CN115319233B - Welding arm assembly and rectangular coordinate system welding robot - Google Patents
Welding arm assembly and rectangular coordinate system welding robot Download PDFInfo
- Publication number
- CN115319233B CN115319233B CN202211254560.0A CN202211254560A CN115319233B CN 115319233 B CN115319233 B CN 115319233B CN 202211254560 A CN202211254560 A CN 202211254560A CN 115319233 B CN115319233 B CN 115319233B
- Authority
- CN
- China
- Prior art keywords
- welding
- output shaft
- component
- welding arm
- arm assembly
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- 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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
Abstract
The invention discloses a welding arm assembly and a rectangular coordinate system welding robot. The telescopic member is folded and protruded outwardly, and the welding wire conducted from the conducting member is wound around the folded portion of the telescopic member. When the welding arm rotates, the second driving part drives the welding gun clamping part to rotate around the axis direction of the second output shaft, and the angles of the welding gun clamping part and the welding gun are adjusted. At the moment, the guide component drives the telescopic component to extend in the axis direction of the first output shaft, and the welding wire wound on the folding part is supplied to the welding gun after extending, so that the influence of the welding wire wound on the welding arm and drawn back is weakened, and the utilization rate of the welding wire is improved. The rectangular coordinate system welding robot is provided with the welding arm assembly, so that a welding gun can rotate 360 degrees, and the welding stability and the welding precision are improved.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to a welding arm assembly and a rectangular coordinate system welding robot.
Background
At present, rectangular coordinate system welding robot is a welding robot commonly used, and rectangular coordinate system welding robot adjusts welder's concrete position through the slide rail of three mutual orthorhombic of group, adjusts welder's angle by welding arm, can drive welder and weld the different positions of weldment conveniently. The rectangular coordinate system welding robot has the advantages of simple structure, low price, high repeated positioning precision, strong loading capacity and the like, so the rectangular coordinate system welding robot is widely applied to small and medium-sized enterprises.
For example, chinese patent document with publication number CN203804385U discloses a plane welding manipulator, and when using, a welding gun is connected with a rotating shaft through a clamping part, and the welding gun drives the rotating shaft for welding seams with different angles, and then links the angle of adjustment of the welding gun. However, since the welding gun is connected to the rotating shaft through the clamping component, when the welding gun rotates together with the rotating shaft, the welding handle line connected with the welding gun is wound on the rotating shaft and causes the problem of welding wire drawing back, at this time, an operator needs to stop welding work, manually untwists twisted welding wires, and part of the welding wires may be damaged and cannot be used, and needs to be cut off from the damaged welding wires and reconnect to the welding gun, so that the partial complete welding wires at the connection part of the damaged welding wires and the welding gun are wasted, the welding wires are mainly made of materials such as silicon, copper, iron, zinc, manganese and the like, part of production materials belong to non-renewable resources, and the waste of the welding wires is also unreasonable use of the non-renewable resources.
Meanwhile, welding wire winding also affects the flexibility of the welding gun, so that the adjustable space of the welding gun is very limited, and the problems of unstable welding process, poor quality of formed welding seams, difficulty in aligning welding poses with fillet welds, large errors and the like are caused.
Disclosure of Invention
The invention aims to solve the technical problems that in the working process of a rectangular coordinate system welding robot in the prior art, a welding handle line connected with a welding gun is wound on a rotating shaft and generates welding wire drawing back, so that welding wire waste is caused, meanwhile, the flexibility of the welding gun is influenced, so that the adjustable space of the welding gun is very limited, the welding process is unstable, the quality of a welding seam is poor, and the welding pose is difficult to align to the fillet weld and has large errors.
In order to solve the technical problem, the embodiment of the invention discloses a welding arm assembly which comprises a welding arm, a first driving part, a conducting part, a telescopic part, a guide part, a second driving part and a welding gun clamping part.
The first driving part is provided with a first output shaft, the first output shaft is connected with the welding arm, and the first driving part is used for driving the welding arm to rotate around the axis of the first output shaft.
Specifically, the conducting component is arranged at the output end of the first driving component and sleeved on the first output shaft of the first driving component, and the conducting component is used for conducting welding current, welding wires and shielding gas.
More specifically, the telescopic member is provided on a side of the conducting member away from the first driving member, the telescopic member is switchable between a retracted state and an extended state, an initial state of the telescopic member is the retracted state, and the telescopic member is configured to: in a contracted state, the telescopic member can be at least partially folded and outwardly protruded in a direction away from the first output shaft of the first driving member in a radial direction of the first output shaft, so that the folded and outwardly protruded portion of the telescopic member is around which the welding wire is wound, and the folded and outwardly protruded portion of the telescopic member can be further extended in an axial direction of the first output shaft, so that the folded and outwardly protruded portion of the telescopic member is retracted in a direction approaching the first output shaft in the radial direction of the first output shaft and is extended in the axial direction of the first output shaft to be switched to an expanded state, and the welding wire wound around the folded and outwardly protruded portion of the telescopic member can be extended.
More specifically, the guide part is tubular structure and connects in first output shaft of first drive part, and the guide part is connected with the one end transmission of keeping away from the conduction part of extensible part, and when first drive part drove the welding arm and around the axis rotation of first output shaft, the guide part drove the axis direction extension of extensible part along first output shaft.
More specifically, the second driving member is disposed at one end of the welding arm, the second driving member has a second output shaft, and an axial direction of the second output shaft is perpendicular to an axial direction of the first output shaft.
More specifically, the welding gun clamping component is in transmission connection with a second output shaft of a second driving component, and the second driving component is used for driving the welding gun clamping component to rotate around the axis direction of the second output shaft.
Adopt above-mentioned technical scheme, this kind of welding arm assembly assembles on rectangular coordinate system welding robot, and in the use, first drive disk assembly drives welding arm rotatory, adjusts welding arm's direction. At this time, the initial state of the telescopic member is a contracted state, the telescopic member is folded in a direction away from the first output shaft along the radial direction of the first output shaft of the first driving member, and the welding wire conducted from the conducting member is wound around the folded portion of the telescopic member. When the welding arm rotates, the second driving part drives the welding gun clamping part to rotate around the axis direction of the second output shaft, and the angles of the welding gun clamping part and the welding gun are adjusted. At the moment, the guide component connected with the first output shaft of the first driving component rotates to drive the telescopic component to extend in the axis direction of the first output shaft, the telescopic component is folded along the radial direction of the first output shaft of the first driving component and the part protruding outwards is recovered, the welding wire wound on the folded part protruding outwards extends, the problem that the welding wire of the welding gun is not enough to supply when the welding gun clamping component adjusts the angle is offset, the influence that the welding wire is wound on a welding arm and generates welding wire drawing back is weakened, the welding gun can rotate by 360 degrees, the flexibility is higher, meanwhile, the influence of the welding wire drawing back is also reduced in the welding process, and the welding stability and the welding precision are improved.
In addition, the welding robot among the prior art, when using, the electrode holder line that is connected with welder can twine on the rotation axis, and then send the wire machine and can't in time carry the welding wire to the welder on, the operator needs to stop welding work, the manual welding wire that will entangle unties, and some welding wires can be because impaired unable use need be abandoned, the waste of welding wire resource has been caused, and the welding wire mainly is made by materials such as silicon, copper, iron, zinc and manganese, some production materials belong to non-renewable resources, waste to the welding wire also is the unreasonable use to non-renewable resources. When the welding arm assembly is used, the welding wire wound on the outer wall of the telescopic component is folded along with the rotation of the welding arm, the part which protrudes outwards in the telescopic component is recovered, and the wound welding wire is supplied to a welding gun after being stretched, so that the utilization rate of the welding wire is effectively improved, and the welding wire is prevented from being wasted.
Furthermore, the embodiment of the invention also discloses a welding arm assembly, wherein the telescopic component comprises at least two folding rods, the at least two folding rods are arranged along the circumferential direction of the first output shaft of the first driving component, any one folding rod of the at least two folding rods comprises a folding section and a supporting section which are hinged with each other, and the folding section can be folded along the radial direction of the first output shaft towards the direction departing from the first output shaft.
When the welding arm assembly is used, the first output shaft of the first driving component penetrates through the middle surrounded by at least two folding rods to be connected with the welding arm, each folding rod comprises a folding section and a supporting section which are hinged with each other, the supporting section at one end is connected with the conducting component, the supporting section at the other end is connected with the guiding component, when the folding section is folded along the radial direction of the first output shaft towards the direction departing from the first output shaft, the welding wire transmitted from the conducting component can be wound on the folding section in the folded state, the folding section folded outwards cannot interfere with the movement of the first output shaft of the first driving component, when the first driving component drives the welding arm to rotate, the other end connected with the guiding component is driven by the guiding component to move towards one side close to the welding arm along the axial direction of the first output shaft, the folding section of the folding rod extends and gradually moves towards the direction close to the supporting section, at the welding wire wound on the folding section is loosened, the situation that the welding wire is pulled and pulled by the welding gun under the rotation of the welding arm is reduced, the folding sections of the at least two folding rods are arranged along the circumferential direction of the first output shaft, when the arms of the welding gun, at least two folding rods are rotated, the welding gun is prevented from being wound by 360 degrees of the welding gun, and the welding gun from being further rotating.
Furthermore, the embodiment of the invention also discloses a welding arm assembly, wherein one end of the telescopic component, which is far away from the conducting component, is a connecting cylinder, and the end surface of the connecting cylinder is obliquely arranged relative to the axial direction of the first output shaft.
The inner wall surface of the guide component forms a ladder surface which is annular and inclined relative to the axial direction of the first output shaft, and the ladder surface is abutted against the end surface of one end of the telescopic component far away from the conduction component.
Adopt above-mentioned technical scheme, this kind of welding arm assembly is when using, the outer wall face of the tubular structure of telescopic part's one end and the internal face looks adaptation of guide part, the terraced face that the internal face of guide part formed and the terminal surface looks butt of telescopic part, when the folding section of folding rod is folded along the radial direction that deviates from first output shaft, the position butt that is closest to telescopic part of the terraced face of telescopic part's one end terminal surface and guide part's internal face, along with the guide part is rotatory under the drive of welding arm, the position of the terraced face of guide part internal face and telescopic part butt changes to the direction of keeping away from telescopic part gradually, the tubular structure of telescopic part's one end stretches into guide part gradually, at this moment, the folding section of folding rod extends gradually. The structure of the guide component and the telescopic component can realize the adjustment of the state of the telescopic component along with the rotation of the welding arm. And when the welding arm assembly breaks down, the telescopic component and the guide component can be easily disassembled, and the welding arm assembly has the advantage of convenience in disassembly.
Furthermore, the embodiment of the invention also discloses a welding arm assembly, wherein one end of the telescopic component, which is far away from the conducting component, is of a cylindrical structure, and the outer wall surface of the telescopic component is provided with a pin block.
The inner wall surface of the guide component forms an annular guide groove, the central axis of the annular guide groove inclines relative to the axial direction of the first output shaft, the inner peripheral profile of the annular guide groove is matched with the pin block of the telescopic component, and the pin block is embedded into the annular guide groove.
Adopt above-mentioned technical scheme, when the folding section of folding rod is along the radial direction that deviates from first output shaft folding, flexible part's round pin piece is located the position that is closest to flexible part in guide part's annular guide slot, along with guide part is rotatory under the drive of welding arm, the position of round pin piece in guide part's annular spout changes to the direction of keeping away from flexible part gradually, the folding volume of folding section of folding rod can be controlled along with the rotation of welding arm to this kind of guide part and flexible part's structure relatively accurately.
Furthermore, the embodiment of the invention also discloses a welding arm assembly, wherein the conducting component comprises an electric slip ring and an air slip ring, the electric slip ring and the air slip ring are sequentially connected along the axial direction of the first output shaft, the electric slip ring is positioned on one side of the first driving component close to the welding arm, and the air slip ring is fixedly connected with one end of the telescopic component far away from the guiding component.
The electric slip ring is of a cylindrical structure and comprises an electric brush which is arranged inside the electric slip ring and rotates along with the first output shaft.
The air slip ring is of a cylindrical structure, an air inlet and a wire inlet are formed in one end, close to the electric slip ring, of the air slip ring, and an air outlet is formed in the side wall face of the air slip ring.
Adopt above-mentioned technical scheme, this kind of welding arm assembly is when using, and electric sliding ring connects gradually along the axis direction of first output shaft with the gas sliding ring, and the inside brush of electric sliding ring can rotate along with first output shaft for welding arm when rotatory, the electric wire can be along with welding arm is rotatory together, avoids taking place to twine in the top of flexible part. One end of the gas slip ring, which is close to the electric slip ring, is provided with a gas inlet and a wire inlet, wherein the gas inlet is used for transmitting protective gas in the welding process, the wire inlet is used for transmitting welding wires, and the welding wires extend into the other end of the gas slip ring and pass through the outside of the folding rod. The structure of the electric slip ring and the gas slip ring can realize the separation of 'gas and electric wires', and the welding wire is prevented from being wound before passing through the folding rod when the welding arm rotates.
Furthermore, the embodiment of the invention also discloses a welding arm assembly, wherein a second output shaft of the second driving part is sequentially provided with a speed reduction part and a driving wheel.
And a driven wheel is arranged on the side wall surface of one end of the welding gun clamping part close to the welding arm, corresponds to the driving wheel and is connected with the driving wheel through a belt.
By adopting the technical scheme, the driving wheel is in transmission connection with the driven wheel of the welding gun clamping part at the other end of the welding arm through the belt, and the second driving part drives the welding gun clamping part to rotate around the axis direction of the second output shaft so as to drive the welding gun to adjust the angle. A speed reduction part is arranged on a second output shaft of the second driving part, so that the rotating speed output by the driving wheel is reduced, and the situation that the welding wire is pulled due to the fact that the rotating speed of a welding gun clamping part connected with a driven wheel is too high is avoided. Meanwhile, the power of the second driving part is transmitted to the driven wheel through the driving wheel and the belt arranged outside the welding arm, so that the welding gun clamping part is driven to rotate, the transmission part is arranged outside the welding arm, and the internal installation space of the welding arm is saved. And the transmission structure can not interfere with the welding wire, so that the flexibility of the welding gun is further improved.
Furthermore, the embodiment of the invention also discloses a welding arm assembly, which further comprises a first encoder and a second encoder. The first encoder and the second encoder respectively acquire the motion states of the first driving part and the second driving part.
By adopting the technical scheme, when the welding arm assembly is used, the motion states of the first driving part and the second driving part are respectively acquired through the first encoder and the second encoder and are fed back to the controller, and then the welding arm is adjusted to rotate around the axis direction of the first output shaft through numerical control, and the welding gun clamping part is adjusted to rotate around the axis direction of the second output shaft. Compared with manual control, the adjusting mode has the advantages of higher control precision and more convenient and faster operation.
When the welding arm assembly is used, the welding arm assembly further comprises a fixing frame, one end of the fixing frame is fixedly connected with the first driving part, the other end of the fixing frame is fixedly connected with the electric slip ring, a plurality of mounting portions are arranged on the side wall of the fixing frame, and the fixing frame is used for mounting the welding arm assembly on the pre-mounting surface through the mounting portions.
By adopting the technical scheme, when the welding arm assembly is used, the first driving part and the electric slip ring are arranged on the pre-installation surface through the fixing frame, so that the welding arm assembly can be stably connected to the corresponding part of the rectangular coordinate system welding robot. The welding arm assembly is prevented from falling off when in use.
Furthermore, the embodiment of the invention also discloses a welding arm assembly, and a thrust bearing is arranged between the first output shaft of the first driving part and the other end of the fixed frame.
By adopting the technical scheme, when the welding arm assembly is used, the thrust bearing is arranged between the first output shaft of the first driving part and the other end of the fixing frame, the first output shaft of the first driving part is connected with the welding arm, and the connection strength of the first output shaft of the first driving part and the welding arm is improved.
Furthermore, the embodiment of the invention also discloses a rectangular coordinate system welding robot which comprises a base, a wire feeder, a longitudinal rail, a transverse rail, a vertical rail and a sliding connecting piece, wherein the longitudinal rail is fixedly connected with the base, the transverse rail is in sliding connection with the longitudinal rail, the transverse rail can slide relative to the longitudinal rail along the length direction of the longitudinal rail, the sliding connecting piece is in sliding connection with the transverse rail, the sliding connecting piece can slide relative to the transverse rail along the length direction of the transverse rail, the vertical rail is in sliding connection with the sliding connecting piece, and the vertical rail can slide relative to the sliding connecting piece along the length direction of the vertical rail.
By adopting the technical scheme, when the rectangular coordinate system welding robot is used, a workpiece to be welded is firstly fixed on the base and positioned, and the welding gun is close to a welding spot by controlling the movement among the transverse rail, the longitudinal rail, the sliding connecting piece and the vertical rail. And then the first driving component drives the welding arm to rotate, the direction of the welding arm is adjusted, and the wire feeder and the welding arm assembly are connected to the vertical rail together, so that the welding wire is effectively prevented from being wound when the welding arm rotates.
Further, at this time, the initial state of the telescopic member is a contracted state, the telescopic member is folded in a radial direction of the first output shaft of the first driving member toward a direction away from the output shaft, and the welding wire conducted from the conducting member is wound around the portion folded and outwardly protruded in the telescopic member. When the welding arm rotates, the second driving part drives the welding gun clamping part to rotate along the direction vertical to the axis of the first output shaft, and the angles of the welding gun clamping part and the welding gun are adjusted. At the moment, the guide component connected with the first output shaft of the first driving component rotates to drive the telescopic component to extend in the axis direction of the first output shaft, the telescopic component is folded along the radial direction of the first output shaft of the first driving component and the part protruding outwards is recycled, the welding wire wound in the part folded in the telescopic component and protruding outwards extends to offset the problem that the welding wire of the welding gun is not supplied enough when the welding gun clamping component adjusts the angle, and further the influence that the welding wire is wound on a welding arm and generates welding wire drawing back is weakened, so that the welding gun can rotate by 360 degrees, the flexibility is higher, meanwhile, the influence of the welding wire drawing back is also reduced in the welding process, and the welding stability and the welding precision are improved.
The beneficial effects of the invention are as follows:
the invention discloses a welding arm assembly and a rectangular coordinate system welding robot. At the moment, the initial state of the telescopic component is a contracted state, the telescopic component is folded along the radial direction of the first output shaft of the first driving component towards the direction departing from the output shaft, the welding wire conducted from the conducting component is wound on the folded and outwards protruded part in the telescopic component, the winding point of the welding wire is concentrated on the folded and outwards protruded part in the telescopic component, the welding wire winding at other parts is avoided as far as possible, and the welding wire is favorably processed by people in the later period.
Further, when the welding arm rotates, the second driving part drives the welding gun clamping part to rotate around the axis direction perpendicular to the first output shaft, and the angles of the welding gun clamping part and the welding gun are adjusted. At the moment, the guide component connected with the first output shaft of the first driving component rotates to drive the telescopic component to extend in the axis direction of the first output shaft, the telescopic component is folded along the radial direction of the first output shaft of the first driving component and the part protruding outwards is recovered, the welding wire wound on the folded part protruding outwards extends, the problem that the welding wire of the welding gun is not enough to supply when the welding gun clamping component adjusts the angle is offset, the influence that the welding wire is wound on a welding arm and generates welding wire drawing back is weakened, the welding gun can rotate by 360 degrees, the flexibility is higher, meanwhile, the influence of the welding wire drawing back is also reduced in the welding process, and the welding stability and the welding precision are improved.
In addition, when the welding robot in the prior art is used, a welding handle line connected with a welding gun can be wound on a rotating shaft, then a wire feeder cannot timely convey welding wires to the welding gun, an operator needs to stop welding work, manually untwisted welding wires are untwisted, and part of the welding wires can be damaged and cannot be used and need to be discarded, so that waste of welding wire resources is caused. When the welding arm assembly is used, the welding wire wound on the part, folded and protruding outwards, of the telescopic component shrinks along with the rotation of the welding arm, and the wound welding wire is supplied to a welding gun after being stretched, so that the utilization rate of the welding wire is improved, and the waste of the welding wire is avoided.
Drawings
FIG. 1 is an assembled view of a welding arm assembly according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a folding bar of a welding arm assembly according to an embodiment of the present invention;
FIG. 3 is a schematic view of an assembly of the annular guide groove and the pin block of the guide member of the welding arm assembly according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of an electrical slip ring of a welding arm assembly according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a gas slip ring of a welding arm assembly according to an embodiment of the present disclosure;
FIG. 6 is an assembled view of a second drive component of the welding arm assembly according to the disclosed embodiment of the present invention;
fig. 7 is an assembly diagram of a rectangular coordinate system welding robot according to an embodiment of the disclosure.
Description of the reference numerals:
10. the rectangular coordinate system is used for welding the robot;
110. a base; 120. a longitudinal rail; 130. a transverse rail; 140. a vertical rail; 160. a sliding connector;
150. welding an arm assembly;
151. welding an arm;
152. a first drive member; 1521. a first output shaft; 1522. a first encoder; 1523. a thrust bearing;
153. a conductive member;
1531. an electrical slip ring; 1532. an air slip ring;
1533. an air inlet; 1534. a wire inlet; 1535. an air outlet;
154. a telescopic member;
1540. a folding bar; 1541. a support section; 1542. a folding section; 1543. a connecting cylinder; 1544. a pin block;
155. a guide member;
1551. an annular guide groove;
156. a second drive member;
1561. a speed reduction part; 1562. a driving wheel; 1563. a second encoder;
157. a welding gun clamping component;
1571. a driven wheel;
158. a belt;
159. a fixed mount;
A. the axial direction of the first output shaft.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that the features of the invention be limited to that embodiment. On the contrary, the invention has been described in connection with the embodiments for the purpose of covering alternatives or modifications as may be extended based on the claims of the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been omitted from the description in order not to obscure or obscure the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the present embodiment can be understood as specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In an embodiment of the present invention, a welding arm assembly is disclosed, as shown in fig. 1-6, such a welding arm assembly 150 includes a welding arm 151, a first driving member 152, a conducting member 153, a telescopic member 154, a guiding member 155, a second driving member 156, and a torch holding member 157.
The first driving member 152 has a first output shaft 1521, the first output shaft 1521 is connected to the welding arm 151, and the first driving member 152 is configured to drive the welding arm 151 to rotate along an axial direction of the first output shaft 1521. The axial direction of the first output shaft 1521 of the first drive member 152 is indicated by a in fig. 1.
Specifically, the conducting member 153 is disposed at an output end of the first driving member 152 and sleeved on the first output shaft 1521 of the first driving member 152, and the conducting member 153 is used for conducting the welding current, the welding wire and the shielding gas.
More specifically, the telescopic member 154 is provided on a side of the conduction member 153 remote from the first driving member 152, the telescopic member 154 is switchable between a contracted state and an expanded state, an initial state of the telescopic member 154 is a contracted state, and the telescopic member 154 is configured to: in the contracted state, the telescopic member 154 can be at least partially folded in a radial direction of the first output shaft 1521 of the first drive member 152 toward a direction away from the first output shaft 1521 and protruded outward, so that the folded and outwardly protruded portion of the telescopic member 154 is around which the welding wire is wound, and the folded and outwardly protruded portion of the telescopic member 154 can be also extended in an axial direction of the first output shaft 1521, so that the folded and outwardly protruded portion of the telescopic member 154 is retracted in a radial direction of the first output shaft 1521 toward the first output shaft 1521 and is expanded in an axial direction of the first output shaft 1521 to be switched to the expanded state, and the welding wire wound around the folded and outwardly protruded portion of the telescopic member 154 can be extended.
More specifically, the guiding member 155 is a cylindrical structure and is connected to a first output shaft 1521 of the first driving member 152, the guiding member 155 is in transmission connection with one end of the telescopic member 154, which is far away from the conducting member 153, and when the first driving member 152 drives the welding arm 151 to rotate around the axis direction of the first output shaft 1521, the guiding member 155 drives the telescopic member 154 to extend along the axis direction of the first output shaft 1521.
More specifically, the second driving member 156 is disposed at one end of the welding arm 151, and the second driving member 156 has a second output shaft (not shown), and an axial direction of the second output shaft is perpendicular to an axial direction of the first output shaft 1521.
More specifically, the torch holding member 157 is drivingly connected to a second output shaft of the second driving member 156, and the second driving member 156 is configured to drive the torch holding member 157 to rotate around an axial direction of the second output shaft.
More specifically, the welding arm assembly 150 is assembled on the rectangular coordinate system welding robot 10, and during the use process, the first driving component 152 drives the welding arm 151 to rotate, so as to adjust the direction of the welding arm 151. At this time, the initial state of the telescopic member 154 is a contracted state, the telescopic member 154 is folded in a direction away from the first output shaft 1521 in a radial direction of the first output shaft 1521 of the first driving member 152, and the welding wire conducted from the conducting member 153 is wound around the folded portion of the telescopic member 154. When the welding arm 151 rotates, the second driving member 156 drives the welding gun clamping member 157 to rotate around the axis direction of the second output shaft, so as to adjust the angles of the welding gun clamping member 157 and the welding gun. At this time, the guiding member 155 connected to the first output shaft 1521 of the first driving member 152 rotates to drive the telescopic member 154 to extend in the axial direction of the first output shaft 1521, the telescopic member 154 is folded along the radial direction of the first output shaft 1521 of the first driving member 152 and the portion protruding outward is recovered, the welding wire wound around the folded portion protruding outward of the telescopic member 154 extends to offset the problem of insufficient welding wire supply of the welding gun when the welding gun clamping member 157 adjusts the angle, and further the influence of welding wire winding on the welding arm 151 and generating drawing back is weakened, so that the welding gun can rotate by 360 degrees, the flexibility is higher, meanwhile, the influence of drawing back of the welding wire is also reduced in the welding process, and the welding stability and the welding precision are improved.
In addition, when the welding robot in the prior art is used, a welding handle line connected with a welding gun can be wound on the rotating shaft, the wire feeder cannot convey the welding wire to the welding gun in time, an operator needs to stop welding work, the twisted welding wire is unwound manually, and part of the welding wire can be damaged and cannot be used and can be left away, so that waste of welding wire resources is caused. When the welding arm assembly 150 is used, the welding wire wound on the outer wall of the telescopic part 154 is folded and the part protruding outwards in the telescopic part 154 is recovered along with the rotation of the welding arm 151, and the wound welding wire is supplied to a welding gun after being stretched, so that the utilization rate of the welding wire is improved, and the waste of the welding wire is avoided.
More specifically, the telescoping member 154 may be a collapsible rod disposed about the first drive member 152, the rod being collapsible in a direction away from the first output shaft 1521, the rod being extendable in the axial direction of the first output shaft 1521 at spaced locations at the rod folds for winding the welding wire.
In another embodiment, the telescopic member 154 may also be a tubular structure capable of being elastically deformed, and a plurality of hollow portions are disposed at intervals on a side wall surface of the telescopic member 154, when the telescopic member 154 is compressed under the driving of the guide member 155, a middle portion of the telescopic member 154 expands in a direction away from the first output shaft 1521, and the hollow portions on the side wall surface of the telescopic member 154 are configured to wind a welding wire. When the guiding member 155 drives the telescopic member 154 to move along the axial direction of the first output shaft 1521, the telescopic member 154 is restored.
In another embodiment, the telescopic member 154 may also be multiple segments of support columns connected by a diaphragm spring, and when the telescopic member 154 is compressed by the guiding member 155, the diaphragm spring between the multiple segments of support columns compresses and expands in a direction away from the first output shaft 1521. This kind of diaphragm spring is petal form and can take place great radial direction deformation to the winding welding wire. The specific shape of the diaphragm spring can be designed by those skilled in the art according to actual conditions and specific requirements, and this embodiment is not limited in this respect.
More specifically, in this embodiment, the inner wall surface of the guide member 155 may form a step surface that abuts against one end of the telescopic member 154, the guide member 155 is rotated by the first output shaft 1521, and the step surface of the inner wall surface of the guide member 155 converts the rotational motion around the axial direction of the first output shaft 1521 into the linear motion of the telescopic member 154 along the axial direction of the first output shaft 1521. Further, as mentioned in the embodiments described later, the inner wall surface of the guide member 155 may be formed with an annular guide groove 1551 to be fitted with a pin 1544 formed at one end of the telescopic member 154. Those skilled in the art can design the device according to practical situations and specific requirements, and the embodiment is not limited in this respect.
In this embodiment, the first driving member 152 and the second driving member 156 are motors that meet the requirements of driving the welding arm 151 and the welding gun holding member 157, respectively, and the motors have high response speed and control accuracy, so that the welding arm 151 can be precisely controlled, and the welding accuracy of the welding gun can be improved. The specific type of the motor can be selected according to actual conditions and specific requirements, which is not specifically limited in this embodiment.
In another embodiment, the first driving member 152 and the second driving member 156 are hydraulic pumps that satisfy the requirements for driving the welding arm 151 and the torch holding member 157, respectively, and the adjustment speed of the hydraulic pumps is slow, but the driving force is large, so that a deceleration structure is not required when driving the welding arm 151 and the torch holding member 157, and the structure can be simplified. The specific type of the hydraulic pump may be selected according to actual conditions and specific requirements, which is not specifically limited in this embodiment.
More specifically, the second driving part 156 drives the welding gun clamping part 157 to rotate around the axis direction of the second output shaft in a belt transmission manner, and may also drive the welding gun clamping part 157 to rotate around the axis direction of the second output shaft in a gear transmission manner. Those skilled in the art can design the device according to practical situations and specific requirements, and the embodiment is not limited in this respect.
More specifically, the welding arm 151 is a rectangular parallelepiped having a cavity, one end of the welding arm 151 is an opening, side wall surfaces of two sides extend along an axial direction of the first output shaft 1521 to connect the welding gun clamping member 157, a wall surface of the other end of the welding arm 151 is connected to the first output shaft 1521 of the first driving member 152, and a hole for a welding wire to pass through is provided, so that the welding wire enters the cavity of the welding arm 151 and is connected to a welding gun connected to the welding gun clamping member 157. The second driving member 156 is provided on a side wall surface of the welding arm 151 near one end of the guide member 155. More specifically, the torch clamping member 157 includes a clamping body and a clamping block. One end of the clamping body is rotatably connected with the welding arm 151, the other end of the clamping body is detachably connected with the clamping block, and a clamping hole for clamping a welding gun is formed between the clamping body and the clamping block. The specific structure of the welding gun clamping component 157 can be designed by those skilled in the art according to actual conditions and specific requirements, and this embodiment is not limited in this respect.
Further, an embodiment of the present invention further discloses a welding arm assembly, as shown in fig. 1 and fig. 2, the telescopic member 154 includes at least two folding rods 1540, the at least two folding rods 1540 are both disposed along a circumferential direction of the first output shaft 1521 of the first driving member 152, any folding rod 1540 of the at least two folding rods 1540 includes a folding section 1542 and a supporting section 1541 hinged to each other, and the folding section 1542 is foldable in a direction away from the first output shaft 1521 along a radial direction of the first output shaft 1521. It should be noted that, for a plurality of identical components, only one of the components is labeled for convenience of drawing, and similar cases are not described in detail herein.
More specifically, when the welding arm assembly 150 is used, the first output shaft 1521 of the first driving member 152 passes through the middle of at least two folding rods 1540 to connect the welding arm 151, the supporting section 1541 at one end is connected to the conducting member 153, the supporting section 1541 at the other end is connected to the guiding member 155, when the folding section 1542 is folded along the radial direction of the first output shaft 1521 toward the direction away from the telescopic member 154, the welding wire transmitted from the conducting member 153 can be wound around the folding section 1542 in the folded state, and the folding section 1542 folded outward does not interfere with the movement of the first output shaft 1521 of the first driving member 152, when the first driving member 152 drives the welding arm 151 to rotate, the other end of the folding rod 1540 connected to the guiding member 155 is driven by the guiding member 155, when the folding section 1542 moves toward the side close to the welding arm 151 along the axial direction of the first output shaft 1521, the folding section 1540 extends to gradually move toward the direction close to the supporting section 1541, at this time, the winding of the folding section 1542 is reduced, and the welding gun is prevented from being wound around the folding rod 1540, and the welding arm 151 is rotated around the folding rod 1541, and the folding rod 1540 is prevented from being wound around the two folding rod. The welding gun can rotate 360 degrees, and the flexibility of the welding gun is further improved.
More specifically, the number of the folding rods 1540 may be set to 2, 3, 4, 5, and 6, and preferably, in this embodiment, 4 folding rods 1540 are provided, each folding rod 1540 includes a supporting section 1541 and a folding section 1542, and the supporting section 1541 and the folding section 1542 are respectively composed of 2 basic sections. The 2 basic segments of the supporting segment 1541 are respectively disposed at both ends of the folding segment 1542, and are connected with the conducting member 153 and the guide member 155. The 2 basic segments of the folding segment 1542 are hinged and the ends of the two sides are hinged with the 2 basic segments of the supporting segment 1541, respectively.
More specifically, 2 basic segments of the folded segment 1542 of the folding bar 1540 may be folded over each other at an angle ranging from 30 ° to 45 °. Preferably, in this embodiment, the angle at which 2 basic segments of the folded segment 1542 of the folding bar 1540 are folded over each other is 30 °. This configuration allows the folded section 1542 to protrude outward by a large portion in the radial direction of the first output shaft 1521, so that the welding wire can be well separated by the folded section 1542 of the folding rod 1540.
More specifically, the folding rod 1540 may further include 2 or 3 folding sections 1542 along the axial direction of the first output shaft 1521, the connection manner between each folding section 1542 and the supporting section 1541 is described in detail above, and the folding sections 1542 between the spaced folding rods 1540 may be staggered along the axial direction of the first output shaft 1521, which has an advantage of better winding the welding wire.
Further, in the embodiment of the present invention, a welding arm assembly is further disclosed, wherein an end of the telescopic member 154 away from the conducting member 153 is a connecting cylinder 1543 whose end surface is inclined with respect to the axial direction of the first output shaft 1521.
The inner wall surface of the guide member 155 forms a step surface (not shown) that is annular and inclined with respect to the axial direction of the first output shaft 1521, and the step surface abuts against the end surface of the end of the telescopic member 154 that is distant from the transmission member 153.
More specifically, when the welding arm assembly 150 is used, the outer wall surface of the connecting tube 1543 at one end of the telescopic member 154 is fitted to the inner wall surface of the guide member 155, when the folding section 1542 of the folding rod 1540 is folded in the radial direction away from the first output shaft 1521, the end surface of one end of the telescopic member 154 abuts against the position, closest to the telescopic member 154, of the step surface of the inner wall surface of the guide member 155, and as the guide member 155 rotates under the driving of the welding arm 151, the position, at which the step surface of the inner wall surface of the guide member 155 abuts against the telescopic member 154, gradually changes in the direction away from the telescopic member 154, the connecting tube 1543 at one end of the telescopic member 154 gradually extends into the guide member 155, and at this time, the folding section 1542 of the folding rod 1540 gradually extends. The configuration of the guide member 155 and the extensible member 154 enables the state of the extensible member 154 to be adjusted as the welding arm 151 rotates. When the welding arm assembly 150 fails, the telescopic part 154 and the guide part 155 can be easily detached, which is advantageous in that it is easy to detach.
More specifically, the inclination angle of the step surface formed by the inner wall surface of the guide member 155 in the axial direction of the first output shaft 1521 is in the range of 20 ° to 75 °, and preferably in the present embodiment, the inclination angle of the step surface formed by the inner wall surface of the guide member 155 in the axial direction of the first output shaft 1521 is 45 °. Those skilled in the art can design according to actual situations and specific requirements, and this embodiment is not limited in this regard.
More specifically, in the folded state, the retractable member 154 extends at least partially into the guide member 155 and abuts against the tread to ensure the connection stability between the retractable member 154 and the guide member 155.
Further, the embodiment of the present invention also discloses a welding arm assembly, wherein one end of the telescopic component 154, which is far away from the conducting component 153, is a cylindrical structure with a pin block 1544 arranged on the outer wall surface.
As shown in fig. 3, an annular guide groove 1551 is formed on an inner wall surface of the guide member 155, a central axis of the annular guide groove 1551 is inclined with respect to an axial direction of the first output shaft 1521, an inner circumferential profile of the annular guide groove 1551 is fitted to the pin block 1544 of the telescopic member 154, and the pin block 1544 is fitted into the annular guide groove 1551.
More specifically, when the folding section 1542 of the folding rod 1540 is folded in a radial direction away from the first output shaft 1521, the pin block 1544 of the telescopic member 154 is located at a position where the annular guide groove 1551 of the guide member 155 is closest to the telescopic member 154, and as the guide member 155 rotates under the driving of the welding arm 151, the position of the pin block 1544 in the annular slide groove of the guide member 155 gradually changes in a direction away from the telescopic member 154, and such a structure of the guide member 155 and the telescopic member 154 can relatively accurately control the folding amount of the folding section 1542 of the folding rod 1540 along with the rotation of the welding arm 151.
More specifically, the inclination angle of the guide groove formed on the inner wall surface of the guide member 155 in the axial direction of the first output shaft 1521 is 20 ° to 75 °, and preferably, in the present embodiment, the inclination angle of the annular guide groove 1551 formed on the inner wall surface of the guide member 155 in the axial direction of the first output shaft 1521 is 45 °. Those skilled in the art can design the device according to practical situations and specific requirements, and the embodiment is not limited in this respect.
More specifically, a circular truncated cone is disposed at an end of the guide member 155 away from the telescopic member 154, and the circular truncated cone has a plurality of through holes along a radial direction thereof, so that the welding wire wound around the outer surface of the telescopic member 154 is transmitted to the inside of the welding arm 151 through the plurality of through holes, thereby preventing the welding wire from being excessively displaced from the outer surface of the guide member 155, and ensuring that the welding wire can be wound around the outer surface of the telescopic member 154 without twisting at other positions.
Further, as shown in fig. 1 to 5, the conducting member 153 includes an electrical slip ring 1531 and an air slip ring 1532, the electrical slip ring 1531 and the air slip ring 1532 are sequentially connected along an axial direction of the first output shaft 1521, the electrical slip ring 1531 is located on a side of the first driving member 152 close to the welding arm 151, and the air slip ring 1532 is fixedly connected to the other end of the telescopic member 154.
The electrical slip ring 1531 has a cylindrical structure, and the electrical slip ring 1531 includes a brush (not shown) disposed inside the electrical slip ring 1531 and rotatable with the first output shaft 1521.
The air slip ring 1532 is a cylindrical structure, an air inlet 1533 and a wire inlet 1534 are disposed at one end of the air slip ring 1532 close to the electric slip ring 1531, and an air outlet 1535 is disposed at a side wall of the air slip ring 1532.
More specifically, when the welding arm assembly 150 is used, the electrical slip ring 1531 and the air slip ring 1532 are sequentially connected along the axial direction of the first output shaft 1521, and the electric brush inside the electrical slip ring 1531 can rotate along with the first output shaft 1521, so that when the welding arm 151 rotates, the electric wire can rotate along with the welding arm 151, and the electric wire is prevented from being wound above the telescopic component 154. An air inlet 1533 and a wire inlet 1534 are disposed at an end of the air slip ring 1532 near the electrical slip ring 1531, wherein the air inlet 1533 is used for transmitting shielding gas during welding, and the wire inlet 1534 is used for transmitting welding wire, which extends from the other end of the air slip ring 1532 into and through the exterior of the folding bar 1540. This configuration of electrical slip ring 1531 and air slip ring 1532 allows for "air-wire" separation, preventing the welding wire from twisting before passing through the folding bar 1540 as the welding arm 151 rotates.
More specifically, the electrical slip ring 1531 and the air slip ring 1532 may be fixedly connected by a bolt, and the types of the electrical slip ring 1531 and the air slip ring 1532 may be designed according to actual conditions and specific requirements, which is not specifically limited in this embodiment.
Further, in the embodiment of the present invention, a welding arm assembly is further disclosed, as shown in fig. 1, a second output shaft of the second driving member 156 is provided with a speed reduction member 1561 and a driving wheel 1562 in sequence.
A driven wheel 1571 is provided on a side wall surface of the torch holding member 157 at an end close to the welding arm 151, and the driven wheel 1571 corresponds to the driving wheel 1562 and is connected to the driving wheel 158.
More specifically, when the welding arm assembly 150 is used, the second driving member 156 drives the welding gun holding member 157 to rotate around the axis of the second output shaft, so as to drive the welding gun to adjust the angle. A speed reducing part 1561 is provided on the second output shaft of the second driving part 156 to reduce the rotational speed output from the driving wheel 1562, thereby preventing the welding wire from being pulled due to the excessively high rotational speed of the welding gun holding part 157 connected to the driven wheel 1571. Meanwhile, the power of the second driving member 156 is transmitted to the driven wheel 1571 through the driving wheel 1562 and the belt 158 arranged outside the welding arm 151, so as to drive the welding gun holding member 157 to rotate, and the transmission member is arranged outside the welding arm 151, thereby saving the internal installation space of the welding arm 151. And the transmission structure can not interfere with the welding wire, so that the flexibility of the welding gun is further improved.
More specifically, the speed reduction member 1561 may reduce the rotational speed of the second drive member 156 through a gear set, or may reduce the rotational speed of the second drive member 156 through a torque converter. Preferably in this embodiment, the reduction member 1561 provides a reduction gear assembly with a gear ratio greater than 1 to reduce the rotational speed of the second drive member 156.
Further, the embodiment of the present invention also discloses a welding arm assembly, and the welding arm assembly 150 further includes a first encoder 1522 and a second encoder 1563. The first encoder 1522 and the second encoder 1563 respectively detect the movement states of the first driving member 152 and the second driving member 156.
More specifically, when the welding arm assembly 150 is used, the first encoder 1522 and the second encoder 1563 respectively acquire the motion states of the first driving component 152 and the second driving component 156 and feed back a controller (not shown in the figure), so as to adjust the welding arm 151 to rotate around the axis direction of the first output shaft 1521 and adjust the welding gun clamping component 157 to rotate around the axis direction perpendicular to the first output shaft 1521 through numerical control. Compared with manual control, the adjusting mode has the advantages of higher control precision and more convenient and faster operation.
More specifically, the types of the first encoder 1522 and the second encoder 1563 may be designed according to actual situations and specific requirements, which is not specifically limited in this embodiment.
Further, as shown in fig. 1, when the welding arm assembly 150 is used, the welding arm assembly 150 further includes a fixing frame 159, one end of the fixing frame 159 is fixedly connected to the first driving component 152, the other end of the fixing frame 159 is fixedly connected to the electrical slip ring 1531, a plurality of mounting holes are formed in a side wall of the fixing frame 159, and the fixing frame 159 mounts the welding arm assembly 150 on the pre-mounting surface through the plurality of mounting holes.
More specifically, when the welding arm assembly 150 is used, the first driving member 152 and the electrical slip ring 1531 are mounted on the pre-mounting surface through the fixing frame 159, so that the welding arm assembly 150 can be stably connected to the corresponding position of the cartesian welding robot 10. Preventing the welding arm assembly 150 from falling off during use.
More specifically, the fixing frame 159 includes two mounting plates and a connecting plate, the two mounting plates are arranged at intervals along the axial direction of the first output shaft 1521, the connecting plate extends along the axial direction of the first output shaft 1521, and the two mounting plates are connected through the connecting plate. A mounting plate of the mount 159 adjacent to the first driving part 152 is fixedly coupled to the first driving part 152 by bolts, and the other mounting plate is fixedly coupled to the electrical slip ring 1531 by bolts. The attachment plate is provided with a plurality of mounting holes for mounting the welding arm assembly 150 to a pre-mount surface.
Further, in the embodiment of the present invention, a thrust bearing 1523 is disposed between the first output shaft 1521 of the first driving member 152 and the mounting plate far away from the first driving member 152, so as to improve the connection strength between the first output shaft 1521 of the first driving member 152 and the welding arm 151.
Further, an embodiment of the present invention further discloses a rectangular coordinate system welding robot, as shown in fig. 1 to 7, including a base 110, a wire feeder (not shown), a longitudinal rail 120, a transverse rail 130, a vertical rail 140, and a sliding connector 160, where the longitudinal rail is fixedly connected to the base 110, the transverse rail 130 is slidably connected to the longitudinal rail 120, the transverse rail 130 is slidable relative to the longitudinal rail 120 along a length direction of the longitudinal rail 120, the sliding connector 160 is slidably connected to the transverse rail 130, the sliding connector 160 is slidable relative to the transverse rail 130 along a length direction of the transverse rail 130, the vertical rail 140 is slidably connected to the sliding connector 160, and the vertical rail 140 is slidable relative to the sliding connector 160 along a length direction of the vertical rail 140. The rectangular coordinate system welding robot 10 further includes any one of the welding arm assemblies 150, and the wire feeder and the welding arm assembly 150 are connected to the vertical rail 140.
Specifically, the rectangular coordinate system welding robot 10 includes two longitudinal rails 120, one side of each of the two longitudinal rails 120 is fixedly connected to the base 110, the other side of each of the two longitudinal rails 120 is slidably connected to both ends of the transverse rail 130, and the transverse rail 130 can displace along the length direction of the longitudinal rail 120. A sliding connection member 160 is arranged between the transverse rail 130 and the vertical rail 140, one side of the sliding connection member 160 is slidably connected with the transverse rail 130, the sliding connection member 160 can move along the length direction of the transverse rail 130, the other side of the sliding connection member 160 is slidably connected with the vertical rail 140, and the vertical rail 140 can move along the length direction relative to the sliding connection member 160. Thereby realizing the adjustment of the position of the welding arm assembly 150 relative to the workpiece to be welded.
More specifically, when the rectangular coordinate system welding robot 10 is used, the workpiece to be welded is first fixed on the base 110 and is positioned, and the welding gun approaches the welding point by controlling the sliding among the longitudinal rail 120, the transverse rail 130, the sliding connector 160 and the vertical rail 140. And then the first driving component 152 drives the welding arm 151 to rotate, so as to adjust the direction of the welding arm 151, and because the wire feeder and the welding arm assembly 150 are connected to the vertical rail 140 together, the welding wire is effectively prevented from being wound when the welding arm 151 rotates.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A welding arm assembly, comprising
Welding an arm;
a first drive member having a first output shaft coupled to the welding arm, the first drive member configured to drive the welding arm to rotate about an axis of the first output shaft;
the conducting component is arranged at the output end of the first driving component and sleeved on the first output shaft of the first driving component, and the conducting component is used for conducting welding current, welding wires and shielding gas;
a telescopic member provided on a side of the conduction member remote from the first drive member, the telescopic member being switchable between a contracted state and an expanded state, an initial state of the telescopic member being the contracted state, and the telescopic member being configured to: in a contracted state, the telescopic member is capable of being folded and outwardly protruded in a direction away from the first output shaft at least partially in a radial direction of the first output shaft of the first drive member, so that the folded and outwardly protruded portion of the telescopic member is around which the welding wire is wound, and the folded and outwardly protruded portion of the telescopic member is also capable of being extended in an axial direction of the first output shaft, so that the folded and outwardly protruded portion of the telescopic member is retracted in a direction approaching the first output shaft in the radial direction of the first output shaft and is expanded in the axial direction of the first output shaft to be switched to an expanded state, and the welding wire wound around the folded and outwardly protruded portion of the telescopic member is capable of being expanded;
the guide component is of a cylindrical structure and is connected to the first output shaft of the first driving component, the guide component is in transmission connection with one end, far away from the conducting component, of the telescopic component, and when the first driving component drives the welding arm to rotate around the axis direction of the first output shaft, the guide component drives the telescopic component to extend along the axis direction of the first output shaft;
the second driving part is arranged at one end of the welding arm and is provided with a second output shaft, and the axial direction of the second output shaft is perpendicular to the axial direction of the first output shaft;
the welding gun clamping component is in transmission connection with the second output shaft of the second driving component, and the second driving component is used for driving the welding gun clamping component to rotate around the axis direction of the second output shaft.
2. The welding arm assembly of claim 1, wherein the telescoping member comprises at least two folding rods, the at least two folding rods are disposed along a circumferential direction of the first output shaft of the first driving member, and any one of the at least two folding rods comprises a folding section and a supporting section hinged to each other, and the folding section is foldable in a direction away from the first output shaft along a radial direction of the first output shaft.
3. A welding arm assembly according to claim 2, wherein the end of the telescopic member remote from the conducting member is a connecting cylinder having an end face disposed obliquely to the axial direction of the first output shaft;
the inner wall surface of the guide component forms a ladder surface which is annular and inclined relative to the axial direction of the first output shaft, and the ladder surface is abutted against the end surface of one end, far away from the conduction component, of the telescopic component.
4. The welding arm assembly of claim 2, wherein the end of the telescopic member remote from the conductive member is a cylindrical structure with a pin block on the outer wall surface;
an annular guide groove is formed in the inner wall surface of the guide member, the central axis of the annular guide groove is inclined relative to the axial direction of the first output shaft, the inner circumferential profile of the annular guide groove is matched with the pin block of the telescopic member, and the pin block is embedded into the annular guide groove.
5. The welding arm assembly of any of claims 1-4, wherein the conducting members comprise an electrical slip ring and an air slip ring, the electrical slip ring and the air slip ring being sequentially coupled along the axis of the first output shaft, the electrical slip ring being positioned on a side of the first drive member proximate the welding arm, the air slip ring being fixedly coupled to an end of the telescoping member distal from the pilot member, wherein
The electric slip ring is of a cylindrical structure and comprises an electric brush which is arranged in the electric slip ring and rotates along with the first output shaft;
the gas slip ring is of a cylindrical structure, one end, close to the gas slip ring, of the gas slip ring is provided with a gas inlet and a wire inlet, and a gas outlet is formed in the side wall surface of the gas slip ring.
6. The welding arm assembly of claim 5, wherein the second output shaft of the second drive component is provided with a speed reduction component and a drive wheel in sequence;
and a driven wheel is arranged on the side wall surface of one end, close to the welding arm, of the welding gun clamping part, and the driven wheel corresponds to the driving wheel and is connected with the driving wheel through a belt.
7. The welding arm assembly of claim 6, wherein the welding arm assembly further comprises a first encoder and a second encoder, wherein
The first encoder and the second encoder respectively acquire the motion states of the first driving part and the second driving part.
8. The welding arm assembly of claim 7, further comprising a mounting bracket, wherein one end of the mounting bracket is fixedly connected to the first driving member, the other end of the mounting bracket is fixedly connected to the electrical slip ring, a plurality of mounting portions are disposed on a sidewall of the mounting bracket, and the mounting bracket mounts the welding arm assembly to a pre-mounting surface through the plurality of mounting portions.
9. The welding arm assembly as defined in claim 8, wherein a thrust bearing is disposed between the first output shaft of the first drive component and the other end of the mount.
10. The utility model provides a rectangular coordinate system welding robot, includes the base, send a machine, indulges rail, cross rail, perpendicular rail and sliding connection spare, indulge the rail with base fixed connection, the cross rail with indulge rail sliding connection, the cross rail can be followed it is relative to indulge the length direction of rail the rail slides, sliding connection spare with cross rail sliding connection, sliding connection spare can be followed the length direction of cross rail is relative the cross rail slides, erect the rail with sliding connection spare sliding connection, erect the rail can be followed the length direction of erecting the rail is relative sliding connection spare slides, its characterized in that still includes according to any one of claims 1-9 welding arm assembly, send a machine with welding arm assembly fixed connection is in erect on the rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211254560.0A CN115319233B (en) | 2022-10-13 | 2022-10-13 | Welding arm assembly and rectangular coordinate system welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211254560.0A CN115319233B (en) | 2022-10-13 | 2022-10-13 | Welding arm assembly and rectangular coordinate system welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115319233A CN115319233A (en) | 2022-11-11 |
| CN115319233B true CN115319233B (en) | 2022-12-13 |
Family
ID=83914778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211254560.0A Active CN115319233B (en) | 2022-10-13 | 2022-10-13 | Welding arm assembly and rectangular coordinate system welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115319233B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07246470A (en) * | 1994-03-11 | 1995-09-26 | Babcock Hitachi Kk | Wire feeder for welding |
| CN1802234A (en) * | 2003-05-28 | 2006-07-12 | 弗罗纽斯国际有限公司 | Buffer device for a welding wire and welding unit |
| CN201559015U (en) * | 2009-11-06 | 2010-08-25 | 北京工业大学 | Wire feed system with double motors to cooperate with welding wire coordinating agency |
| CN204262562U (en) * | 2014-11-21 | 2015-04-15 | 重庆嘉丰汽车零部件股份有限公司 | Welding robot wire feed structure |
| JP2017136613A (en) * | 2016-02-03 | 2017-08-10 | 株式会社ダイヘン | Wire buffer formation device and wire feed device |
| CN107160010A (en) * | 2017-06-21 | 2017-09-15 | 杭州凯尔达机器人科技股份有限公司 | The servo wire feeder of automatic welding machine people |
| CN206952345U (en) * | 2017-06-21 | 2018-02-02 | 杭州凯尔达机器人科技股份有限公司 | Weld the straight buffers of servo wire feeder |
| CN109623103A (en) * | 2019-01-31 | 2019-04-16 | 杭州凯尔达机器人科技股份有限公司 | Welding wire buffer device, welding robot and welding system |
| CN109648176A (en) * | 2019-01-30 | 2019-04-19 | 杭州凯尔达机器人科技股份有限公司 | Buffer unit and welding system and welding robot for welding wire |
| CN109746545A (en) * | 2019-03-21 | 2019-05-14 | 杭州凯尔达机器人科技股份有限公司 | Welding robot mounting structure and welding system |
| CN212443875U (en) * | 2020-06-04 | 2021-02-02 | 江西机电职业技术学院 | Intelligent welding robot arm |
| CN114453735A (en) * | 2020-11-05 | 2022-05-10 | 无锡米格机器人科技有限公司 | Robot welding arm |
| CN216462381U (en) * | 2021-11-30 | 2022-05-10 | 唐山松下产业机器有限公司 | Buffer gear and robot welding system |
-
2022
- 2022-10-13 CN CN202211254560.0A patent/CN115319233B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07246470A (en) * | 1994-03-11 | 1995-09-26 | Babcock Hitachi Kk | Wire feeder for welding |
| CN1802234A (en) * | 2003-05-28 | 2006-07-12 | 弗罗纽斯国际有限公司 | Buffer device for a welding wire and welding unit |
| CN201559015U (en) * | 2009-11-06 | 2010-08-25 | 北京工业大学 | Wire feed system with double motors to cooperate with welding wire coordinating agency |
| CN204262562U (en) * | 2014-11-21 | 2015-04-15 | 重庆嘉丰汽车零部件股份有限公司 | Welding robot wire feed structure |
| JP2017136613A (en) * | 2016-02-03 | 2017-08-10 | 株式会社ダイヘン | Wire buffer formation device and wire feed device |
| CN206952345U (en) * | 2017-06-21 | 2018-02-02 | 杭州凯尔达机器人科技股份有限公司 | Weld the straight buffers of servo wire feeder |
| CN107160010A (en) * | 2017-06-21 | 2017-09-15 | 杭州凯尔达机器人科技股份有限公司 | The servo wire feeder of automatic welding machine people |
| CN109648176A (en) * | 2019-01-30 | 2019-04-19 | 杭州凯尔达机器人科技股份有限公司 | Buffer unit and welding system and welding robot for welding wire |
| CN109623103A (en) * | 2019-01-31 | 2019-04-16 | 杭州凯尔达机器人科技股份有限公司 | Welding wire buffer device, welding robot and welding system |
| CN109746545A (en) * | 2019-03-21 | 2019-05-14 | 杭州凯尔达机器人科技股份有限公司 | Welding robot mounting structure and welding system |
| CN212443875U (en) * | 2020-06-04 | 2021-02-02 | 江西机电职业技术学院 | Intelligent welding robot arm |
| CN114453735A (en) * | 2020-11-05 | 2022-05-10 | 无锡米格机器人科技有限公司 | Robot welding arm |
| CN216462381U (en) * | 2021-11-30 | 2022-05-10 | 唐山松下产业机器有限公司 | Buffer gear and robot welding system |
Non-Patent Citations (1)
| Title |
|---|
| 数字化交流伺服CO_2焊推拉送丝系统;杨帅等;《焊接学报》;20090525(第05期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115319233A (en) | 2022-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115383376A (en) | Welding device for vertical circular seam of pressure container | |
| CN112496523B (en) | Automatic clamping welding device and welding method | |
| CN102463408B (en) | Automatic welding set for end cover of water heater inner container | |
| CN115430966A (en) | Special precise welding robot for spiral blade of spiral ship unloader and welding process method | |
| CN115319233B (en) | Welding arm assembly and rectangular coordinate system welding robot | |
| CN115815950A (en) | Pipeline welding robot with distance adjusting function and pipeline welding method | |
| CN112222695B (en) | Welding assembly jig gesture adjustment mechanism | |
| CN116532883B (en) | Welding tool and method for construction of transmission tower | |
| CN219212060U (en) | Portal frame type welding robot capable of being adjusted at multiple angles | |
| CN111064024A (en) | Pneumatic type grounding clamp clamping device | |
| CN113941801A (en) | Double-gun girth welding equipment | |
| CN111673337A (en) | Welding robot and welding process for welding auger blade | |
| CN209272781U (en) | A kind of welding equipment | |
| CN217122177U (en) | Double-gun girth welding equipment | |
| CN111015070A (en) | Automatic welding machine tool | |
| CN112589337A (en) | Shield constructs quick-witted blade disc automatic welder | |
| CN109176015A (en) | A kind of roller soldering and sealing device | |
| CN105033517A (en) | Welding machine used for building construction and facilitating unloading of reinforcement cage | |
| CN104985342A (en) | Welding method for welding high-speed road and bridge support pillar reinforcement cage | |
| CN216731821U (en) | Liftable arm structure | |
| CN105033482A (en) | Method for welding support pillar reinforcement cage for municipal engineering | |
| CN211708525U (en) | Automatic welding machine tool | |
| CN205764379U (en) | Welding locus adjusts arm | |
| CN209078238U (en) | A kind of roller soldering and sealing device | |
| CN218311795U (en) | Cylinder inner support tool |
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 |