CN112676665A - Welding tool and method for feedback rod of electro-hydraulic servo valve - Google Patents
Welding tool and method for feedback rod of electro-hydraulic servo valve Download PDFInfo
- Publication number
- CN112676665A CN112676665A CN202011290969.9A CN202011290969A CN112676665A CN 112676665 A CN112676665 A CN 112676665A CN 202011290969 A CN202011290969 A CN 202011290969A CN 112676665 A CN112676665 A CN 112676665A
- Authority
- CN
- China
- Prior art keywords
- feedback rod
- welding
- freedom
- degree
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention belongs to the field of manufacturing of electro-hydraulic servo valves, and particularly relates to a welding tool and a welding method for a feedback rod of an electro-hydraulic servo valve. The method solves the problems of low production efficiency, high cost and poor size precision of the feedback rod of the machined and formed electro-hydraulic servo valve in the existing preparation method of the feedback rod of the electro-hydraulic servo valve, and comprises a rack assembly, a 3-axis 6-freedom adjustable manipulator and a 2-freedom adjustable welding table, wherein the 3-axis 6-freedom adjustable manipulator and the 2-freedom adjustable welding table are positioned on the rack assembly; the 3-axis 6-degree-of-freedom adjustable manipulator is used for positioning and clamping a steel ball and a thin-wall feedback rod of the thin-wall welding type feedback rod; and the 2-freedom-degree adjustable welding table is used for positioning the feedback rod seat and the sleeve. The method comprises the steps of primary positioning, initial assembly, adjustment, welding, workpiece taking and the like, the welding part is repeatedly positioned through the locking limiting mechanism, and after the positioning is finished, only the position of the z direction needs to be adjusted in the subsequent welding process. Higher welding efficiency and repetition accuracy can be achieved.
Description
Technical Field
The invention belongs to the field of manufacturing of electro-hydraulic servo valves, and particularly relates to a welding tool and a welding method for a feedback rod of an electro-hydraulic servo valve.
Background
The feedback rod of the existing electro-hydraulic servo valve is generally formed by turning and machining a round-section steel column into a whole, and then is bent and formed by adopting a sheet metal method or is used by turning a fine grinding ball at the end part to be matched with a precise groove.
The existing method has the defects of high processing difficulty, time and labor waste in adjustment, and non-designed bending load is easily brought in the motion process of the feedback rod, so that the product precision is influenced.
Disclosure of Invention
The invention provides an electro-hydraulic servo valve feedback rod and a welding tool and method thereof, and aims to solve the problems of low production efficiency, high cost and poor dimensional accuracy of a machined electro-hydraulic servo valve feedback rod in the existing electro-hydraulic servo valve feedback rod preparation method.
The technical scheme of the invention is to provide a welding tool for a feedback rod of an electro-hydraulic servo valve, wherein the feedback rod of the electro-hydraulic servo valve comprises a feedback rod seat, a feedback rod, a sleeve and a steel ball;
the feedback rod seat is a steel plate formed by punching and processing a steel belt;
the section of the feedback rod is rectangular, the feedback rod is formed by punching and processing a steel belt and comprises an inclined section and a vertical section, and an included angle between the inclined section and the vertical section is an obtuse angle;
the steel ball is welded at the end part of the inclined section of the feedback rod;
the end part of the vertical section of the feedback rod and the end surface of the sleeve are welded on the feedback rod seat;
it is characterized in that: the welding machine comprises a rack assembly, a 3-axis 6-degree-of-freedom adjustable manipulator and a 2-degree-of-freedom adjustable welding table;
the rack assembly comprises a processing platform, a welding table support fixed on the processing platform and a 3-degree-of-freedom orthogonal adjustable rack unit; defining the length direction of the processing platform as the x direction, the width direction as the y direction and the height direction as the z direction;
the 3-degree-of-freedom orthogonal adjustable rack unit comprises a linear guide rail, a sliding block retaining clamp, an adapter plate, a locking block, a Z-axis gear rack sliding table and a supporting shell; the linear guide rail is fixed on the processing platform along the Y direction; the bottom of the slide block is matched with the linear guide rail and can slide along the linear guide rail; the sliding block locking pliers are arranged at two ends of the sliding block and used for positioning the sliding block; the adapter plate is fixed at the top of the sliding block and used for fixing the Z-axis gear rack sliding table; the locking block is fixed on the top of the adapter plate and used for adjusting and locking the Z-direction height of the Z-axis gear rack sliding table; the Z-axis gear rack sliding table is fixed at the top of the locking block; the supporting shell is fixed on the Z-axis gear rack sliding table and can move along the Z axis under the drive of the Z-axis gear rack sliding table; the support shell is internally provided with an angular contact ball bearing, the upper end of the support shell is provided with a locking upper cover, and the locking upper cover limits and seals the angular contact ball bearing.
The 3-axis 6-degree-of-freedom manipulator comprises a 3-axis 6-degree-of-freedom manipulator and an elastic clamp orthogonally fixed at the tail end of the 3-axis 6-degree-of-freedom manipulator;
the rotary central shaft of the 3-axis 6-degree-of-freedom mechanical arm is connected with an angular contact ball bearing in the support shell;
the elastic clamp is used for positioning and clamping the steel ball and the thin-wall feedback rod of the thin-wall welding type feedback rod;
the end surface of the clamping part of the elastic clamp is a step surface, and a z-direction through groove is formed along a first vertical step surface; the shape of the groove bottom of the through groove is matched with the shape of the inner end face of the feedback rod, and the shape of the groove wall is matched with the shape of the side wall of the feedback rod; the groove bottom is defined as a first positioning surface, and the inner end surface of the feedback rod is positioned; one of the groove walls is defined as a second positioning surface, and one side wall of the feedback rod is positioned; the second vertical step surface is in transition connection with the top of the elastic clamp through an inclined surface, and the inclined surface is a steel ball positioning surface;
the 2-degree-of-freedom adjustable welding table is fixed at the top of the welding table support, can move in the x direction relative to the welding table support and rotate along the central shaft of the welding table, and is used for positioning the feedback rod seat and the sleeve.
Furthermore, the 2-freedom-degree adjustable welding table comprises a welding table square rail and a square rail sliding sleeve;
a positioning column is arranged at the center of the top of the welding table support;
one end of the welding table square rail is provided with a waist-shaped hole, and a positioning column at the top of the welding table support is sleeved in the waist-shaped hole to ensure that the welding table square rail can move along the x direction and rotate along the welding table central shaft; the square rail sliding sleeve is sleeved on the welding table square rail and can move along the welding table square rail, and a gap for placing the feedback rod seat is formed between the square rail sliding sleeve and the upper surface of the welding table square rail.
Furthermore, the 2-degree-of-freedom adjustable welding table also comprises a square rail stop clamp fixed at the other end of the square rail of the welding table; the other end of the welding table square rail is V-shaped, a V-shaped groove is formed in the matching part of the square rail stop clamp and the welding table square rail, and the groove wall of the V-shaped groove positions the welding table square rail and the feedback rod seat.
Further, in order to finely adjust the z-direction position, the lock block is a rectangular block and is composed of two wedge blocks stacked on each other, and fine adjustment of the z-direction position is achieved by knocking the wedge blocks to be displaced.
Furthermore, for the convenience of clamping, a flexible structure is further arranged on the elastic clamp and matched with the clamping screw, when the clamping screw is screwed down, the other side wall of the groove clamps the side wall of the feedback rod, and when the clamping screw is loosened, the feedback rod is automatically loosened.
The invention also provides a welding method for realizing the feedback rod of the electro-hydraulic servo valve by using the welding tool, which is characterized by comprising the following steps of:
preliminarily fixing the sleeve on the feedback rod seat; preliminarily fixing a steel ball at the end part of the feedback rod;
step 2.1, fixing the elastic clamp on a 3-axis 6-degree-of-freedom mechanical arm; connecting a 3-axis 6-degree-of-freedom mechanical arm rotation central shaft with an angular contact ball bearing in a support shell;
step 2.2, fixing a feedback rod of the electro-hydraulic servo valve to be welded on an elastic clamp, so that the inner end face of the feedback rod abuts against the first positioning face, and one side wall of the feedback rod abuts against the second positioning face; the steel ball is propped against the steel ball positioning surface;
step 2.3, connecting the welding table with the degree of freedom 2 on a welding table support;
step 2.4, fixing a feedback rod seat of a feedback rod of the electro-hydraulic servo valve of the to-be-welded part and a sleeve on a 2-degree-of-freedom welding table;
3.1, adjusting 3 the Z-axis height, the R-axis angle and the X position of the orthogonal adjustable rack unit with the degree of freedom and 2 the position of the adjustable welding table with the degree of freedom to enable the bottom end of the feedback rod to reach the part to be welded of the feedback rod seat, and at the moment, keeping an adjusting allowance in the Z direction;
3.2, fixing and locking the R shaft through a locking upper cover;
3.3, fixing and locking the sliding block through sliding block locking pliers;
step 3.4, adjusting the locking block to enable the bottom end of the feedback rod to completely reach the part to be welded of the feedback rod seat;
after the adjustment is finished, smearing brazing filler metal on the part to be welded, and welding;
step 5, taking a part;
after welding, the elastic clamp is loosened, the square rail sliding sleeve of the 2-degree-of-freedom welding table is released, and the feedback rod of the electro-hydraulic servo valve is taken down;
and 6, before re-welding, adjusting through the following steps: firstly, the height of a 3-axis 6-freedom adjustable manipulator is adjusted through a Z-axis gear rack sliding table, and the 3-axis 6-freedom adjustable manipulator and a 2-freedom adjustable welding table are separated in the Z direction; then 3, 6-degree-of-freedom adjustable manipulators clamp the feedback rod and the steel ball, and 2, a degree-of-freedom adjustable welding table clamps the feedback rod seat and the sleeve; and finally, the height of the 3-axis 6-degree-of-freedom adjustable manipulator is adjusted through the Z-axis gear rack sliding table, so that the bottom end of the feedback rod completely reaches the part to be welded of the feedback rod seat.
The invention has the beneficial effects that:
1. the invention repeatedly positions the welding part through the locking limiting mechanism, and only the z-position needs to be adjusted in the subsequent welding process after the positioning is finished. Higher welding efficiency and repetition accuracy can be achieved.
2. The position precision of the welded part is well controlled by a manipulator, the drawing strength meets the use requirement, the operation process is simple, convenient and effective, and the welding machine has higher consistency.
3. The thin-wall feedback rod with the welding steel ball is convenient for placing parts into the assembly for adjustment, and better stress and motion orthogonality is guaranteed.
4. The manufacturing precision of the steel ball welded by the invention is far higher than the level of independent processing of general parts.
Drawings
FIG. 1 is a schematic view of a thin-wall welded feedback rod according to the present invention;
FIG. 2 is a schematic structural view of a feedback rod welding tool of an electro-hydraulic servo valve according to the present invention;
FIG. 3 is a schematic view of the structure of the rack assembly 01 of the present invention;
FIG. 4 is a schematic structural view of a 6 degree-of-freedom adjustable manipulator according to the present invention; a. b is a structural schematic diagram of a manipulator with different viewing angles and 6 degrees of freedom;
FIG. 5 is a schematic view of the construction of the resilient clamp 22 of the present invention;
FIG. 6 is a schematic structural view of a 2-DOF adjustable welding table 03 according to the present invention; a. b is a structural schematic diagram of a welding table 03 with different viewing angles and 2 degrees of freedom;
FIG. 7 is an enlarged view of a portion of the clamping area;
the reference numbers in the figures are: 1-steel ball, 2-feedback rod, 21-inclined section, 22-vertical section, 23-inner end surface, 24-side wall, 3-sleeve and 4-feedback rod seat;
01-frame assembly, 02-3 shaft 6 freedom adjustable manipulator, 03-2 freedom adjustable welding table
11-a processing platform, 12-a welding table support, 13-3 degree of freedom orthogonal adjustable rack unit, 131-a linear guide rail, 132-a slider stop clamp, 133-an adapter plate, 134-a locking block, 135-a Z-axis gear rack sliding table, 136-a support shell, 137-a slider and 138-a locking upper cover;
21-3 axes, 6 degrees of freedom mechanical arms, 22-elastic clamps;
221-a first vertical step surface, 222-a first positioning surface, 223-a second positioning surface, 224-a second vertical step surface, 225-a top of an elastic clamp, 226-a steel ball positioning surface, 227-a clamping screw, 228-a flexible structure;
31-welding table square rail, 32-square rail sliding sleeve and 33-square rail stopping clamp; and 34-mounting screws of the square rail stop clamp.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As can be seen from fig. 1, in the feedback rod of the electro-hydraulic servo valve of the present embodiment, the feedback rod seat 4 is a steel plate formed by punching a steel strip; the cross section of the feedback rod 2 is rectangular, the feedback rod is formed by punching and processing a steel belt and comprises an inclined section 21 and a vertical section 22, and an included angle between the inclined section 21 and the vertical section 22 is an obtuse angle; the steel ball 1 is welded at the end part of the feedback rod inclined section 21; the end of the vertical section 22 of the feedback rod 2 and the end surface of the sleeve 3 are welded on the feedback rod seat 4.
As can be seen from fig. 2, the welding tool of the present embodiment includes a rack assembly 01, a 3-axis 6-degree-of-freedom adjustable manipulator 02, and a 2-degree-of-freedom adjustable welding table 03; the 3-axis 6-freedom-degree adjustable manipulator 02 and the 2-freedom-degree adjustable welding table 03 are matched to clamp the feedback rod of the electro-hydraulic servo valve.
As can be seen from fig. 3, in the embodiment, the rack assembly 01 having high rigidity and high repetitive motion accuracy is formed by using elements such as bearings, slide rails and the like with high motion accuracy, and includes the processing platform 11, the welding table support 12 fixed on the processing platform 11, and the 3-degree-of-freedom orthogonal adjustable rack unit 13, where the precision processing platform 11 is a basis of the rack assembly 01.
The 3-degree-of-freedom orthogonal adjustable rack unit 13 is composed of a linear guide rail 131, a sliding block 137, a sliding block stopping clamp 132, an adapter plate 133, a locking block 134, a Z-axis gear rack sliding table 135 and a support shell 136; the linear guide 131 is fixed on the processing platform 11 along the Y direction; the bottom of the slider 137 is matched with the linear guide rail 131 and can slide along the linear guide rail 131; the sliding block stopping pincers 132 are arranged at two ends of the sliding block and used for positioning the sliding block 137; the adapter plate 133 is fixed on the top of the sliding block 137 and used for connecting the sliding block 137 with the Z-axis gear rack sliding table 135; the locking block 134 is composed of two wedge-shaped blocks which are laminated with each other, is fixed on the top of the adapter plate 133, and is used for adjusting and locking the Z-direction height of the Z-axis gear rack sliding table 135; the Z-axis gear rack sliding table 135 is fixed at the top of the locking block 134; the supporting shell 136 is fixed on the Z-axis gear and rack sliding table 135 and can move along the Z-axis under the drive of the Z-axis gear and rack sliding table 135; be equipped with angular contact ball bearing in the support housing 136, the upper end of support housing 136 is equipped with locking upper cover 138, and locking upper cover 138 is spacing and sealed to angular contact ball bearing.
As can be seen from fig. 4, the 3-axis 6-degree-of-freedom robot 02 includes a 3-axis 6-degree-of-freedom robot arm 21 and an elastic clamp 22 orthogonally fixed to the end of the 3-axis 6-degree-of-freedom robot arm 21; the swivel center shaft of the 3-axis 6-degree-of-freedom robot arm 21 is connected to an angular contact ball bearing in the support housing 136.
Orthogonal adjustment of a Z-axis gear rack sliding table 135 is superposed on the sliding block 137, the supporting shell 136 is connected with a rotation central shaft of the 3-axis 6-degree-of-freedom mechanical arm 21, when adjustment of the rotation radius, the rotation angle and the height of the 3-axis 6-degree-of-freedom mechanical arm 21 is completed, the position of a workpiece is kept absolutely fixed through the elastic clamp 22, and the height of the rotation central shaft of the mechanical arm can be limited and locked through the locking block 134. Can not be loosened in future use. The geometric requirements of the welded assembly are guaranteed by the static orthogonal relationship. In order to keep the position of the 3-degree-of-freedom orthogonal adjustable frame unit 13 from changing in the future, the screw of the slider stopper 132 in fig. 3 is tightened to fix the slider stopper 132 and the linear guide 131, and the slider 138 is locked. The locking block 134 is tapped to support the Z-axis gear and rack sliding table 135 exactly, so that the height of the Z-axis gear and rack sliding table 135 is not changed any more, the locking block 134 is provided with two wedge blocks which can be self-locked at the same angle, and the Z axis of the Z-axis gear and rack sliding table 135 can be accurately limited. At this time, the friction type locking knob carried by the Z-axis gear rack sliding table 135 can be released, so that parts of the Z-axis gear rack sliding table 135 are protected from being damaged.
The 3-axis 6-degree-of-freedom manipulator 02 is superposed on the 3-degree-of-freedom orthogonal adjustable frame unit 13, and the tail end of the 3-axis 6-degree-of-freedom manipulator 21 is provided with a finger-shaped elastic clamp 22. The 3-axis 6-degree-of-freedom robot arm 21 and the elastic clamp 22 constitute a working part of the 3-axis 6-degree-of-freedom robot 02. As can be seen in fig. 4, the 3-axis 6-degree-of-freedom robotic arm 21 consists of 3 optical axes (021, 023, 025 in fig. 4) and 2 orthogonal grippers (024 in fig. 4-022). The position and orientation of the manipulator can be fixed at a desired position by adjusting the position and orientation of the 2 orthogonal clamps. The direction and position of the robot holding the workpiece is determined by the 2-degree-of-freedom adjustable welding table 03 position in fig. 2. The adjusted manipulator is fixed on the rotary central shaft.
The finger-shaped elastic clamp 22 can accurately and quickly position and clamp the steel ball and the feedback rod 2. The finger-shaped elastic clamp 22 is fixed at the tail end of the 3-axis 6-degree-of-freedom manipulator 02 and is orthogonally and fixedly installed. As can be seen from fig. 5, the end surface of the clamping portion of the elastic clamp 22 is a step surface, and a z-direction through groove is formed along the first vertical step surface 221; the shape of the groove bottom of the through groove is matched with the shape of the inner end surface 23 of the feedback rod, and the shape of the groove wall is matched with the shape of the side wall 24 of the feedback rod; the groove bottom is defined as a first positioning surface 222 for positioning the inner end surface 23 of the feedback rod; one of the groove walls is defined as a second positioning surface 223 for positioning one of the side walls of the feedback rod; the second vertical step surface 224 is in transition connection with the top 225 of the elastic clamp 22 through an inclined surface, and the inclined surface is a steel ball positioning surface 226; the resilient clamp 22 also has a flexible structure 228 that cooperates with the clamping screw 227 such that when the clamping screw 227 is tightened, the other side wall of the recess clamps the side wall of the feedback rod and when the clamping screw 227 is loosened, the feedback rod is automatically loosened.
The 2-degree-of-freedom adjustable welding table 03 is fixed to the top of the welding table support 12, can move in the x direction relative to the welding table support 12 and rotate along the central axis of the welding table, and is used for positioning the feedback rod seat and the sleeve.
As shown in fig. 6, the welding table 03 with adjustable degree of freedom in this embodiment 2 includes a welding table square rail 31, a square rail sliding sleeve 32, and a square rail clamp 33 fixed at the other end of the welding table square rail 31. A positioning column is arranged at the center of the top of the welding table support 12; one end of the welding table square rail 31 is provided with a waist-shaped hole, and a positioning column at the top of the welding table support 12 is sleeved in the waist-shaped hole to ensure that the welding table square rail 31 can move along the x direction and rotate along the welding table central shaft; the square rail sliding sleeve 32 is sleeved on the welding table square rail 31 and can move along the welding table square rail 31, and a gap capable of placing the feedback rod seat 4 is formed between the square rail sliding sleeve 32 and the upper surface of the welding table square rail 31. The other end of the welding table square rail 31 is V-shaped, and a V-shaped groove is formed in the matching part of the square rail stop clamp 33 and the welding table square rail 31.
As shown in fig. 7, when the 3-axis 6-degree-of-freedom robot 02 fixes the workpiece in the frame, the welding table square rail 31 with the kidney-shaped hole can be adjusted in geometrical relation to the robot by rotation and forward and backward movement. The square rail sliding sleeve 32 can rapidly realize the positioning, clamping and releasing actions of the feedback rod base by pushing and pulling along the square rail. The square rail stop clamp 33 can limit the square rail sliding sleeve 32 from falling off and can superpose and position the freedom degree of the workpiece.
The welding can be realized by the following processes:
preliminarily fixing the sleeve 3 on the feedback rod seat 4; preliminarily fixing the steel ball 1 at the end part of the feedback rod 2;
step 2.1, fixing the elastic clamp 22 on the 3-axis 6-degree-of-freedom mechanical arm 21; connecting a rotary central shaft of the 3-axis 6-degree-of-freedom mechanical arm 21 with an angular contact ball bearing in a support shell 136;
step 2.2, fixing a feedback rod 2 of a feedback rod of the electro-hydraulic servo valve to be welded on an elastic clamp 22, so that an inner end surface 23 of the feedback rod abuts against a first positioning surface 222, and one side wall 24 of the feedback rod abuts against a second positioning surface 223; the steel ball 1 is abutted against the steel ball positioning surface 226;
step 2.3, connecting the 2-degree-of-freedom welding table to the welding table support 12;
step 2.4, fixing a feedback rod seat 4 of a feedback rod of the electro-hydraulic servo valve of the to-be-welded part and the sleeve 3 on a 2-degree-of-freedom welding table;
step 3.1, adjusting the Z-axis height, the R-axis angle and the X position of the 3-degree-of-freedom orthogonal adjustable rack unit 13 and the position of the 2-degree-of-freedom adjustable welding table 03 to enable the bottom end of the feedback rod to reach the part to be welded of the feedback rod seat 4, and at the moment, an adjusting allowance is reserved in the Z direction;
step 3.2, fixing and locking the R shaft through the locking upper cover 138;
step 3.3, fixing and locking the sliding block 137 through the sliding block stopping clamp 132;
step 3.4, adjusting the locking block 134 to enable the bottom end of the feedback rod to completely reach the part to be welded of the feedback rod seat 4;
after the adjustment is finished, smearing brazing filler metal on the part to be welded, and welding;
step 5, taking a part;
after the welding is finished, the elastic clamp 22 is loosened, the square rail sliding sleeve 32 of the 2-degree-of-freedom welding table is released, and the feedback rod of the electro-hydraulic servo valve is taken down;
and 6, before re-welding, adjusting through the following steps: firstly, the height of a 3-axis 6-freedom adjustable manipulator 02 is adjusted through a Z-axis gear rack sliding table 135, and the 3-axis 6-freedom adjustable manipulator 02 and a 2-freedom adjustable welding table 03 are separated in the Z direction; then a 3-axis 6-freedom-degree-adjustable manipulator 02 clamps a feedback rod 2 and a steel ball 1, and a 2-freedom-degree-adjustable welding table 03 clamps a feedback rod seat 4 and a sleeve 3; and finally, the height of the 3-axis 6-degree-of-freedom adjustable manipulator 02 is adjusted through the Z-axis gear rack sliding table 135 and the self-locking double-wedge-shaped locking block 134, so that the bottom end of the feedback rod completely reaches the part to be welded of the feedback rod seat 4.
Claims (6)
1. A welding tool for an electro-hydraulic servo valve feedback rod comprises a feedback rod seat (4), a feedback rod (2), a sleeve (3) and a steel ball (1);
the feedback rod seat (4) is a steel plate formed by punching and processing a steel belt;
the cross section of the feedback rod (2) is rectangular, the feedback rod is formed by punching and processing a steel belt and comprises an inclined section (21) and a vertical section (22), and an included angle between the inclined section (21) and the vertical section (22) is an obtuse angle;
the steel ball (1) is welded at the end part of the feedback rod inclined section (21);
the end part of the vertical section (22) of the feedback rod (2) and the end surface of the sleeve (3) are welded on the feedback rod seat (4);
the method is characterized in that: comprises a rack component (01), a 3-axis 6-degree-of-freedom adjustable manipulator (02) and a 2-degree-of-freedom adjustable welding table (03);
the rack assembly (01) comprises a processing platform (11), a welding table support (12) fixed on the processing platform (11) and a 3-degree-of-freedom orthogonal adjustable rack unit (13); defining the length direction of the processing platform (11) as the x direction, the width direction as the y direction and the height direction as the z direction;
the 3-degree-of-freedom orthogonal adjustable rack unit (13) comprises a linear guide rail (131), a sliding block (137), a sliding block stopping clamp (132), an adapter plate (133), a locking block (134), a Z-axis gear rack sliding table (135) and a supporting shell (136); the linear guide rail (131) is fixed on the processing platform (11) along the Y direction; the bottom of the sliding block (137) is matched with the linear guide rail (131) and can slide along the linear guide rail (131); the sliding block stopping pliers (132) are arranged at two ends of the sliding block and used for positioning the sliding block (137); the adapter plate (133) is fixed to the top of the sliding block (137) and used for fixing the Z-axis gear rack sliding table (135); the locking block (134) is fixed to the top of the adapter plate (133) and used for adjusting and locking the Z-direction height of the Z-axis gear rack sliding table (135); the Z-axis gear rack sliding table (135) is fixed to the top of the locking block (134); the supporting shell (136) is fixed on the Z-axis gear rack sliding table (135) and can move along the Z axis under the drive of the Z-axis gear rack sliding table (135); an angular contact ball bearing is arranged in the support shell (136), a locking upper cover (138) is arranged at the upper end of the support shell (136), and the locking upper cover (138) limits and seals the angular contact ball bearing;
the 3-axis 6-degree-of-freedom manipulator (02) comprises a 3-axis 6-degree-of-freedom manipulator (21) and an elastic clamp (22) which is orthogonally fixed at the tail end of the 3-axis 6-degree-of-freedom manipulator (21);
the rotary central shaft of the 3-axis 6-degree-of-freedom mechanical arm (21) is connected with an angular contact ball bearing in a support shell (136);
the elastic clamp (22) is used for positioning and clamping a steel ball and a thin-wall feedback rod of the thin-wall welding type feedback rod;
the end face of the clamping part of the elastic clamp (22) is a step surface, and a z-direction through groove is formed along a first vertical step surface (221); the shape of the bottom of the through groove is matched with the shape of the inner end surface (23) of the feedback rod, and the shape of the groove wall is matched with the shape of the side wall (24) of the feedback rod; the groove bottom is defined as a first positioning surface (222) for positioning the inner end surface (23) of the feedback rod; defining one of the groove walls as a second positioning surface (223) for positioning one of the side walls of the feedback rod; the second vertical step surface (224) is in transitional connection with the top (225) of the elastic clamp (22) through an inclined surface, and the inclined surface is a steel ball positioning surface (226);
the 2-degree-of-freedom adjustable welding table (03) is fixed to the top of the welding table support (12), can move in the x direction relative to the welding table support (12) and rotates along the central shaft of the welding table, and is used for positioning the feedback rod seat and the sleeve.
2. The electro-hydraulic servo valve feedback rod welding tool of claim 1, wherein: the 2-degree-of-freedom adjustable welding table (03) comprises a welding table square rail (31) and a square rail sliding sleeve (32);
a positioning column is arranged at the center of the top of the welding table support (12);
one end of the welding table square rail (31) is provided with a waist-shaped hole, and a positioning column at the top of the welding table support (12) is sleeved in the waist-shaped hole to ensure that the welding table square rail (31) can move along the x direction and rotate along the welding table central shaft; the square rail sliding sleeve (32) is sleeved on the welding table square rail (31) and can move along the welding table square rail (31), and a gap capable of placing the feedback rod seat (4) is formed between the square rail sliding sleeve (32) and the upper surface of the welding table square rail (31).
3. The electro-hydraulic servo valve feedback rod welding tool of claim 2, wherein: the welding table (03) with the adjustable degree of freedom further comprises a square rail stop clamp (33) fixed at the other end of the square rail (31) of the welding table; the other end of the welding table square rail (31) is V-shaped, and a V-shaped groove is formed in the matching part of the square rail stop clamp (33) and the welding table square rail (31).
4. The electro-hydraulic servo valve feedback rod welding tool of claim 1 or 2, wherein: the locking block (134) is a rectangular block and is composed of two wedge-shaped blocks which are mutually laminated.
5. The electro-hydraulic servo valve feedback rod welding tool of claim 4, wherein: the elastic clamp (22) is also provided with a flexible structure (228) which is matched with the clamping screw (227), when the clamping screw (227) is tightened, the other side wall of the groove clamps the side wall of the feedback rod, and when the clamping screw (227) is loosened, the feedback rod is automatically loosened.
6. The welding method for realizing the feedback rod of the electro-hydraulic servo valve by using the welding tool of any one of claims 1 to 5 is characterized by comprising the following steps of:
step 1, primary positioning;
preliminarily fixing the sleeve (3) on the feedback rod seat (4); preliminarily fixing the steel ball (1) at the end part of the feedback rod (2);
step 2, initial assembly;
step 2.1, fixing an elastic clamp (22) on a 3-axis 6-degree-of-freedom mechanical arm (21); connecting a rotary central shaft of the 3-axis 6-degree-of-freedom mechanical arm (21) with an angular contact ball bearing in a support housing (136);
step 2.2, fixing a feedback rod (2) of a feedback rod of an electro-hydraulic servo valve of a to-be-welded part on an elastic clamp (22), so that an inner end surface (23) of the feedback rod abuts against a first positioning surface (222), and one side wall (24) of the feedback rod abuts against a second positioning surface (223); the steel ball (1) is abutted against the steel ball positioning surface (226);
step 2.3, connecting the 2-degree-of-freedom welding table to a welding table support (12);
step 2.4, fixing a feedback rod seat (4) of a feedback rod of the electro-hydraulic servo valve of the to-be-welded part and the sleeve (3) on a 2-degree-of-freedom welding table;
step 3, adjustment;
3.1, adjusting the Z-axis height, the R-axis angle and the X position of the 3-degree-of-freedom orthogonal adjustable rack unit (13) and the position of the 2-degree-of-freedom adjustable welding table (03) to enable the bottom end of the feedback rod to reach a part to be welded of the feedback rod seat (4), and at the moment, keeping an adjusting allowance in the Z direction;
3.2, fixing and locking the R shaft through a locking upper cover (138);
3.3, fixing and locking the sliding block (137) through the sliding block stopping clamp (132);
step 3.4, adjusting a locking block (134) to enable the bottom end of the feedback rod to completely reach the part to be welded of the feedback rod seat (4);
step 4, welding;
after the adjustment is finished, smearing brazing filler metal on the part to be welded, and welding;
step 5, taking a part;
after welding is finished, the elastic clamp (22) is loosened, a square rail sliding sleeve (32) of the 2-degree-of-freedom welding table is released, and the feedback rod of the electro-hydraulic servo valve is taken down;
and 6, before re-welding, adjusting through the following steps: firstly, the height of a 3-axis 6-freedom adjustable manipulator (02) is adjusted through a Z-axis gear rack sliding table (135), and the 3-axis 6-freedom adjustable manipulator (02) and a 2-freedom adjustable welding table (03) are separated in the Z direction; then a 3-axis 6-freedom-degree adjustable manipulator (02) clamps the feedback rod (2) and the steel ball (1), and a 2-freedom-degree adjustable welding table (03) clamps the feedback rod seat (4) and the sleeve (3); and finally, the height of the 3-axis 6-degree-of-freedom adjustable manipulator (02) is adjusted through the Z-axis gear rack sliding table (135), so that the bottom end of the feedback rod completely reaches the part to be welded of the feedback rod seat (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011290969.9A CN112676665B (en) | 2020-11-17 | 2020-11-17 | Welding tool and method for feedback rod of electro-hydraulic servo valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011290969.9A CN112676665B (en) | 2020-11-17 | 2020-11-17 | Welding tool and method for feedback rod of electro-hydraulic servo valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112676665A true CN112676665A (en) | 2021-04-20 |
| CN112676665B CN112676665B (en) | 2022-03-08 |
Family
ID=75447383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011290969.9A Active CN112676665B (en) | 2020-11-17 | 2020-11-17 | Welding tool and method for feedback rod of electro-hydraulic servo valve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112676665B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050044992A1 (en) * | 2003-08-28 | 2005-03-03 | Ford Motor Company | Hose clamp tool |
| CN101176953A (en) * | 2007-11-30 | 2008-05-14 | 上海诺玛液压系统有限公司 | Laser welding clipper of electro-hydraulic servo valve armature iron component |
| CN101176979A (en) * | 2007-11-30 | 2008-05-14 | 上海诺玛液压系统有限公司 | Clipper for feedback lever milling flat face of electro-hydraulic servo valve part baffle |
| CN101176971A (en) * | 2007-11-30 | 2008-05-14 | 上海诺玛液压系统有限公司 | Tools for processing and loading clamp armature component of electro-hydraulic servo valve |
| CN201588828U (en) * | 2009-10-14 | 2010-09-22 | 无锡市华通液压气动制造有限公司 | Feedback rod of electro-liquid servo valve |
| CN204371813U (en) * | 2014-12-30 | 2015-06-03 | 南京萨伯工业设计研究院有限公司 | Modified model pilot valve |
| CN104723235A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Height-adjustable universal fixture for feedback rod rigidity measurement and pipe spring rigidity measurement |
| CN204658325U (en) * | 2015-05-08 | 2015-09-23 | 吴江市天龙机械有限公司 | Armature component of electrohydraulic servo valve high accuracy press fitting device |
-
2020
- 2020-11-17 CN CN202011290969.9A patent/CN112676665B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050044992A1 (en) * | 2003-08-28 | 2005-03-03 | Ford Motor Company | Hose clamp tool |
| CN101176953A (en) * | 2007-11-30 | 2008-05-14 | 上海诺玛液压系统有限公司 | Laser welding clipper of electro-hydraulic servo valve armature iron component |
| CN101176979A (en) * | 2007-11-30 | 2008-05-14 | 上海诺玛液压系统有限公司 | Clipper for feedback lever milling flat face of electro-hydraulic servo valve part baffle |
| CN101176971A (en) * | 2007-11-30 | 2008-05-14 | 上海诺玛液压系统有限公司 | Tools for processing and loading clamp armature component of electro-hydraulic servo valve |
| CN201588828U (en) * | 2009-10-14 | 2010-09-22 | 无锡市华通液压气动制造有限公司 | Feedback rod of electro-liquid servo valve |
| CN204371813U (en) * | 2014-12-30 | 2015-06-03 | 南京萨伯工业设计研究院有限公司 | Modified model pilot valve |
| CN104723235A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Height-adjustable universal fixture for feedback rod rigidity measurement and pipe spring rigidity measurement |
| CN204658325U (en) * | 2015-05-08 | 2015-09-23 | 吴江市天龙机械有限公司 | Armature component of electrohydraulic servo valve high accuracy press fitting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112676665B (en) | 2022-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5987043B2 (en) | Work fixing device that presses multiple parts of the work | |
| US4919586A (en) | Mechanical closed loop robotic arm end effector positioning system | |
| JP6709857B2 (en) | Auxiliary bending robot that can process two workpieces at the same time | |
| EP4086034A1 (en) | Multi-degree-of-freedom numerical control turntable | |
| EA005147B1 (en) | Kinematic device for support programmable displacement of a terminal element in a machine or an instrument | |
| EP1911551A1 (en) | Cross-guiding motion platform | |
| CN110640551B (en) | Intelligent and automatic sand box production line | |
| CN114799577A (en) | Workpiece all-directional displacement control device based on laser beam processing machine tool | |
| CN112676665B (en) | Welding tool and method for feedback rod of electro-hydraulic servo valve | |
| JP2014121774A (en) | Processing method for metal fitting | |
| KR102178030B1 (en) | seven axis processing machine | |
| JP2000515075A (en) | 3-axis lathe that performs polar coordinate motion | |
| CN210549935U (en) | Indexing mechanism and machine tool | |
| CN110480762B (en) | Modular three-degree-of-freedom machining robot | |
| CN210451462U (en) | Tool jacking positioning mechanism, welding compress tightly subassembly and welding set | |
| CN210677767U (en) | Self-adaptive tool and intelligent machining center | |
| CN109015251B (en) | Horizontal cold engraving machine and control method thereof | |
| CN112404493A (en) | High-precision punching device for machining shaft center hole | |
| JPH0420732B2 (en) | ||
| JP3388498B2 (en) | Machine Tools | |
| CN110774015A (en) | Hybrid machine tool containing over-constrained less-degree-of-freedom parallel module and motion method | |
| CN215702446U (en) | Center positioning fixture with high machining precision | |
| WO2020008415A1 (en) | Multiaxis milling machine | |
| CN217393831U (en) | Flexible milling equipment | |
| JP4085808B2 (en) | Processing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |