) is installed at the top end of the fixed pedestal (61), a swing frame (63) is installed on the supporting plate (62) through a movable shaft, a welding gun (64) is installed on the swing frame (63), an angle measuring plate (65) is further installed on the supporting plate (62), an arc-shaped groove (66) is formed in the angle measuring plate (65), and the swing frame (63) is installed in the arc-shaped groove (66) through a ball (67).
6. The rotary automatic welding robot according to claim 5, wherein an adjusting motor is arranged in the fixed pedestal (61), a motor shaft (68) is installed at a driving end of the adjusting motor, an adjusting disc (69) is installed at a top end of the motor shaft (68), a connecting block (71) is installed on the adjusting disc (69), a turning wheel (72) is installed on the fixed pedestal (61), a pull wire (73) is connected to the connecting block (71), and the pull wire (73) is connected to the welding gun (64) after being turned backwards by the turning wheel (72).
7. The welding method of the rotary automatic welding robot according to any one of claims 1 to 6, comprising the steps of:
the method comprises the following steps: the bearing platform (10) is used as an X-Y axis coordinate, the coordinate of the welding source A is marked as A (X1, Y1), and the coordinate of the welding source B is marked as B (X2, Y2);
step two; calculating an included angle alpha 1 between the coordinates A and B according to the coordinates A (X1, Y1) and B (X2, Y2);
step three: calculating a projection angle alpha 2 of the welding gun according to the included angle alpha 1; the driving handle (20) is adjusted through the spiral fine adjuster (24), so that the upper carrier (11) is driven to rotate, the angle of the upper carrier (11) is adjusted, and the angle of the operation rack (4) is adjusted;
step four, calculating Y-axis coordinates of welding points of the two parts according to the coordinates of A (X1, Y1) and B (X2, Y2), so as to adjust the Y-axis guide rail (41) and move the position of the adjusting rack (5);
step five, calculating the height difference with the welding point according to the height of the Y-axis guide rail (41), and movably adjusting the height of the welding frame (6) by adjusting the Z-axis guide rail (51);
and step six, the angle measurement plate (65) is used as a detection standard, and the welding angle of the welding gun (64) is adjusted to achieve the effect of accurate welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010425787.1A CN111660042A (en) | 2019-08-28 | 2019-08-28 | Rotary automatic welding robot and welding method thereof |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910799534.8A CN110549048B (en) | 2019-08-28 | 2019-08-28 | A rotary automatic welding robot and its welding method |
| CN202010425787.1A CN111660042A (en) | 2019-08-28 | 2019-08-28 | Rotary automatic welding robot and welding method thereof |
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| CN201910799534.8A Division CN110549048B (en) | 2019-08-28 | 2019-08-28 | A rotary automatic welding robot and its welding method |
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| CN111660042A true CN111660042A (en) | 2020-09-15 |
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| CN113199187A (en) * | 2021-05-31 | 2021-08-03 | 中铁五局集团贵州工程有限公司 | Device for welding grid steel frame and welding method |
| CN119870817A (en) * | 2025-03-28 | 2025-04-25 | 上海允毅自动化科技有限公司 | Industrial welding robot |
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| CN110549048B (en) * | 2019-08-28 | 2020-04-21 | 南京涵曦月自动化科技有限公司 | A rotary automatic welding robot and its welding method |
| CN110994323B (en) * | 2020-01-02 | 2020-09-15 | 江苏怡通控制系统有限公司 | Automatic welding device for wire and cable wire port |
| CN113074632B (en) * | 2021-03-15 | 2022-08-16 | 中国第一汽车股份有限公司 | Method for accurately positioning welded pipeline |
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2019
- 2019-08-28 CN CN201910799534.8A patent/CN110549048B/en active Active
- 2019-08-28 CN CN202010425787.1A patent/CN111660042A/en not_active Withdrawn
-
2020
- 2020-05-14 WO PCT/CN2020/090311 patent/WO2021036351A1/en not_active Ceased
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199187A (en) * | 2021-05-31 | 2021-08-03 | 中铁五局集团贵州工程有限公司 | Device for welding grid steel frame and welding method |
| CN119870817A (en) * | 2025-03-28 | 2025-04-25 | 上海允毅自动化科技有限公司 | Industrial welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110549048A (en) | 2019-12-10 |
| CN110549048B (en) | 2020-04-21 |
| WO2021036351A1 (en) | 2021-03-04 |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200915 |
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| WW01 | Invention patent application withdrawn after publication |