CN115781139B - Multi-shaft welding mechanism - Google Patents
Multi-shaft welding mechanism Download PDFInfo
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- CN115781139B CN115781139B CN202211323397.9A CN202211323397A CN115781139B CN 115781139 B CN115781139 B CN 115781139B CN 202211323397 A CN202211323397 A CN 202211323397A CN 115781139 B CN115781139 B CN 115781139B
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- 238000003466 welding Methods 0.000 title claims abstract description 111
- 230000005540 biological transmission Effects 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 238000000465 moulding Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 7
- 230000003014 reinforcing effect Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
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Abstract
The application discloses multiaxis welding mechanism includes: the welding device comprises a lifting assembly, a horizontal rotating assembly, a two-dimensional module, a vertical rotating assembly and a welding tail end, wherein the lifting assembly is used for adjusting the height of the welding tail end along the Z-axis direction; the horizontal rotating assembly is connected with the lifting assembly and the two-dimensional module and is used for controlling the welding tail end to rotate in a horizontal plane; the two-dimensional module is connected with the horizontal rotating assembly and the vertical rotating assembly and is used for finely adjusting the positions of the welding gun assembly in the X-axis and Y-axis directions; the welding gun assembly is connected with the vertical rotating assembly, and the vertical rotating assembly is used for controlling the welding gun assembly to rotate in a vertical plane; the application does not use a six-axis mechanical arm, and the application can realize full control of the posture of the welding gun by means of a vision system, and can realize the characteristics of attractive welding seam and one-time molding.
Description
Technical Field
The application relates to the field of welding technology, in particular to a multi-shaft welding mechanism.
Background
The reinforcing ribs are important components in the steel structural member, and play roles in reinforcing the structure and reducing the weight; in the production process of enterprises, the positions of the reinforcing ribs on the products are basically determined, and the method is suitable for mass production.
In the traditional production process, the reinforcing ribs are welded by a welding master at the appointed position, and then are welded; the degree of dependence of manual welding on the welding skills of a master is high, the welded joint after manual welding is often not attractive, and a manual polishing procedure is required to be added.
The steel structure is large in size, the position of the reinforcing rib is fixed relative to the steel structure, but the steel structure is difficult to position, the position of the steel structure is fixed uniformly every time, and therefore the position of the reinforcing rib is changed.
Disclosure of Invention
In view of this, the present application provides a multi-axis welding mechanism, by means of a vision system, the welding seam information is fed back to the industrial personal computer through the surface laser line scanning, and the industrial personal computer controls the multi-axis welding mechanism to conduct online guidance, and after the guidance is completed, the welding is conducted; the application describes multiaxis welding mechanism, and the concrete scheme is as follows:
a multi-axis welding mechanism comprising: the welding device comprises a lifting assembly, a horizontal rotating assembly, a two-dimensional module, a vertical rotating assembly and a welding tail end, wherein the welding tail end comprises a welding gun assembly and a camera box assembly;
the lifting assembly is used for adjusting the height of the welding tail end along the Z-axis direction;
the horizontal rotating assembly is connected with the lifting assembly and the two-dimensional module and is used for controlling the welding tail end to rotate in a horizontal plane;
the two-dimensional module is connected with the horizontal rotating assembly and the vertical rotating assembly and is used for finely adjusting the positions of the welding gun assembly in the X-axis and Y-axis directions;
the welding gun assembly is connected with the vertical rotating assembly, and the vertical rotating assembly is used for controlling the welding gun assembly to rotate in a vertical plane; the camera box assembly is connected with the horizontal rotating assembly and rotates along with the horizontal rotating assembly;
when the lifting component adjusts the height of the welding tail end along the Z-axis direction, the height of the horizontal rotating component, the two-dimensional module and the vertical rotating component along the Z-axis direction synchronously changes.
The welding gun assembly comprises a welding gun connecting piece and a welding gun, and the horizontal rotating assembly controls the welding tail end to rotate in a horizontal plane, namely, the horizontal rotating assembly adjusts the welding gun to rotate in an X0Y plane by taking a Z axis as a central axis so as to find a proper welding posture.
The vertical rotating assembly is used for controlling the welding gun to rotate in a vertical plane, namely, the vertical rotating assembly adjusts the welding gun to rotate in an X0Z plane by taking a Y axis as a central axis, so that the welding gun can achieve three postures of gun lifting, gun discharging and gun cleaning.
The two-dimensional module is used for finely adjusting the positions of the welding gun assembly in the X-axis and Y-axis directions, so that the central axis of the horizontal rotating assembly and the gun tip of the welding gun are kept coaxial in the Z-axis direction, and the TCP point is prevented from being deviated no matter how the gesture changes.
In some embodiments, the horizontal rotating assembly comprises a connecting bracket, a first driving mechanism, a first transmission mechanism and a horizontal rotating member, wherein the first driving mechanism, the first transmission mechanism and the horizontal rotating member are fixed on the connecting bracket, the upper end of the connecting bracket is connected with the lifting assembly, the first driving mechanism drives the first transmission mechanism to drive the horizontal rotating member to rotate, and the horizontal rotating member is connected with the two-dimensional module. Further preferably, the horizontal rotating member has a symmetrical structure.
In some embodiments, the first drive mechanism comprises a first servo motor, and the first transmission mechanism comprises a first speed reducer, a first small pulley, a first belt, and a first large pulley; the first speed reducer is coaxially connected with the first servo motor, and transmits power to the first large belt wheel through the first small belt wheel and the first belt; the first large belt wheel drives the horizontal rotating piece to rotate.
In some embodiments, the horizontal rotating member is connected to the first large pulley by a cross roller bearing, and the connecting bracket lower end is connected to an outer ring of the cross roller bearing.
In some embodiments, the vertical rotating assembly includes a support frame, a second driving mechanism, and a second transmission mechanism, where the support frame is connected to the two-dimensional module, and the second driving mechanism drives the second transmission mechanism to drive the welding gun to rotate in the X0Z plane with the Y axis as a central axis.
In some embodiments, the second driving mechanism includes a second servo motor, the second transmission mechanism includes a second small belt wheel, a second belt, a second large belt wheel and a second speed reducer, and the second servo motor drives the second small belt wheel to sequentially pass through the second belt, the second large belt wheel and the second speed reducer so as to drive the welding gun assembly to rotate.
In some embodiments, the welding gun connection is connected to the second speed reducer output.
In some embodiments, the horizontal rotation member includes two symmetrical rotation arms, and the camera cartridge assembly is connected to the two rotation arms through two symmetrical connection arms.
In some embodiments, the lift assembly includes a third servo motor and a linear module.
The beneficial effects of this application:
1) The six-axis mechanical arm is not used, the full control of the posture of the welding gun can be realized by means of a vision system, and the characteristics of attractive welding seam and one-step molding can be realized;
2) The control of a plurality of servo motors is high in precision and response speed, and the requirement of robot vision welding can be met;
3) The transmission chain is short, simple in structure and convenient to maintain, and the production cost of enterprises is greatly reduced.
Drawings
FIG. 1 is a schematic structural view of a multi-axis welded structure as described herein;
FIG. 2 is a schematic structural view of a multi-axis welded structure according to the present application;
FIG. 3 is a schematic structural view of the connection of the welding gun assembly and the vertical rotation assembly described herein;
fig. 4 is a schematic structural view of the connection relationship between the first large pulley and the horizontal rotation member described in the present application.
In the figure: 1. the device comprises a lifting assembly, a horizontal rotating assembly, a vertical rotating assembly, a camera box assembly, a welding gun assembly, a two-dimensional module, a spring and a camera box assembly, wherein the lifting assembly, the horizontal rotating assembly, the vertical rotating assembly, the camera box assembly, the welding gun assembly, the two-dimensional module and the spring are arranged in sequence; 2-1, a first servo motor, 2-2, a first small belt wheel, 2-3, a first large belt wheel, 2-4, a first belt, 2-5, a connecting bracket, 2-6, the first speed reducer, 2-7, a horizontal rotating part, 2-8, a crossed roller bearing, 3-1, a second servo motor, 3-2, a second small belt wheel, 3-3, a second large belt wheel, 3-4, a second belt, 3-5, a supporting frame, 3-6, a second speed reducer, 4-1, a camera box, 4-2, a camera box connecting arm, 5-1, a welding gun connecting part, 5-2 and a welding gun.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, and it is apparent that the embodiments described in the present application are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, are intended to be within the scope of the present application based on the embodiments herein.
The present application is further described with reference to fig. 1-3, a multi-axis welding mechanism comprising: the welding device comprises a lifting assembly 1, a horizontal rotating assembly 2, a two-dimensional module 6, a vertical rotating assembly 3 and a welding tail end, wherein the welding tail end comprises a welding gun assembly 5 and a camera box assembly 4;
the lifting assembly 1 comprises a third servo motor and a linear module;
the lifting assembly 1 is used for adjusting the height of the welding tail end along the Z-axis direction;
the horizontal rotating assembly 2 is connected with the lifting assembly 1 and the two-dimensional module 6, and the horizontal rotating assembly 2 is used for controlling the welding tail end to rotate in a horizontal plane;
the two-dimensional module 6 is connected with the horizontal rotating assembly 2 and the vertical rotating assembly 3, and the two-dimensional module 6 is used for finely adjusting the positions of the welding gun assembly 5 in the X-axis and Y-axis directions; to ensure that the central axis of the horizontal rotation assembly 2 and the gun tip of the welding gun remain coaxial in the Z-axis direction, thereby ensuring that the TCP point does not shift regardless of the change of the posture.
The welding gun assembly 5 is connected with the vertical rotating assembly 3, and the vertical rotating assembly 3 is used for controlling the welding gun assembly 5 to rotate in a vertical plane; the camera box assembly is connected with the horizontal rotating assembly and rotates along with the horizontal rotating assembly;
when the lifting assembly 1 adjusts the height of the welding tail end along the Z-axis direction, the heights of the horizontal rotating assembly 2, the two-dimensional module 6 and the vertical rotating assembly 3 along the Z-axis direction synchronously change;
referring to fig. 1 and 3 in combination, the welding gun assembly includes a welding gun connector 5-1 and a welding gun 5-2, and the horizontal rotating assembly 2 controls the welding end to rotate in a horizontal plane, that is, the horizontal rotating assembly adjusts the welding gun 5-2 to rotate in an X0Y plane with a Z axis as a central axis so as to find a proper welding posture.
The vertical rotating assembly 3 is used for controlling the welding gun 5-2 to rotate in a vertical plane, namely, the vertical rotating assembly 3 adjusts the welding gun 5-2 to rotate in an X0Z plane by taking a Y axis as a central axis, so that the welding gun can achieve three postures of gun lifting, gun discharging and gun cleaning.
The two-dimensional module 6 is used for fine-adjusting the positions of the welding gun assembly in the X-axis and Y-axis directions, so that the central axis of the horizontal rotation assembly 2 and the welding gun tip are kept coaxial in the Z-axis direction (as shown in fig. 2), and therefore the TCP point is prevented from shifting regardless of the change of the posture.
During the initial installation, the positions of the welding gun assembly in the X-axis direction and the Y-axis direction need to be finely adjusted through the two-dimensional module 6, and the welding gun assembly does not need to be changed after the fine adjustment.
Referring to fig. 1, the horizontal rotation assembly 2 includes a connection bracket 2-5, a first driving mechanism fixed on the connection bracket, a first transmission mechanism, and a horizontal rotation member 2-7, wherein the upper end of the connection bracket 2-5 is connected with the lifting assembly 1, the first driving mechanism drives the first transmission mechanism to drive the horizontal rotation member 2-7 to rotate, and the horizontal rotation member 2-7 is connected with the two-dimensional module 6; the horizontal rotating members 2-7 are of symmetrical structures.
Referring to fig. 1, the first driving mechanism comprises a first servo motor 2-1, and the first transmission mechanism comprises a first speed reducer 2-6, a first small belt pulley 2-2, a first belt 2-4 and a first large belt pulley 2-3; the first speed reducer 2-6 is coaxially connected with the first servo motor 2-1, and the first speed reducer 2-6 transmits power to the first large belt pulley 2-3 through the first small belt pulley 2-2 and the first belt 2-4; the first large belt wheel 2-3 drives the horizontal rotating piece 2-7 to rotate.
Referring to fig. 4, the horizontal rotating member 2-7 is connected with the first large pulley 2-3 through a crossed roller bearing, and the lower end of the connecting bracket 2-5 is connected with the outer ring of the crossed roller bearing.
Referring to fig. 1 to 3, the vertical rotating assembly 3 includes a support frame 3-5, a second driving mechanism, and a second transmission mechanism, where the support frame 3-5 is connected to the two-dimensional module 6, and the second driving mechanism drives the second transmission mechanism to drive the welding gun to rotate in the X0Z plane with the Y axis as a central axis.
Referring to fig. 1-3, the second driving mechanism includes a second servo motor 3-1, the second transmission mechanism includes a second small belt pulley 3-2, a second belt 3-4, a second large belt pulley 3-3, and a second speed reducer 3-6, the second servo motor 3-1 drives the second small belt pulley 3-2, and sequentially passes through the second belt 3-4, the second large belt pulley 3-3, and the second speed reducer 3-6, thereby driving the welding gun assembly 5 to rotate.
Referring to fig. 3, the welding gun connecting piece 5-1 is connected with the output end of the second speed reducer 3-6.
Referring to fig. 1, the horizontal rotating member 2-7 includes two symmetrical rotating arms, the camera case assembly 4 includes two symmetrical camera case connecting arms 4-2 and a camera case 4-1, and the camera case assembly 4 is connected with the two rotating arms through the two symmetrical camera case connecting arms 4-2.
The utility model discloses a can also be equipped with spring pipe 7, spring pipe 7 is fixed on horizontal rotating member 2-7, through the setting of spring pipe 7, can restrict the welder cable in spring pipe 7 is intraductal to the protection welder cable.
Claims (9)
1. A multi-axis welding mechanism comprising: the welding device comprises a lifting assembly, a horizontal rotating assembly, a two-dimensional module, a vertical rotating assembly and a welding tail end, wherein the welding tail end comprises a welding gun assembly and a camera box assembly;
the lifting assembly is used for adjusting the height of the welding tail end along the Z-axis direction;
the welding gun assembly comprises a welding gun connecting piece and a welding gun;
the horizontal rotating assembly is connected with the lifting assembly and the two-dimensional module and is used for controlling the welding tail end to rotate in a horizontal plane;
the two-dimensional module is connected with the horizontal rotating assembly and the vertical rotating assembly and is used for finely adjusting the positions of the welding gun assembly in the X-axis and Y-axis directions so as to ensure that the central axis of the horizontal rotating assembly and the gun tip of the welding gun are kept coaxial in the Z-axis direction;
the welding gun assembly is connected with the vertical rotating assembly, and the vertical rotating assembly is used for controlling the welding gun assembly to rotate in a vertical plane; the camera box assembly is connected with the horizontal rotating assembly and rotates along with the horizontal rotating assembly;
when the lifting assembly adjusts the height of the welding tail end along the Z-axis direction, the heights of the horizontal rotating assembly, the two-dimensional module and the vertical rotating assembly synchronously change along the Z-axis direction;
the horizontal rotating assembly adjusts the welding gun to rotate in an X0Y plane by taking the Z axis as a central axis; and the vertical rotating assembly adjusts the welding gun to rotate in an X0Z plane by taking the Y axis as a central axis.
2. The multi-axis welding mechanism of claim 1, wherein: the horizontal rotating assembly comprises a connecting support, a first driving mechanism, a first transmission mechanism and a horizontal rotating piece, wherein the first driving mechanism, the first transmission mechanism and the horizontal rotating piece are fixed on the connecting support, the upper end of the connecting support is connected with the lifting assembly, the first driving mechanism drives the first transmission mechanism to drive the horizontal rotating piece to rotate, and the horizontal rotating piece is connected with the two-dimensional module.
3. The multi-axis welding mechanism of claim 2, wherein: the first driving mechanism comprises a first servo motor, and the first transmission mechanism comprises a first speed reducer, a first small belt wheel, a first belt and a first large belt wheel; the first speed reducer is coaxially connected with the first servo motor, and transmits power to the first large belt wheel through the first small belt wheel and the first belt; the first large belt wheel drives the horizontal rotating piece to rotate.
4. A multi-axis welding mechanism as claimed in claim 3, wherein: the horizontal rotating piece is connected with the first large belt wheel through a crossed roller bearing, and the lower end of the connecting bracket is connected with the outer ring of the crossed roller bearing.
5. The multi-axis welding mechanism of claim 1, wherein: the vertical rotating assembly comprises a supporting frame, a second driving mechanism and a second transmission mechanism, and the supporting frame is connected with the two-dimensional module.
6. The multi-axis welding mechanism of claim 5, wherein: the second driving mechanism comprises a second servo motor, the second transmission mechanism comprises a second small belt wheel, a second belt, a second large belt wheel and a second speed reducer, the second servo motor drives the second small belt wheel to sequentially pass through the second belt, the second large belt wheel and the second speed reducer so as to drive the welding gun assembly to rotate.
7. The multi-axis welding mechanism of claim 6, wherein: and the welding gun connecting piece is connected with the output end of the second speed reducer.
8. The multi-axis welding mechanism of claim 2, wherein: the horizontal rotating piece comprises two symmetrical rotating arms, the camera box assembly comprises two symmetrical camera box connecting arms and a camera box, and the camera box assembly is connected with the two rotating arms through the two symmetrical camera box connecting arms.
9. The multi-axis welding mechanism of claim 1, wherein: the lifting assembly comprises a third servo motor and a linear module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211323397.9A CN115781139B (en) | 2022-10-27 | 2022-10-27 | Multi-shaft welding mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211323397.9A CN115781139B (en) | 2022-10-27 | 2022-10-27 | Multi-shaft welding mechanism |
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| Publication Number | Publication Date |
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| CN115781139A CN115781139A (en) | 2023-03-14 |
| CN115781139B true CN115781139B (en) | 2024-01-23 |
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| CN202211323397.9A Active CN115781139B (en) | 2022-10-27 | 2022-10-27 | Multi-shaft welding mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107378336A (en) * | 2017-09-21 | 2017-11-24 | 陕西来复科技发展有限公司 | A kind of various dimensions welding robot |
| WO2018034378A2 (en) * | 2016-08-19 | 2018-02-22 | 주식회사 에큐원 | Torch angle adjuster and cutting device comprising same |
| CN207057888U (en) * | 2017-04-07 | 2018-03-02 | 昆山天马精密机械有限公司 | A kind of robotic gun |
| CN208758852U (en) * | 2018-07-26 | 2019-04-19 | 深圳市创银鑫科技有限公司 | A kind of Automation of Welding manipulator |
| CN113385782A (en) * | 2021-07-19 | 2021-09-14 | 郑品刚 | Multi-axis welding machining center |
| CN215238802U (en) * | 2021-03-10 | 2021-12-21 | 无锡信捷电气股份有限公司 | Structured light online guiding welding mechanism |
-
2022
- 2022-10-27 CN CN202211323397.9A patent/CN115781139B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018034378A2 (en) * | 2016-08-19 | 2018-02-22 | 주식회사 에큐원 | Torch angle adjuster and cutting device comprising same |
| CN207057888U (en) * | 2017-04-07 | 2018-03-02 | 昆山天马精密机械有限公司 | A kind of robotic gun |
| CN107378336A (en) * | 2017-09-21 | 2017-11-24 | 陕西来复科技发展有限公司 | A kind of various dimensions welding robot |
| CN208758852U (en) * | 2018-07-26 | 2019-04-19 | 深圳市创银鑫科技有限公司 | A kind of Automation of Welding manipulator |
| CN215238802U (en) * | 2021-03-10 | 2021-12-21 | 无锡信捷电气股份有限公司 | Structured light online guiding welding mechanism |
| CN113385782A (en) * | 2021-07-19 | 2021-09-14 | 郑品刚 | Multi-axis welding machining center |
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| CN115781139A (en) | 2023-03-14 |
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