CN113385782A - Multi-axis welding machining center - Google Patents
Multi-axis welding machining center Download PDFInfo
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- CN113385782A CN113385782A CN202110810597.6A CN202110810597A CN113385782A CN 113385782 A CN113385782 A CN 113385782A CN 202110810597 A CN202110810597 A CN 202110810597A CN 113385782 A CN113385782 A CN 113385782A
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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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
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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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Abstract
The utility model provides a multiaxis welding machining center, belong to the welding field, be provided with multidirectional mobile device in the welding machining center frame, multidirectional mobile device hangs down to slide and is equipped with a plurality of welding set, every welding set includes rectilinear movement mechanism and one or more welding mechanism, every welding mechanism includes a plurality of joints, connect through the linking arm between the joint, a plurality of joints are at least including welding switching-over joint and welder switching-over joint, welder is provided with welder below the welder switching-over joint, be provided with two work piece upset platforms on the lower floor's frame of welding mechanism below, respectively welding station and preset station, every welder welds according to the corresponding welding procedure that the welding orbit was equipped with in the controller, this welding machining center can carry out the welding simultaneously to different work pieces or different welding routes, with this intensity of labour who reduces workman, welding speed is improved, guarantee welding quality.
Description
Technical Field
The invention relates to a welding machining center, in particular to a multi-axis welding machining center, and belongs to the field of welding.
Background
The traditional welding is very hard for a welder, a welding seam is long when a large workpiece is welded, the large workpiece needs to be welded in a close posture for a long time, and a small workpiece needs to be welded in a continuous posture changing mode although the welding seam is short, so that the temperature is high, and the welding is carried out in various postures. In recent years, with the advancement of technology, advanced welding technologies have appeared, such as: the same workpiece is welded by a synchronous welding method by using a manipulator instead of manual welding, wherein the 202010628916.7 patent is a patent for welding a stator by using a multi-wire beam colleague; 201721380420.2 discloses a multi-welding-gun synchronous seat and a multi-welding-gun robot which are patents for welding a plurality of identical workpieces at the same time, however, the disclosed techniques are basically for identical workpieces. The equipment or the technology for synchronously welding by using the same structure cannot respectively and asynchronously weld different workpieces and complex workpieces, so that according to the technology, different processing equipment needs to be developed by using different workpieces, although the plurality of robots can be used for simultaneously welding the plurality of workpieces, the robots are high in cost, cannot be arranged in a narrow space for simultaneously processing the plurality of workpieces, and have the problems of limited setting places and action spaces, how to respectively carry out batch welding on the plurality of workpieces according to the welding parts of the different workpieces in the limited space, so that the welding speed is further improved, and the problem of limited setting space is solved.
Disclosure of Invention
The invention provides a multi-axis welding machining center, aiming at solving the problem that workpieces with different structures and different welding paths cannot be welded automatically at the same time in a limited space, and aiming at welding different workpieces or different welding paths at the same time, so that the labor intensity of workers is reduced, the welding time is prolonged according to the progress requirements of the workpieces, the welding speed is increased, the welding quality is ensured, and the welding which cannot be realized by a robot is realized.
A multi-axis welding machining center comprises a rack, wherein the rack comprises an upper rack and a lower rack, the upper rack is provided with a multi-direction moving device through a sliding mechanism, the multi-direction moving device is provided with a plurality of welding devices in a sliding and hanging mode, each welding device comprises a linear moving mechanism and one or a plurality of welding mechanisms, the welding mechanisms are located on the periphery of a workpiece, each welding mechanism comprises a plurality of joints and at least comprises a welding reversing joint and a welding gun reversing joint, the welding joints and the welding gun reversing joints are connected through connecting arms or connecting arms, middle joints and corresponding second connecting arms, the lower rack is provided with two workpiece overturning platforms, each workpiece overturning platform is provided with a plurality of stations, the number of the stations is equal to that of the welding devices, the two stations are welding stations and preset stations, the two stations in the two stations are alternately welded and preset, and each welding gun is provided with a wire feeder, each welding gun is provided with a corresponding welding program in the controller according to the welding track.
A multi-axis welding machining center comprises a rack, wherein the rack comprises an upper rack and a lower rack, the multi-axis welding machining center comprises a first-stage multi-directional moving device and a second-stage linear moving mechanism in the Y axis direction, the X axis direction and the Z axis direction, which are arranged on the upper rack, the welding mechanism comprises a horizontal plane rotating mechanism and a vertical plane rotating mechanism of a first-stage welding reversing joint, a second-stage horizontal plane rotating mechanism and a vertical plane rotating mechanism of a welding gun reversing joint, a middle joint can be arranged on the welding mechanism, the middle joint is provided with the vertical rotating mechanism, a plurality of joints are connected through a connecting arm, two workpiece overturning platforms are arranged on the lower rack, the two workpiece overturning platforms respectively overturn by taking the X axis direction as an axis, and a welding gun performs moving welding according to a welding program in a controller;
furthermore, the multidirectional moving device comprises driving devices arranged above the upper-layer rack in the Y-axis direction and the Z-axis direction and linear motors extending to the X-axis direction below the upper-layer rack, and a plurality of welding devices are hung on a female shaft of the linear motor in the X-axis direction in parallel through the active cells of the linear motors in the X-axis direction;
furthermore, the linear moving mechanism is a Y-axis direction linear motor, one or more welding mechanisms with the same structure are hung on a rotor of the Y-axis direction linear motor, a single welding mechanism at least comprises a welding reversing joint and a welding gun reversing joint, the welding reversing joint is fixed on the rotor of the Y-axis direction linear motor, connecting arms are respectively arranged among the joints, the upper end of each connecting arm is fixedly connected with the joint, and the lower end of each connecting arm is hinged with the joint;
furthermore, the welding reversing joint comprises a first vertical servo motor rotating by taking a vertical shaft as an axis and a first horizontal servo motor rotating by taking a horizontal shaft as an axis, the welding gun reversing joint comprises a second vertical servo motor rotating by taking a vertical shaft as an axis and a second horizontal servo motor rotating by taking a horizontal shaft as an axis, the first vertical servo motor and the first horizontal servo motor form multidirectional change of the welding reversing joint, and the second vertical servo motor and the second horizontal servo motor form multidirectional change of a welding gun;
further, the welding reversing joint comprises a first vertical servo motor and a first horizontal servo motor, the first vertical servo motor rotates by taking a vertical shaft as an axis, the first horizontal servo motor rotates by taking a horizontal shaft as an axis, the welding gun reversing joint comprises a second vertical servo motor and a second horizontal servo motor, the second vertical servo motor rotates by taking a vertical shaft as an axis, the middle joint comprises a third horizontal servo motor, the third horizontal servo motor rotates by taking a horizontal shaft as an axis, the welding reversing joint is connected with the middle joint through a connecting arm, the middle joint is connected with the welding gun reversing joint through a second connecting arm, the first vertical servo motor and the first horizontal servo motor form multidirectional changes of the welding reversing joint, and the second vertical servo motor and the second horizontal servo motor form multidirectional changes of a welding gun;
furthermore, a plurality of stations corresponding to the welding mechanism are arranged on the two workpiece overturning platforms in the X-axis direction, an overturning motor of the workpiece overturning platform is arranged on the outer side of the lower layer of each workpiece overturning platform in the X-axis direction, the overturning motor can stop at any angle of 360 degrees, and the workpiece overturning platform is provided with a workpiece fixing hole;
furthermore, welding wires are arranged in the welding guns, the welding wires are sent to welding gun ends along a certain track through respective wire feeders, the wire feeding speed and the welding current of the wire feeders are adjustable, and the welding gun ends are arranged towards the workpiece;
furthermore, the driving devices in the Y-axis direction and the Z-axis direction respectively comprise servo driving motors in all directions, a lead screw is connected to a shaft of each servo driving motor, a lead screw nut is arranged on the upper sliding frame, the upper sliding frame is driven by the servo driving motors in all directions to move along respective guide rails, and the driving device in the Z-axis direction comprises lifting cylinders respectively arranged at two ends of the multidirectional moving device;
furthermore, a first vertical servo motor and a second vertical servo motor in the welding mechanism and the welding gun reversing joint are respectively positioned on the first horizontal servo motor and the second horizontal servo motor, a connecting arm is fixedly connected to an output shaft of the first horizontal servo motor, a second connecting arm is fixedly connected to an output shaft of the third horizontal servo motor, and an output shaft of the second horizontal servo motor is connected to a welding gun through a speed reducer.
The invention has the following positive effects: the multidirectional moving devices are arranged above and below the upper-layer rack, so that the movement of a plurality of welding devices in the X, Y, Z three-axis direction can be ensured, and the plurality of welding devices can be moved to required positions considering a plurality of workpieces to realize positioning; the welding device is provided with the linear moving mechanism and one or more welding mechanisms, so that further position adjustment can be performed around each workpiece, particularly, the welding reversing joint and the welding gun reversing joint are arranged to perform position adjustment around the workpiece, the welding gun can be adjusted according to the shape of the workpiece, particularly, the welding reversing joint and the rotating motor of a vertical plane and a horizontal plane arranged in the welding gun reversing joint can be used for accurately positioning and accurately welding from multiple angles and multiple directions, the welding quality can be improved, and in addition, the workpiece overturning platform can be used for further adjusting the welding direction and the welding angle through overturning the workpiece; by adding the middle joint and the second connecting arm on the basis of welding the reversing joint and the welding gun reversing joint, the extension range of the welding gun can be lengthened, the steering flexibility of the welding gun is improved, the welding capacity of large workpieces and complex workpieces is improved, and no dead angle can be welded at each corner; because the servo motors and the linear motors in multiple directions are utilized, and the joints are matched and flexibly rotated, the multi-axis linkage can be realized under the control of the controller, the rotation of the welding gun to multiple directions in the circumference can be realized, and the welding of various paths, angles and positions can be implemented; by arranging the automatic wire feeder, automatic wire feeding can be performed according to the welding progress; different paths of welding of the fixed welding guns can be realized by equipping welding programs with different tracks on each welding gun; the invention can be used for welding different workpieces or different welding paths simultaneously, thereby reducing the labor intensity of workers, prolonging the welding time according to the requirements of the welding progress of the workpieces, improving the welding speed, ensuring the welding quality and replacing a robot for welding.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is an enlarged view of a partial multi-directional moving device on the upper frame.
FIG. 3 is a schematic front view of the present invention.
FIG. 4 is an enlarged side view of the present invention.
FIG. 5 is an enlarged view of the sliding connection between the multi-directional moving device and the welding device.
FIG. 6 is an enlarged schematic view of a single welding mechanism of a single welding apparatus.
FIG. 7 is a first schematic view of a welding mechanism provided with a middle joint.
FIG. 8 is a second schematic view of a welding mechanism with a middle joint.
Figure 9 shows an enlarged view of a single welding device provided with an intermediate joint and a second connecting arm.
Description of reference numerals: 10-machine frame, 10 a-upper-layer machine frame, 10 b-lower-layer machine frame, 11-multidirectional moving device, 11 a-downward extending frame, 12-Y axis direction driving motor, 12a-Y axis direction screw rod, 12b-Y axis direction guide rail, 13-Z axis direction driving motor, 13a-Z axis direction screw rod, 13b-Z axis direction guide rail, 14-X axis direction linear motor mother shaft, 14 a-X axis direction linear motor rotor, 15-welding device, 16-welding mechanism, 17-Y axis direction linear motor, 17 a-Y axis direction linear motor rotor, 18-welding reversing joint, 18 a-vertical servo motor I, 18 b-horizontal servo motor I, 19-connecting arm, 20-welding gun reversing joint, 20 a-a vertical servo motor II, 20 b-a horizontal servo motor II, 21-a welding gun, 22-a joint connecting plate, 23-a middle joint, 23 b-a horizontal motor III, 24-a second connecting arm, 25 a-a workpiece overturning platform I, 25 b-a workpiece overturning platform II, 26 a-an overturning motor I, 26 b-an overturning motor II, 27-a wire feeder and 28-a lifting cylinder.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings. The motors provided in the following joints are all speed reduction motors.
Fig. 1 is a schematic view of the overall structure of the multi-axis welding machining center of the present invention. The multi-axis welding machining center comprises a rack 10, the rack 10 comprises an upper rack 10a and a lower rack 10b, a multi-directional moving device 11 is arranged on the upper rack 10a through a plurality of sliding mechanisms, the multi-directional moving device 11 extends downwards through a downward extending rack 11a, a plurality of welding devices 15 are hung below the downward extending rack 11a in a sliding mode, each welding device 15 at least comprises a linear moving mechanism and one or a plurality of welding mechanisms 16, each welding mechanism 16 comprises a plurality of joints, each welding mechanism 16 at least comprises a welding reversing joint 18 and a welding gun reversing joint 20, the welding mechanisms are connected through a connecting arm 19 or a connecting arm 19, a second connecting arm 24 and an intermediate joint 23, the upper end of each connecting arm is fixedly connected with a horizontal motor on the joint on the upper portion of each connecting arm, the lower portion of each connecting arm is hinged with the joint on the lower portion, a welding gun 21 is arranged below the welding gun reversing joint 20 through a speed reducer, only the welding reversing joint 18 and the welding gun reversing joint 20 are welded, connected by a connecting arm 19, the welding mechanism 16 is located at the position of the periphery of the workpiece, and two workpiece overturning platforms are arranged on the lower frame 10b, namely: the welding device comprises a first workpiece overturning platform 25a and a second workpiece overturning platform 25b, wherein a plurality of stations equal to the number of the welding devices 15 are arranged on each workpiece overturning platform, the two stations are a welding station and a preset station, the two stations in the two stations are used for alternately welding and presetting, each welding gun 21 is provided with a set of wire feeder 27, and each welding gun 21 is provided with a corresponding welding program in a controller according to a welding track.
The utility model provides a multiaxis welding machining center, includes frame 10, frame 10 includes upper rack 10a and lower floor's frame 10b, multiaxis welding machining center includes the one-level multidirectional mobile device 11 and the Y axle direction rectilinear movement mechanism of second grade of X axle direction, Y axle direction, Z axle direction that set up on the upper rack 10a, welding mechanism 16 includes horizontal plane rotary mechanism and perpendicular rotary mechanism of the welding switching-over joint 18 of one-level, the welding gun switching-over joint 20 horizontal plane rotary mechanism and perpendicular rotary mechanism and/or the perpendicular rotary mechanism of middle joint 23 of second grade, utilizes the linking arm to connect between a plurality of joints, is provided with two work piece upset platforms on the frame 10b of lower floor, and two work piece upset platforms use the X axle direction respectively as the axle center upset, and welding gun 21 moves the welding according to the welding procedure in the controller.
Fig. 2 is an enlarged view of a local multi-directional moving device 11 on a layer rack 10a, the driving devices in the Y-axis direction and the Z-axis direction respectively include servo driving motors in each direction, wherein a Y-axis direction lead screw 12a and a Z-axis direction lead screw 13a are arranged in the multi-directional moving device 11, and respectively move along a Y-axis direction guide rail 12b and a Z-axis direction guide rail 13b under the driving of the Y-axis direction driving motor 12 and the Z-axis direction driving motor 13, lead screw nuts are fixed on an upper sliding frame, the upper sliding frame moves along the respective guide rails under the driving of the servo driving motors in each direction, lifting cylinders 28 are respectively arranged at two ends of the multi-directional moving device, and the lower ends of the lifting cylinders 28 are connected to a female shaft 14 of an X-axis direction linear motor.
Two lifting cylinders 28 are provided in the Z-axis direction at both ends of the multi-directional moving device to increase the lifting speed and reduce the driving force of the driving device in the Z-axis direction, and in this embodiment, the Y-axis direction linear motor 17 is provided with two Y-axis direction linear motor movers 17a on which two welding mechanisms 16 are oppositely provided.
Fig. 5 is an enlarged view of the sliding connection structure between the multi-directional movement device 11 and the welding device 15. The multi-directional moving device 11 includes moving devices arranged in the Y-axis direction and the Z-axis direction above the upper rack 10a and an X-axis direction linear motor extending to the lower side of the upper rack 10a through a lower extension rack 11a, and a plurality of welding devices 15 are hung in parallel on the X-axis direction linear motor parent shaft 14 through a plurality of X-axis direction linear motor movers 14 a.
Fig. 3 is a schematic front structural diagram of the present invention, fig. 4 is an enlarged side structural diagram of the present invention, in this embodiment, an X-direction linear motor is disposed below the multi-directional moving device 11, five X-direction linear motor movers 14a are slidably disposed on the X-direction linear motor parent shaft 14, five welding devices 15 are disposed below each X-direction linear motor mover 14a, and the five welding devices 15 include five linear moving mechanisms (Y-direction linear motors 17) slidably connected under the X-direction linear motor mover 14a and 5 pairs of welding mechanisms 16 slidably disposed under the Y-direction linear motor mover 17a on the Y-direction linear motor 17, that is, ten welding mechanisms 16 facing each other two by two.
Referring to fig. 3, a first vertical servo motor 18a and a second vertical servo motor 20a in a welding reversing joint 18 and a welding gun reversing joint 20 of the welding mechanism 16 are respectively located on a first horizontal servo motor 18b and a second horizontal servo motor 20b, a connecting arm 19 is fixedly connected to an output shaft of the first horizontal servo motor 18b, an output shaft of the second horizontal servo motor 20b is connected to a welding gun 21 through a speed reducer, a joint connecting plate 22 is arranged on the welding gun reversing joint 20 and comprises a horizontal plane and a vertical plane, and the second vertical servo motor 20a and the second horizontal servo motor 20b are arranged through the joint connecting plate 22.
The linear moving mechanism is a Y-axis direction linear motor 17, 1-2 pairs of welding mechanisms 16 with the same structure are hung on a Y-axis direction linear motor rotor 17a, each welding mechanism 16 at least comprises a welding reversing joint 18 and a welding gun reversing joint 20, the welding reversing joints 18 are fixed on the Y-axis direction linear motor rotor 17a, connecting arms are arranged among the joints 20, the upper ends of the connecting arms are fixedly connected with joints at the upper ends of the connecting arms, and the lower ends of the connecting arms 19 are hinged with joints below the connecting arms.
Fig. 6 is an enlarged schematic structural diagram of a single welding mechanism 16 on a single welding device 15, in fig. 6, a welding reversing joint 18 and a welding gun reversing joint 20 are arranged and connected through a connecting arm 19, the welding reversing joint 18 comprises a first vertical servo motor 18a rotating around a vertical axis and a first horizontal servo motor 18b rotating around a horizontal axis, the welding gun reversing joint 20 comprises a second vertical servo motor 20a rotating around a vertical axis and a second horizontal servo motor 20b rotating around a horizontal axis, the first vertical servo motor 18a and the first horizontal servo motor 18b form multi-directional and multi-angle changes of the welding reversing joint 18, and the second vertical servo motor 20a and the second horizontal servo motor 20b form multi-directional and multi-angle changes of a welding gun 21.
Fig. 7 is a first schematic view of a welding mechanism provided with an intermediate joint, fig. 8 is a second schematic view of a welding mechanism provided with an intermediate joint, and fig. 9 is an enlarged view of a single welding device provided with an intermediate joint and a second connecting arm. An intermediate joint 23 and a second connecting arm 24 are additionally arranged between the welding reversing joint 18 and the welding gun reversing joint 20, the welding reversing joint 18 comprises a first vertical servo motor 18a rotating by taking a vertical shaft as an axis and a first horizontal servo motor 18b rotating by taking a horizontal shaft as an axis, the welding gun reversing joint 20 comprises a second vertical servo motor 20a rotating by taking a vertical shaft as an axis and a second horizontal servo motor 20b rotating by taking a horizontal shaft as an axis, the intermediate joint 23 comprises a third horizontal servo motor 23b rotating by taking a horizontal shaft as an axis, the welding reversing joint 18 is connected with the intermediate joint 23 by a connecting arm 19, the intermediate joint 23 is connected with the welding gun reversing joint 20 by a second connecting arm 24, the first vertical servo motor 18a and the first horizontal servo motor 18b form multidirectional change of the welding reversing joint, and the second vertical servo motor 20a and the second horizontal servo motor 20b form multidirectional change of a welding gun, the horizontal servomotor three 23b can further extend the arm length in each direction.
Referring to fig. 7 and 8, a first vertical servo motor 18a and a second vertical servo motor 20a in a welding reversing joint 18 and a welding gun reversing joint 20 of the welding mechanism 16 are respectively located on a first horizontal servo motor 18b and a second horizontal servo motor 20b, a connecting arm 19 is fixedly connected to an output shaft of the first horizontal servo motor 18b, a second connecting arm 24 is fixedly connected to an output shaft of a third horizontal servo motor 23, a welding gun 21 is fixedly connected to an output shaft of the second horizontal servo motor 20b, a joint connecting plate 22 is arranged on the welding gun reversing joint 20 and comprises a horizontal plane and a vertical plane, and the second vertical servo motor 20a and the second horizontal servo motor 20b are arranged through the joint connecting plate 22.
Two work piece upset platforms of work piece upset platform 25a, work piece upset platform 25b all are provided with a plurality of stations corresponding with welding mechanism 16 in the X axle direction, and the outside of the lower floor X axle direction of work piece upset platform 25a or work piece upset platform two 25b is provided with the upset motor of work piece upset platform, promptly: the first overturning motor 26a and the second overturning motor 26b are servo motors, the first overturning motor 26a or the second overturning motor 26b can stop at any angle of 360 degrees, the first workpiece overturning platform 25a and the second workpiece overturning platform 25b are provided with workpiece fixing mechanism setting holes, and different fixing fixtures are fixed by different workpieces.
Welding wires are arranged in the welding gun 21, the welding wires are sent to a welding gun end along a certain track through respective wire feeders 27, the wire feeding speed and the welding current of the wire feeders 27 are adjustable, and the welding gun end faces towards a workpiece.
Although five welding devices are provided in the present embodiment, one or more of them may be used alone as needed.
Although one or more welding mechanisms are provided in each welding device in the present embodiment, welding may be performed using one or more of them as needed.
Although each welding gun 21 welds according to one program at the time of welding, it is not limited that two or more welding guns 21 weld a plurality of identical workpieces using the same program.
If a small workpiece is desired, the welding mechanism 16 provided with the welding direction changing joint 20 and the welding torch direction changing joint 20 may be used.
If a larger workpiece is welded, the problem of insufficient arm length or limited space exists, and particularly, a welding place can be inevitably formed in the welding process in the vertical direction, and in order to compensate the deficiency, the following countermeasures can be adopted to process the large workpiece:
1) the length of the female shaft of the linear motor 17 in the Y-axis direction is lengthened, and the distance between the welding mechanisms is enlarged;
2) welding is performed by a single welding mechanism, specifically, in the embodiment, each welding device has two welding mechanisms oppositely arranged, and one welding mechanism is used in each welding device;
3) an intermediate joint 23 and a second connecting arm 24 are added between a welding reversing joint 18 and a welding gun reversing joint 20, fig. 7 is a schematic diagram I of a welding mechanism with the intermediate joint, fig. 8 is a schematic diagram II of the welding mechanism with the intermediate joint, a horizontal motor three 23b rotating in a vertical plane is arranged on the intermediate joint 23, the insufficient extension in the Z-axis direction is compensated for at one time, a rotating shaft is added in the welding processing center, the welding connecting arm is lengthened, and fig. 9 is an enlarged structural view of a single welding device with the intermediate joint and the second connecting arm. The welding device is arranged on the X-axis direction linear motor female shaft 14 in a sliding mode through the X-axis direction linear motor rotor 14 a.
The measures for dealing with the large workpiece in the above items also belong to the scope of the invention.
The invention has the following positive effects: the multidirectional moving devices 11 are arranged above and below the upper-layer frame 10a, so that the plurality of welding devices 15 can be ensured to move in the directions of three axes X, Y, Z, and the plurality of welding devices 15 can be moved to required positions considering a plurality of workpieces to realize positioning; the linear moving mechanism and one or more welding mechanisms 16 are arranged in the welding device 15, so that further position adjustment can be performed around each workpiece, particularly, the welding reversing joint 18 and the welding gun reversing joint 20 are arranged, the position adjustment can be performed around the workpiece, the posture of the welding gun 21 can be adjusted according to the shape of the workpiece, particularly, accurate positioning and accurate welding can be performed from multiple angles and multiple directions through rotating motors arranged on the vertical surface and the horizontal surface in the welding reversing joint 18 and the welding gun reversing joint 20, the welding quality can be improved, and in addition, the welding direction and the welding angle can be further adjusted by turning over the workpiece through a workpiece turning platform; on the basis, by adding the middle joint 23 and the second connecting arm 24, the extension range of the welding gun 21 can be lengthened, the flexibility of the welding gun is improved, the welding capacity for large workpieces and complex workpieces is improved, and the welding of each corner without dead angles is ensured; because the servo motors and the linear motors in multiple directions are utilized, and the joints are matched and flexibly rotated, the multi-axis linkage can be realized under the control of the controller, the rotation of the welding gun to multiple directions in the circumference can be realized, and the welding of various paths, angles and positions can be implemented; by arranging the automatic wire feeder, automatic wire feeding can be performed according to the welding progress; different paths of welding of the fixed welding guns 21 can be realized by equipping welding programs with different tracks on the welding guns 21; the invention can be used for welding different workpieces or different welding paths simultaneously, thereby reducing the labor intensity of workers, prolonging the welding time according to the requirements of the welding progress of the workpieces, improving the welding speed, ensuring the welding quality and replacing a robot for welding.
Claims (10)
1. The utility model provides a multiaxis welding machining center, includes the frame, its characterized in that: the frame comprises an upper layer frame and a lower layer frame, the upper layer frame is provided with a multidirectional moving device through a sliding mechanism, the multidirectional moving device is provided with a plurality of welding devices in a sliding and hanging manner, each welding device comprises a linear moving mechanism and one or more welding mechanisms, the welding mechanisms are positioned on the periphery of a workpiece, each welding mechanism comprises a plurality of joints at least comprising a welding reversing joint and a welding gun reversing joint, the welding device comprises a lower-layer rack, a lower-layer rack and a plurality of welding devices, wherein the lower-layer rack is provided with a plurality of workpiece overturning platforms, the number of the workpiece overturning platforms is equal to that of the welding devices, the two stations are a welding station and a preset station, the two stations are used for alternately welding and presetting, each welding gun is provided with a set of wire feeder, and each welding gun is provided with a corresponding welding program in a controller according to a welding track.
2. The utility model provides a multiaxis welding machining center, includes the frame, its characterized in that: the frame includes upper frame and lower floor's frame, the one-level multidirectional mobile device and the Y axle direction rectilinear movement mechanism of second grade of X axle direction, Y axle direction, Z axle direction that the multiaxis welding machining center set up in including the upper frame, welding mechanism includes the horizontal rotary mechanism and the perpendicular rotary mechanism of the welding switching-over joint of one-level, the welder switching-over joint horizontal rotary mechanism and the perpendicular rotary mechanism of second grade, still can set up middle joint at it to set up perpendicular rotary mechanism on middle joint, a plurality of joints utilize the linking arm to connect, be provided with two work piece upset platforms in the lower floor's frame, two work piece upset platforms use X axle direction to overturn as the axle center respectively, welder moves the welding according to the welding procedure in the controller.
3. A multi-axis welding machining center according to claim 1 or 2, characterized in that: the multidirectional moving device comprises driving devices arranged in the Y-axis direction and the Z-axis direction above the upper-layer rack and an X-axis direction linear motor extending to the lower portion of the upper-layer rack, and a plurality of welding devices are hung on a female shaft of the X-axis direction linear motor in parallel through the rotors of the plurality of X-axis direction linear motors.
4. A multi-axis welding machining center according to claim 1 or 2, characterized in that: the linear moving mechanism is a Y-axis direction linear motor, one or more welding mechanisms with the same structure are hung on a rotor of the Y-axis direction linear motor, a single welding mechanism at least comprises a welding reversing joint and a welding gun reversing joint, the welding reversing joint is fixed on the rotor of the Y-axis direction linear motor, connecting arms are arranged among the joints respectively, the upper end of each connecting arm is fixedly connected with the corresponding joint, and the lower end of each connecting arm is hinged with the corresponding joint.
5. A multi-axis welding machining center according to claim 1 or 2, characterized in that: the welding gun reversing joint comprises a first vertical servo motor and a first horizontal servo motor, the first vertical servo motor rotates by taking a vertical shaft as an axis, the first horizontal servo motor rotates by taking a horizontal shaft as an axis, the welding gun reversing joint comprises a second vertical servo motor and a second horizontal servo motor, the second vertical servo motor rotates by taking the vertical shaft as the axis, the first horizontal servo motor rotates by taking the horizontal shaft as the axis, the first vertical servo motor and the first horizontal servo motor form multidirectional changes of the welding gun reversing joint, and the second vertical servo motor and the second horizontal servo motor form multidirectional changes of the welding gun.
6. A multi-axis welding machining center according to claim 1 or 2, characterized in that: the welding reversing joint comprises a first vertical servo motor and a first horizontal servo motor, the first vertical servo motor rotates by taking a vertical shaft as an axis, the first horizontal servo motor rotates by taking a horizontal shaft as an axis, the welding gun reversing joint comprises a second vertical servo motor and a second horizontal servo motor, the second vertical servo motor rotates by taking a vertical shaft as an axis, the third horizontal servo motor rotates by taking a horizontal shaft as an axis, the welding reversing joint is connected with the middle joint through a connecting arm, the middle joint is connected with the welding gun reversing joint through a second connecting arm, the first vertical servo motor and the first horizontal servo motor form multidirectional changes of the welding reversing joint, and the second vertical servo motor and the second horizontal servo motor form multidirectional changes of a welding gun.
7. A multi-axis welding machining center according to claim 1 or 2, characterized in that: the two workpiece overturning platforms are provided with a plurality of stations corresponding to the welding mechanism in the X-axis direction, the overturning motor of the workpiece overturning platform is arranged on the outer side of the lower layer of each workpiece overturning platform in the X-axis direction, the overturning motor can stop at any angle of 360 degrees, and the workpiece overturning platform is provided with a workpiece fixing hole.
8. A multi-axis welding machining center according to claim 1 or 2, characterized in that: welding wires are arranged in the welding guns, the welding wires are sent to welding gun ends along a certain track through respective wire feeders, the wire feeding speed and the welding current of the wire feeders are adjustable, and the welding gun ends are arranged towards a workpiece.
9. A multi-axis welding machining center as defined in claim 3, wherein: the driving devices in the Y-axis direction and the Z-axis direction respectively comprise servo driving motors in all directions, a lead screw is connected to the shaft of each servo driving motor, a lead screw nut is arranged on the upper sliding frame, the upper sliding frame is driven by the servo driving motors in all directions to move along respective guide rails, and the driving device in the Z-axis direction comprises lifting cylinders respectively arranged at two ends of the multidirectional moving device.
10. Multiaxial welding machining center according to claim 4 or 5, wherein: a first vertical servo motor and a second vertical servo motor in the welding reversing joint and the welding gun reversing joint are respectively positioned on a first horizontal servo motor and a second horizontal servo motor, a connecting arm is fixedly connected to an output shaft of the first horizontal servo motor, a second connecting arm is fixedly connected to an output shaft of the third horizontal servo motor, and an output shaft of the second horizontal servo motor is connected to a welding gun through a speed reducer.
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| CN202110810597.6A CN113385782A (en) | 2021-07-19 | 2021-07-19 | Multi-axis welding machining center |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781139A (en) * | 2022-10-27 | 2023-03-14 | 无锡砺成智能装备有限公司 | Multi-axis welding mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781139A (en) * | 2022-10-27 | 2023-03-14 | 无锡砺成智能装备有限公司 | Multi-axis welding mechanism |
| CN115781139B (en) * | 2022-10-27 | 2024-01-23 | 无锡砺成智能装备有限公司 | Multi-shaft welding mechanism |
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