CN117697277B - Welding gun clamping device and welding equipment - Google Patents
Welding gun clamping device and welding equipment Download PDFInfo
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- CN117697277B CN117697277B CN202410162867.0A CN202410162867A CN117697277B CN 117697277 B CN117697277 B CN 117697277B CN 202410162867 A CN202410162867 A CN 202410162867A CN 117697277 B CN117697277 B CN 117697277B
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Abstract
The invention discloses a welding gun clamping device and welding equipment. One end of welding arm is connected to one end of working arm through the connecting portion transmission that has first pivot, the other end of welding arm is rotationally connected to the tip of clamping part through the pivot portion that has the second pivot, clamping part is used for centre gripping welder, all set up drive unit between first pivot, second pivot and the welding wire traction element, when the relative working arm swing of welding arm or clamping part swing relative welding arm, send the silk volume in order to adjust for welder through corresponding drive unit linkage welding wire traction element, offset the pull that welding arm or clamping element caused the welding wire in the welder at the swing in-process, and then improved the welding quality of the welding equipment who has welder clamping device.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding gun clamping device and welding equipment.
Background
The mechanization and automation of welding processes is an important development of modern welding technology. With the development of science and technology, robot technology is mature, and more automatic welding equipment replaces traditional manual welding in the welding field. Automatic welding machines have been widely used in the fields of plastics, automotive industry, metal processing, machining manufacturing, aerospace, and the like.
For example, patent document (publication No. CN 205111131U) discloses a portable welding robot, which comprises a machine body, a welding gun and a three-way guide rail for realizing the displacement of the welding gun are arranged on the machine body, the three-way guide rail comprises an X guide rail, a Y guide rail and a Z guide rail, an adjusting device for adjusting the use position of the welding gun is arranged at the front end of the Y guide rail, the adjusting device comprises a driving box, a movable arm controlled by the driving box and used for grabbing the welding gun, a motor is arranged in the driving box, and the movable arm is sleeved outside a motor piston rod. The portable welding robot can realize multi-angle welding processing at different positions by utilizing the three-way guide rail and the movable arm. However, when the welding robot is used, in order to adjust the posture of the welding gun, the guide rail needs to be moved and each joint position of the movable arm needs to be changed, so that the welding wire can be pulled to two sides from the bending position, the welding wire in the welding gun of the grabbing part can be pulled back, the supply stability of the welding wire is affected, and finally the welding quality is affected.
As another example, patent document (publication No. CN 208195886U) discloses a welding wire feeder, which comprises a housing, the two ends of the housing are provided with a wire inlet and a wire outlet, a wire pressing wheel is arranged between the wire inlet and the wire outlet in the housing, the wire pressing wheel is arranged on two sides of the welding wire to press the welding wire, and a manual wheel is further arranged on the wire pressing wheel on one side of the welding wire, and the manual wheel controls the wire feeding speed of the welding wire under the action of fingers. However, in the welding wire feeder, when the posture of the welding gun is changed, there is a problem that the welding wire in the welding gun is pulled.
Therefore, when the posture of the welding gun is adjusted, the welding robot in the prior art causes the welding wire in the welding gun to be pulled, so that the supply stability of the welding wire is affected, and finally the welding quality is affected.
Disclosure of Invention
The invention aims to solve the technical problems that when the welding robot in the prior art adjusts the posture of a welding gun, the welding wire in the welding gun is drawn back, the supply stability of the welding wire is affected, and finally the welding quality is affected.
To solve the above-mentioned technical problems, an embodiment of the present invention discloses a welding gun clamping device, which includes a working arm, a welding arm, a clamping member, and a welding wire traction member provided on the welding arm, one end of the welding arm is drivingly connected to one end of the working arm through a connection portion having a first rotation shaft, the other end of the welding arm is rotatably connected to an end portion of the clamping member through a pivot portion having a second rotation shaft, and the clamping member is used for clamping a welding gun.
The first rotating shaft and the second rotating shaft extend in parallel, the welding arm can swing around the first rotating shaft relative to the working arm, and the clamping part can swing around the second rotating shaft relative to the welding arm.
And, the welding wire traction part is formed with the seal wire passageway along the length direction of welding arm, and the seal wire passageway is close to the tip of work arm and is the income silk mouth, and the seal wire passageway is close to the one end of clamping part and is the silk mouth, and the welding wire holds in the seal wire passageway and extends into welder from the silk mouth.
And transmission parts are arranged among the first rotating shaft, the second rotating shaft and the welding wire traction part, and when the welding arm swings relative to the working arm or the clamping part swings relative to the welding arm, the corresponding transmission parts are linked with the welding wire traction part to drive the welding wire to move towards the welding gun by the preset supplementary wire feeding amount.
By adopting the technical scheme, when the welding gun clamping device is used, the driving piece can drive the welding arm to rotate so as to change the direction of the welding gun; further, by the swing of the welding arm and the swing of the clamping member, the angle of the welding torch is adjusted so that the welding torch can be accurately directed to the welding position. In addition, when the welding gun is used for welding, the welding wire is guided by the wire guide channel of the welding wire traction component on the welding arm and then is supplied into the welding gun, so that the welding wire can be continuously supplied into the welding gun during welding. In addition, when the welding arm swings relative to the working arm through the first rotating shaft, the welding wire traction component can be driven to move through transmission component transmission between the first rotating shaft and the welding wire traction component, the welding wire is driven to move towards the welding gun through the preset supplementary wire feeding quantity, the drawing of the welding arm on the welding wire in the swinging process is counteracted, the stability of welding wire supply is improved, and therefore welding quality is guaranteed. When the clamping part swings relative to the welding arm through the second rotating shaft, the welding wire traction part is linked through the corresponding transmission part to move so as to drive the welding wire to move to the welding gun for wire feeding, and the drawing of the welding wire in the welding gun caused by the clamping part in the swinging process is counteracted.
Therefore, the welding gun clamping device drives the welding wire to move by the preset supplementary wire feeding quantity, so that the back suction generated by the welding wire is counteracted, the supply stability of the welding wire is improved, and the welding quality is further improved.
The embodiment of the invention also discloses a welding gun clamping device, wherein the welding wire traction part is of a cylindrical structure, and the wire guide channel is arranged in the welding wire traction part and extends spirally around the axis direction of the welding wire traction part.
And the welding gun clamping device further comprises a traction motor, wherein a transmission part is formed on the side wall of the welding wire traction part, and the traction motor is in transmission connection with the transmission part so as to link the welding wire traction part to rotate around the axis direction of the welding wire traction part.
By adopting the technical scheme, the welding wire is pulled and connected in the welding gun through the spiral wire guide channel, and when welding, the traction motor drives the welding wire traction component to rotate around the axis direction of the welding wire traction component, and drives the welding wire in the wire guide channel to be supplied to the welding gun. And this structure is through forming drive division at the lateral wall of welding wire traction element, is connected by drive division and traction motor transmission, need not to set up the pivot at the axis direction of welding wire traction element and just can realize the welding wire traction element and draw motor's connection, can avoid the welding wire traction element to rotate and send the in-process of silk, and the welding wire twines in welding wire traction element's pivot.
The embodiment of the invention also discloses a welding gun clamping device, wherein the wire feeding amount of the welding wire traction part meets the following formula:。
Wherein l is the wire feeding amount of the welding wire traction component, and the unit is cm; d is the diameter of the spiral line where the axis of the guide wire channel is positioned, and the unit is cm; h is the lead of the spiral line where the axis of the guide wire channel is positioned, and the unit is cm; the unit is radian for the rotation angle of the welding wire traction component.
By adopting the technical scheme, the supply quantity of the welding wire during welding can be accurately adjusted by controlling the rotation angle of the welding wire traction component, the welding wire supply accuracy is improved, and the connection stability of the welding seam formed by welding of the welding gun is improved.
The embodiment of the invention also discloses a welding gun clamping device, and the transmission part comprises:
the first transmission shaft is arranged between the first rotating shaft and the transmission part, the first bevel gear pair is arranged on the first transmission shaft and is close to one end of the first rotating shaft, and the second transmission shaft is arranged between the second rotating shaft and the transmission part, and the second bevel gear pair is arranged on the second transmission shaft and is close to one end of the second rotating shaft.
And a separable clutch piece is arranged between the first rotating shaft and the first bevel gear pair and between the second rotating shaft and the second bevel gear pair.
By adopting the technical scheme, when the welding arm swings relative to the working arm through the first rotating shaft, the rotation of the first rotating shaft is transmitted to the first transmission shaft through the first bevel gear pair, and then the first transmission shaft is transmitted to the transmission part, the linkage welding wire traction part rotates, so that the wire feeding amount of welding wires is supplemented, and the swinging of the clamping part is similar. The transmission part skillfully utilizes the bevel gear pair to convert the rotation of the first rotating shaft or the second rotating shaft into the rotation of the transmission shaft, thereby changing the movement mode. And the gear transmission mode has the advantage of high transmission precision, and then guarantees that the adjustment volume of welding wire is comparatively accurate, avoids the welding wire to supply too much and causes the welding wire redundancy in the welder, or the welding wire supply is too little can't offset the back-drawing volume that the welding wire produced.
The embodiment of the invention also discloses a welding gun clamping device, and the preset supplementary wire feeding quantity meets the following formula:。
wherein, When the ith rotating shaft rotates, the welding wire adjusting amount of the welding wire traction component is adjusted; /(I)The rotation speed ratio between the ith rotating shaft and the welding wire traction component is set; /(I)Is the rotation angle of the ith rotating shaft; and i is 1 or 2.
By adopting the technical scheme, on the premise that the structural parameters of the welding wire traction component are determined, the accurate adjustment of the welding wire supplementing quantity can be realized by only designing the total transmission ratio of the transmission part between the rotating shaft and the welding wire traction component, namely the rotating speed ratio between the rotating shaft and the welding wire traction component.
The embodiment of the invention also discloses a welding gun clamping device, wherein the guide wire channel is a through hole with two ends penetrating through the welding wire traction part and matched with the welding wire; and the wire inlet and the wire outlet are both positioned on the wall surfaces at two ends of the welding wire traction component.
By adopting the technical scheme, the guide wire channel is arranged as the through hole matched with the welding wire, so that the inner wall surface of the guide wire channel is attached to the outer wall surface of the welding wire, and the welding wire can be fed out from the wire outlet along with the guide wire channel when the welding wire traction component rotates.
The embodiment of the invention also discloses a welding gun clamping device, wherein the welding arm comprises two support plates which are arranged at intervals, the end parts of the two ends of the two support plates are provided with mounting holes at corresponding positions, the mounting hole at one end of the two support plates is used for assembling the first rotating shaft, and the mounting hole at the other end of the two support plates is used for assembling the second rotating shaft.
And, welder clamping device still includes first driving motor and second driving motor, and first driving motor and second driving motor all set up in the outside of two backup pads, and first driving motor linkage first pivot rotates, and second driving motor linkage second pivot rotates.
By adopting the technical scheme, the welding wire traction component, the connecting part and the pivot part are provided with installation spaces through the two supporting plates arranged at intervals, and the two supporting plates can isolate part of sparks generated in the welding process from directly splashing on the transmission part inside, so that the components between the two supporting plates are protected from being damaged. In addition, through the rotation angle of first pivot and second pivot of comparatively accurate control of first driving motor and second driving motor, and then comparatively accurate adjustment clamping part also is welder's gesture.
The embodiment of the invention also discloses a welding gun clamping device, which further comprises a third driving motor, wherein the third driving motor is arranged in an accommodating space formed in the working arm; the output shaft of the third driving motor extends out from one end of the working arm and is connected with one end of the connecting part.
The connecting part is arranged between the two supporting plates, the side wall of the connecting part is abutted with the supporting plate on the corresponding side, a wire feeding through hole penetrating through the connecting part is formed in the connecting part, and a first concave part for accommodating the first bevel gear pair is formed on one side, far away from the third driving motor, of the connecting part.
And the pivot portion is integrally formed with the holding member, and a side of the pivot portion remote from the holding member forms a second recess portion accommodating the second bevel gear pair.
By adopting the technical scheme, as the side wall of the connecting part is abutted against the supporting plates on the two sides, when the third driving motor drives the connecting part, the connecting part can link the welding arm to rotate, and the muzzle orientation of the welding gun is adjusted. And the first recess on the connecting portion and the second recess on the pivot portion can provide a mounting space for the bevel gear pair.
The embodiment of the invention also discloses a welding gun clamping device, which further comprises a displacement sensor arranged at the wire inlet or the wire outlet of the wire guide channel.
By adopting the technical scheme, the displacement sensor arranged at the wire inlet or the wire outlet can detect the movement amount of the welding wire to the welding gun through the welding wire traction component, and is also beneficial to controlling the supply amount of the welding wire when the welding gun is in welding.
The embodiment of the invention also discloses welding equipment which comprises any welding gun clamping device.
By adopting the technical scheme, when the welding equipment is used for welding, the welding gun is clamped on the clamping part, the welding wire is pulled into the welding gun through the welding wire pulling part, the muzzle orientation of the welding gun is adjusted through the connecting part linkage welding arm, the welding arm rotates around the first rotating shaft, the clamping part rotates around the second rotating shaft, the welding gun can accurately face the position to be welded, and when the posture of the welding gun is adjusted, the welding wire pulling part can supplement the back suction of the welding wire under the linkage of the transmission part, the supply quantity of the welding wire is adjusted, and when the welding of the welding gun is ensured, the welding wire can be supplied stably and accurately, and the welding quality is improved.
The beneficial effects of the invention are as follows:
The invention discloses a welding gun clamping device which comprises a working arm, a welding arm, a clamping part and a welding wire traction part arranged on the welding arm, wherein a wire guide channel is formed on the welding wire traction part along the length direction of the welding arm. One end of the welding arm is connected to one end of the working arm through a connecting part with a first rotating shaft in a transmission way, and the other end of the welding arm is rotatably connected to the end part of a clamping part through a pivot part with a second rotating shaft, and the clamping part is used for clamping a welding gun. And the welding arm can swing around the first rotating shaft relative to the working arm, and the clamping part can swing around the second rotating shaft relative to the welding arm. And the transmission parts are arranged among the first rotating shaft, the second rotating shaft and the welding wire traction part, when the welding arm swings relative to the working arm or the clamping part swings relative to the welding arm, the corresponding transmission parts are used for linking the welding wire traction part to adjust the wire feeding quantity relative to the welding gun, so that the drawing of the welding wire in the welding gun by the welding arm or the clamping part in the swinging process is counteracted.
And the welding wire traction component is of a cylindrical structure, the guide wire channel is arranged on the periphery of the welding wire traction component and extends spirally around the axis direction of the welding wire traction component, the side wall of the welding wire traction component forms a transmission part, and the traction motor is in transmission connection with the transmission part. The welding wire traction component is driven to rotate around the axis direction of the welding wire traction component, and then the welding wire is supplied into the welding gun under the traction of the spiral wire guide channel. Compared with the wire feeding mode of extruding the welding wires through the rollers in the prior art, the contact area between the wire guide channel and the welding wires is larger, and the supply of the welding wires can be realized more stably and accurately.
Drawings
Fig. 1 is a schematic structural diagram of a welding gun clamping device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a welding arm and a wire pulling member of a welding gun clamping device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a wire guide channel of a welding wire pulling member of a welding gun clamping device according to an embodiment of the present invention;
FIG. 4 is a schematic view of a welding wire traction member and a transmission member of a welding gun clamping device according to an embodiment of the present invention;
Fig. 5 is a schematic structural view of two support plates of a welding gun clamping device according to an embodiment of the present invention.
Reference numerals illustrate:
10. a welding gun clamping device;
110. A working arm; 111. a third driving motor;
120. A welding arm; 121. a support plate; 122. a mounting hole;
130. A clamping member;
140. A wire pulling member; 141. a guidewire channel; 142. a transmission part; 143. a traction motor;
150. a connection part; 151. a first rotating shaft; 152. a first drive shaft; 153. a first bevel gear pair;
154. A first driving motor; 155. a first concave portion;
160. A pivot portion; 161. a second rotating shaft; 162. a second drive shaft; 163. a second bevel gear pair;
164. A second driving motor; 165. a second concave portion;
20. A welding gun; 30. a welding wire;
D. The diameter of the spiral line where the axis of the guide wire channel is located;
H. The axis of the guide wire channel is at the lead of the spiral line.
Detailed Description
During the welding process, the workpiece and the welding flux (such as carbon steel welding wires, low alloy structural steel welding wires, alloy structural steel welding wires and the like) are melted to form a molten area, and the molten pool is cooled and solidified to form the connection between materials. Wherein the welding wire is replenished to the work piece to be welded by metal filling in a molten and liquid state to form a weld. Different types of welding wires have different compositions and properties and can meet the requirements of various welding materials.
In the prior art, in order to improve welding efficiency, more and more automatic welding equipment in the welding field replaces manual welding, the clamping of a welding gun is realized by utilizing a mechanical structure, and the position of the welding gun is changed by adjusting the gesture of a welding arm, however, when a welding process (such as a welding tubular structure and a special-shaped piece) is performed, a guide rail is required to be frequently moved or each joint position of a movable arm is required to be changed so as to change the gesture of the welding gun, and it is required to be explained that the welding gun needs to continuously consume welding wires when welding, so that the welding wires in the welding gun are not completely fixed, and the welding wires can be pulled to two sides from a bending part when the gesture of the welding gun is adjusted, so that the welding wires in the welding gun are drawn back. In order to facilitate the drawing back of the welding wire, taking a human arm as an example, when the forearm is bent, the ribs in the arm are stretched, and the welding wire does not have elasticity, so that the drawing back trend can occur in the welding gun. As described above, the filling of the welding wire plays a critical role in the joint strength at the weld, and the wire back-drawing affects the supply stability of the welding wire, reducing the joint strength at the weld.
In order to solve the technical problems, an embodiment of the present invention provides a welding gun clamping device, which includes a working arm, a welding arm, a clamping member, and a welding wire traction member disposed on the welding arm, wherein the welding wire traction member is formed with a wire guide channel along a length direction of the welding arm. One end of the welding arm is connected to one end of the working arm through the connection part transmission with the first rotating shaft, the other end of the welding arm is rotatably connected to the end part of the clamping component through the pivot part with the second rotating shaft, the clamping component is used for clamping a welding gun, transmission components are arranged among the first rotating shaft, the second rotating shaft and the welding wire traction component, when the welding arm swings relative to the working arm or the clamping component swings relative to the welding arm, the welding wire traction component is linked through the corresponding transmission component to drive the welding wire to move towards the welding gun by a preset supplementary wire feeding amount, and the drawing of the welding wire in the welding gun caused by the welding arm or the clamping component in the swinging process is counteracted.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, an embodiment of the present invention discloses a welding gun holding device 10, the welding gun holding device 10 including a working arm 110, a welding arm 120, a holding member 130, and a wire pulling member 140 provided on the welding arm 120, one end of the welding arm 120 being drivingly connected to one end of the working arm 110 through a connecting portion 150 having a first rotation shaft 151, the other end of the welding arm 120 being rotatably connected to an end of the holding member 130 through a pivot portion 160 having a second rotation shaft 161, the holding member 130 being for holding a welding gun 20. In the present embodiment, the clamping member 130 includes two clamping blocks connected to each other by bolts, and two end surfaces that meet each other form a clamping recess that is adapted to the outer wall surface of the welding gun 20. Of course, regarding the specific structure of the holding member, those skilled in the art can design the holding member according to the actual situation and specific requirements, and the present embodiment is not limited thereto.
Wherein, as shown in fig. 2, the first rotation shaft 151 and the second rotation shaft 161 extend parallel to each other, and the welding arm 120 may swing around the first rotation shaft 151 with respect to the working arm 110, and the clamping member 130 may swing around the second rotation shaft 161 with respect to the welding arm 120.
The wire drawing member 140 has a wire guide passage 141 formed along the longitudinal direction of the welding arm 120, the end of the wire guide passage 141 near the working arm 110 is a wire inlet, the end of the wire guide passage 141 near the holding member 130 is a wire outlet, and the wire 30 is accommodated in the wire guide passage 141 and extends from the wire outlet into the welding gun 20.
The first rotating shaft 151, the second rotating shaft 161 and the welding wire traction component 140 are respectively provided with a transmission component, when the welding arm 120 swings relative to the working arm 110 or the clamping component 130 swings relative to the welding arm 120, the corresponding transmission components are linked with the welding wire traction component 140 to drive the welding wire 30 to move towards the welding gun 20 by a preset supplementary wire feeding amount.
Specifically, when the welding gun clamping device 10 is in use, the driving piece can drive the welding arm 120 to rotate so as to change the direction of the welding gun 20; further, by the swing of the welding arm 120 and the swing of the clamping member 130, the angle of the welding torch 20 is adjusted so that the welding torch 20 can be accurately directed to the welding position. In addition, the welding wire 30 is guided by the wire guide path 141 of the wire pulling member 140 of the welding arm 120 and supplied into the welding gun 20 during welding of the welding gun 20, so that the welding wire 30 can be continuously supplied into the welding gun 20 during welding. In addition, when the welding arm 120 swings relative to the working arm 110 through the first rotating shaft 151, the welding wire traction component 140 can be driven to move through the transmission component transmission between the first rotating shaft 151 and the welding wire traction component 140, so that the wire feeding amount of the welding wire 30 is supplemented, the drawing of the welding wire 30 caused by the swinging process of the welding arm 120 is counteracted, the stability of the supply of the welding wire 30 is improved, and the welding quality is ensured. When the clamping member 130 swings relative to the welding arm 120 through the second rotating shaft 161, the corresponding transmission member is linked with the welding wire traction member 140 to move so as to drive the welding wire 30 to move towards the welding gun 20 for feeding, and the drawing of the welding wire 30 in the welding gun 20 caused by the swinging of the clamping member 130 is counteracted.
Further, as shown in fig. 3, the embodiment of the present invention also discloses a welding gun clamping device 10, wherein the welding wire traction member 140 has a cylindrical structure, and the wire guide channel 141 is disposed in the welding wire traction member 140 and extends spirally around the axis direction of the welding wire traction member 140.
Specifically, the two ends of the wire guide channel 141 are formed with transition extensions extending in a direction parallel to the axis of the wire pulling member 140, reducing the resistance of the welding wire 30 entering the wire guide channel 141, and enabling the welding wire 30 to protrude from the wire guide channel 141 toward the welding gun 20, reducing the wire feeding resistance.
As shown in fig. 4, the welding gun holding device 10 further includes a traction motor 143, a transmission portion 142 is formed on a side wall of the wire traction member 140, and the traction motor 143 is in transmission connection with the transmission portion 142 to rotate around the axis direction of the wire traction member 140 in a linked manner.
Specifically, the transmission portion 142 formed on the sidewall of the wire drawing member 140 may be: the gear ring is fixed on the side wall of the welding wire traction part 140, the output shaft of the traction motor 143 is provided with a first transmission gear meshed with the gear ring, and the power of the traction motor 143 is transmitted to the welding wire traction part 140 in a gear transmission mode to drive the welding wire traction part 140 to rotate and feed wires. Of course, in another embodiment, the transmission part 142 may be a protruding part with a rough surface, the output shaft of the traction motor 143 is a cylinder pressed against the protruding part, and the power of the traction motor 143 is transmitted to the protruding part in a friction manner, so as to link the welding wire traction part 140 to rotate and feed wires. Regarding the specific structure of the transmission part 142, those skilled in the art can design the transmission part according to the actual situation and specific requirements, and the embodiment is not limited in detail.
More specifically, the transmission part 142 is disposed at an arbitrary position of the wire drawing member 140 along the axial direction, as shown in fig. 4, and in this embodiment, the transmission part 142 is disposed near an intermediate position of the wire drawing member 140 along the axial direction, and those skilled in the art can design the transmission part according to the actual situation and specific requirements, and this embodiment is not limited in particular.
More specifically, the welding wire 30 is drawn through the spiral wire guide channel 141 and is connected to the welding gun 20, and during welding, the traction motor 143 drives the welding wire traction component 140 to rotate around the axis direction thereof, so as to drive the welding wire 30 in the wire guide channel 141 to be supplied to the welding gun 20, and compared with the wire feeding mode of extruding the welding wire through rollers in the prior art, the contact area between the wire guide channel 141 and the welding wire 30 is larger, so that the supply of the welding wire 30 can be realized more stably and accurately. In addition, in the structure, the transmission part 142 is formed on the side wall of the welding wire traction part 140, the transmission part 142 is in transmission connection with the traction motor 143, the connection between the welding wire traction part 140 and the traction motor 143 can be realized without arranging a rotating shaft in the axial direction of the welding wire traction part 140, and the welding wire 30 is prevented from being wound on the rotating shaft of the welding wire traction part 140 in the process of rotating and feeding the welding wire traction part 140.
Further, as shown in fig. 3, the embodiment of the present invention further discloses a welding gun clamping device 10, the welding wire pulling component 140 is controlled by a control component, and the control component may be a TC214B, L9110S, W5200 or other motor control chip commonly used in the art, which can be designed by those skilled in the art according to actual situations and specific requirements, and the embodiment is not limited thereto.
Specifically, the wire feed amount of the wire pulling member 140 satisfies the following formula:。
Wherein l is the wire feeding amount of the wire drawing member 140 in cm; d is the diameter of the spiral line where the axis of the guide wire channel 141 is located, and the unit is cm; h is the lead of the helix in cm where the axis of the guidewire channel 141 is located; The rotation angle of the wire pulling member 140 is in radians. The diameter D of the spiral line where the axis of the guide wire channel 141 is located may be within 2 cm to 5 cm, for example, the diameter D of the spiral line where the axis of the guide wire channel 141 is located is 2 cm, 2.5 cm, 5 cm, or other distances within the above ranges; the lead H of the spiral line where the axis of the guide wire channel 141 is located may range from 5 cm to 15 cm, for example, the lead H of the spiral line where the axis of the guide wire channel 141 is located is5 cm, 7.5 cm, 10 cm, 15 cm, or other distances within the above ranges, and those skilled in the art may design according to the actual situation and specific requirements, which is not specifically limited in this embodiment.
Specifically, by controlling the rotation angle of the wire traction member 140, the supply amount of the welding wire 30 during welding can be precisely adjusted, the supply accuracy of the welding wire 30 is improved, and the connection stability of the welding seam formed by welding with the welding gun 20 is improved.
Still further, as shown in fig. 2 and 4, an embodiment of the present invention further discloses a welding gun clamping device 10, wherein the transmission component includes:
The first transmission shaft 152 disposed between the first rotation shaft 151 and the transmission part 142, the first bevel gear pair 153 disposed on the first transmission shaft 152 near one end of the first rotation shaft 151, and the second transmission shaft 162 disposed between the second rotation shaft 161 and the transmission part 142, and the second bevel gear pair 163 disposed on the second transmission shaft 162 near one end of the second rotation shaft 161. It should be noted that the structure between the first transmission shaft 152 and the second transmission shaft 162 and the transmission portion 142 is similar to the structure between the traction motor 143 and the transmission portion 142, and this embodiment will not be described in detail.
A disengageable clutch is provided between the first shaft 151 and the first bevel gear pair 153, and between the second shaft 161 and the second bevel gear pair 163. The clutch member may be configured as a dry-type single-plate electromagnetic clutch, a dry-type multi-plate electromagnetic clutch, a wet-type multi-plate electromagnetic clutch or a clutch commonly used in other mechanical fields, and the clutch is controlled to be connected and disconnected by current.
More specifically, the first bevel gear pair 153 is similar to the second bevel gear pair 163 in structure, and the first bevel gear pair 153 is described herein as an example, and the first bevel gear pair 153 includes a drive bevel gear and a driven bevel gear that mesh with each other, the drive bevel gear being disposed on the first shaft 151 through a clutch member, and the driven bevel gear being disposed on the first transmission shaft 152 near one end of the first shaft 151. When the welding arm 120 rotates around the first rotation shaft 151, the clutch is engaged, thereby converting the rotation of the first rotation shaft 151 into the rotation of the first transmission shaft 152 through the first bevel gear pair 153. When the welding wire traction member 140 is feeding the wire, in order to prevent the rotation of the welding wire traction member 140 from being transmitted to the first rotating shaft 151 through the first transmission shaft 152, the clutch is disconnected, and the driving bevel gear arranged on the first rotating shaft 151 idles under the driving of the driven bevel gear.
In another embodiment, there is no need to provide a clutch between the first shaft 151 and the first bevel gear pair 153, and between the second shaft 161 and the second bevel gear pair 163, and as an example, the first shaft 151 and the first bevel gear pair 153 may be displaced in the axial direction of the first shaft 151 by the drive bevel gear of the first bevel gear pair 153, or the first shaft 151 may drive the drive bevel gear to move in the axial direction, so that the drive bevel gear is engaged with or staggered from the driven bevel gear. When the welding arm 120 rotates around the first rotation shaft 151, the driving bevel gear is engaged with the driven bevel gear, the rotation of the first rotation shaft 151 is converted into the rotation shaft of the first transmission shaft 152 through the bevel gear pair, and when the welding wire traction member 140 is wire feeding, the driving bevel gear is staggered with the driven bevel gear, and the rotation of the welding wire traction member 140 is not transmitted to the first rotation shaft 151 through the first transmission shaft 152.
More specifically, as shown in fig. 4, in the present embodiment, the output shaft of the traction motor 143, the first transmission shaft 152, and the second transmission shaft 162 are disposed at intervals around the circumference of the wire traction member 140, with an interval angle of 120 ° between two pairs.
More specifically, when the welding arm 120 swings relative to the working arm 110 through the first shaft 151, the rotation of the first shaft 151 is transmitted to the first transmission shaft 152 through the first bevel gear pair 153, and then transmitted to the transmission part 142 through the first transmission shaft 152, and the linkage welding wire traction part 140 rotates, so that the wire feeding amount of the welding wire 30 is supplemented, and the swinging of the clamping part 130 is similar to the swinging of the welding arm 120. The transmission part skillfully utilizes a bevel gear pair to convert the rotation of the first rotating shaft 151 or the second rotating shaft 161 into the rotation of the transmission shaft, thereby changing the movement mode. And the gear transmission mode has the advantage of high transmission precision, and then guarantees that the adjustment volume of welding wire 30 is comparatively accurate, avoids welding wire 30 redundant in welder 20 that the welding wire 30 supplied too much, or welding wire 30 supply too little can't offset the back-drawing volume of welding wire 30.
Further, in this embodiment, the preset supplementary wire feeding amount satisfies the following formula:。
wherein, The welding wire adjustment amount of the welding wire pulling member 140 when the ith rotation shaft is rotated; /(I)Is the speed ratio between the ith rotation axis and wire pulling member 140; /(I)Is the rotation angle of the ith rotating shaft; and i is 1 or 2. It is noted that/>The ratio of the ith rotation shaft to the transmission members of the wire pulling member 140 can be multiplied, and those skilled in the art can design the device according to the actual situation and the specific requirements, and the embodiment is not limited in particular.
Specifically, on the premise that the structural parameters of the welding wire traction component 140 are determined, the accurate adjustment of the supplementing amount of the welding wire 30 can be realized by only designing the total transmission ratio of the transmission part between the rotating shaft and the welding wire traction component 140, namely the rotating speed ratio between the rotating shaft and the welding wire traction component 140.
Further, in another embodiment, a transmission member is not required between the first rotating shaft 151 and the second rotating shaft 161, and the rotation angle of the corresponding rotating shaft is detected by rotation angle detecting sensors disposed on the first rotating shaft 151 and the second rotating shaft 161 and fed back to the control part, and the control part controls the traction motor 143 to rotate the wire traction part 140 to adjust the wire feeding amount according to the formula of the wire adjusting amount. Those skilled in the art may design according to practical situations and specific requirements, and the embodiment is not limited thereto.
Still further, the embodiment of the present invention also discloses a welding gun clamping device 10, wherein the wire guide channel 141 is provided as a through hole with two ends penetrating the welding wire traction part 140 and being matched with the welding wire 30; and the wire inlet and the wire outlet are both positioned on the wall surfaces of the two ends of the wire pulling member 140.
Specifically, the wire guide channel 141 is set to be a through hole matched with the welding wire 30, so that the inner wall surface of the wire guide channel 141 is attached to the outer wall surface of the welding wire 30, and the welding wire 30 can be fed out from the wire outlet along with the wire guide channel 141 when the welding wire traction component 140 rotates.
Still further, as shown in fig. 2 and 5, the embodiment of the present invention further discloses a welding gun clamping device 10, the welding arm 120 includes two support plates 121 disposed at intervals, the end portions of both ends of the two support plates 121 are provided with mounting holes 122 at corresponding positions, the mounting hole 122 at one end is used for assembling the first rotating shaft 151, and the mounting hole 122 at the other end is used for assembling the second rotating shaft 161. Of course, in another embodiment, the welding arm 120 may also be configured as a cylindrical structure, so as to fit the welding wire traction member 140, the transmission shaft, etc. into the cylindrical structure, and those skilled in the art may design the welding wire traction member according to the actual situation and the specific requirements, which is not specifically limited in this embodiment.
More specifically, in the present embodiment, a supporting structure (not shown) of the traction motor 143, the wire traction member 140, the first transmission shaft 152, and the second transmission shaft 162 is disposed between the two supporting plates 121, and as for the specific design of the supporting structure, those skilled in the art can design according to the actual situation and specific requirements, and this embodiment is not limited thereto.
Further, as shown in fig. 2, the welding gun holding device 10 further includes a first driving motor 154 and a second driving motor 164, the first driving motor 154 and the second driving motor 164 are disposed outside the two support plates 121, the first driving motor 154 rotates in linkage with the first rotating shaft 151, and the second driving motor 164 rotates in linkage with the second rotating shaft 161.
Specifically, through two backup pads 121 that the interval set up, provide installation space for welding wire traction part 140, connecting portion 150 and pivot portion 160, and two backup pads 121 can isolate the direct splash of a part spark that produces in the welding process on the transmission spare in inside, the part between two backup pads 121 is not damaged. In addition, the rotation angles of the first shaft 151 and the second shaft 161 can be controlled more precisely by the first driving motor 154 and the second driving motor 164, and the posture of the clamping member 130, that is, the welding gun 20 can be adjusted more precisely.
Still further, as shown in fig. 1, the embodiment of the present invention further discloses a welding gun clamping device 10, wherein the welding gun clamping device 10 further comprises a third driving motor 111, and the third driving motor 111 is installed in an accommodating space formed in the working arm 110; an output shaft of the third driving motor 111 protrudes from one end of the working arm 110 and is connected to one end of the connection part 150.
The connection portion 150 is disposed between the two support plates 121, and a sidewall of the connection portion 150 abuts against the support plate 121 on the corresponding side, a wire feeding through hole (not shown) is formed in the connection portion 150 and penetrates through the connection portion 150, and a first recess 155 for accommodating the first bevel gear pair 153 is formed on a side of the connection portion 150 away from the third driving motor 111. The welding wire 30 enters the wire drawing member 140 under the guide of the wire feed through hole of the connecting portion 150, and the excessive displacement of the welding wire 30 when the posture of the welding gun 20 is adjusted can be restricted, and the risk of the welding wire being wound around other members can be reduced.
Further, the pivot portion 160 is integrally formed with the holding member 130, and a side of the pivot portion 160 remote from the holding member 130 forms a second recess 165 accommodating the second bevel gear pair 163.
Specifically, since the side walls of the connection portion 150 are abutted against the support plates 121 on both sides, the connection portion 150 can rotate in conjunction with the welding arm 120 to adjust the muzzle orientation of the welding gun 20 when the third driving motor 111 drives the connection portion 150. And the first recess 155 on the connection portion 150 and the second recess 165 on the pivot portion 160 can provide a mounting space for the bevel gear pair.
Still further, the embodiment of the present invention also discloses a welding gun clamping device 10, and the welding gun clamping device 10 further comprises a displacement sensor (not shown in the figure) arranged at the wire inlet or the wire outlet of the wire guide channel 141.
Specifically, the displacement sensor provided at the wire inlet or the wire outlet can detect the amount of movement of the welding wire 30 to the welding gun 20 via the wire drawing member 140, that is, can be used to control the amount of the welding wire 30 supplied to the welding gun 20 during welding.
Still further, an embodiment of the present invention also discloses a welding apparatus including any of the welding gun clamping devices 10 described above. It should be noted that the welding device may be a rectangular coordinate welding device, a mechanical arm welding device, or other welding systems commonly used in the art, and those skilled in the art may design the welding device according to actual situations and specific requirements, which is not specifically limited in this embodiment.
Specifically, for the example of a rectangular welding apparatus, such welding apparatus is coupled to a three-way rail by a work arm 110. Firstly, the welding gun 20 is clamped on the clamping component 130, the welding wire 30 is pulled into the welding gun 20 through the welding wire pulling component 140, the third driving motor 111 drives the connecting part 150 to rotate, the welding arm 120 is linked through the connecting part 150 to adjust the muzzle direction of the welding gun 20, further, the welding arm 120 is driven to rotate around the first rotating shaft 151 through the first driving motor 154, at the moment, the first rotating shaft 151 is driven to the first transmission shaft 152 through the first bevel gear pair 153, and then the first transmission shaft 152 is linked with the transmission part 142 of the welding wire pulling component 140 to drive the welding wire pulling component 140 to supplement and feed wires; when the position of the welding arm 120 is determined, the second driving motor 164 drives the pivot 160 to rotate, and the pivot 160 is linked to rotate the clamping member 130 (and the welding gun 20 clamped on the clamping member 130), at this time, the second rotating shaft 161 is driven to the second driving shaft 162 through the second bevel gear pair 163, and then the second driving shaft 162 is linked to the driving portion 142 of the welding wire traction member 140, so as to drive the welding wire traction member 140 to supplement and feed wire. At this time, the muzzle of the welding gun 20 faces the position to be welded, and welding starts, the traction motor 143 drives the welding wire traction component 140 to rotate through the transmission part 142, and the welding wire 30 is supplied into the welding gun 20, so that when the welding gun 20 is used for welding, the welding wire 30 can be supplied more stably and accurately, and the welding quality is improved.
The foregoing describes embodiments of the present invention in terms of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. While the description of the invention will be described in connection with the preferred embodiments, it is not intended to limit the inventive features to the implementation. Rather, the purpose of the invention described in connection with the embodiments is to cover other alternatives or modifications, which may be extended by the claims based on the invention. The above description will contain numerous specific details in order to provide a thorough understanding of the present invention. The invention may be practiced without these specific details. Furthermore, some specific details are omitted from the description in order to avoid obscuring the invention. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
It should be noted that in this specification, like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present embodiment, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", "bottom", etc. are based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present invention.
The terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present embodiment can be understood in a specific case by those of ordinary skill in the art.
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 further detailed description of the invention with reference to specific embodiments, and it is not intended to limit the practice of the invention to those descriptions. Various changes in form and detail may be made therein by those skilled in the art, including a few simple inferences or alternatives, without departing from the spirit and scope of the present invention.
Claims (9)
1. A welding gun clamping device is characterized by comprising a working arm, a welding arm, a clamping component and a welding wire traction component arranged on the welding arm, wherein one end of the welding arm is in transmission connection with one end of the working arm through a connecting part with a first rotating shaft, the other end of the welding arm is in rotatable connection with the end part of the clamping component through a pivot part with a second rotating shaft, and the clamping component is used for clamping a welding gun; wherein,
The first rotating shaft and the second rotating shaft extend in parallel with each other, the welding arm can swing around the first rotating shaft relative to the working arm, and the clamping component can swing around the second rotating shaft relative to the welding arm; and
The welding wire traction component is provided with a wire guide channel along the length direction of the welding arm, the end, close to the working arm, of the wire guide channel is provided with a wire inlet, the end, close to the clamping component, of the wire guide channel is provided with a wire outlet, and welding wires are accommodated in the wire guide channel and extend into the welding gun from the wire outlet;
the welding wire traction component is of a cylindrical structure, and the wire guide channel is arranged in the welding wire traction component and extends spirally around the axis direction of the welding wire traction component; and
The welding gun clamping device further comprises a traction motor, wherein a transmission part is formed on the side wall of the welding wire traction part, and the traction motor is in transmission connection with the transmission part so as to link the welding wire traction part to rotate around the axis direction of the welding wire traction part;
And transmission parts are arranged between the first rotating shaft, the second rotating shaft and the welding wire traction part, and when the welding arm swings relative to the working arm or the clamping part swings relative to the welding arm, the welding wire traction part is linked through the corresponding transmission parts to drive the welding wire to move towards the welding gun in a preset supplementary wire feeding amount.
2. The welding gun as defined in claim 1, wherein the wire feed amount of the wire pulling member satisfies the following equation:
Wherein l is the wire feeding amount of the welding wire traction component, and the unit is cm; d is the diameter of a spiral line where the axis of the guide wire channel is located, and the unit is cm; h is the lead of the spiral line where the axis of the guide wire channel is located, and the unit is cm; alpha is the rotation angle of the welding wire traction component, and the unit is radian.
3. The welding gun as defined in claim 2, wherein the transmission member includes:
the first transmission shaft is arranged between the first rotating shaft and the transmission part, the first bevel gear pair is arranged on the first transmission shaft and close to one end of the first rotating shaft, and the second bevel gear pair is arranged on the second transmission shaft and between the second rotating shaft and the transmission part and close to one end of the second rotating shaft; and
And a disconnectable clutch piece is arranged between the first rotating shaft and the first bevel gear pair and between the second rotating shaft and the second bevel gear pair.
4. The welding gun as defined in claim 3, wherein the predetermined supplemental wire feed amount satisfies the following equation:
Wherein Deltal i is the welding wire adjustment amount of the welding wire traction component when the ith rotating shaft rotates; g i is the rotation speed ratio between the ith rotating shaft and the welding wire traction component; beta i is the rotation angle of the ith rotating shaft; and i is 1 or 2.
5. The welding gun holding device as defined in claim 1, wherein:
the guide wire channel is a through hole with two ends penetrating through the welding wire traction component and matched with the welding wire; and the wire inlet and the wire outlet are both positioned on the wall surfaces at two ends of the welding wire traction component.
6. The welding gun as defined in any one of claims 3-4, wherein the welding arm includes two support plates arranged at intervals, mounting holes are provided at corresponding positions of both ends of the two support plates, the mounting holes at one end thereof are used for assembling the first rotating shaft, and the mounting holes at the other end thereof are used for assembling the second rotating shaft; and
The welding gun clamping device further comprises a first driving motor and a second driving motor, the first driving motor and the second driving motor are arranged on the outer sides of the two supporting plates, the first driving motor is linked with the first rotating shaft to rotate, and the second driving motor is linked with the second rotating shaft to rotate.
7. The welding gun grip device as recited in claim 6, further comprising a third drive motor mounted in a receiving space formed in said work arm; the output shaft of the third driving motor extends out from one end of the working arm and is connected with one end of the connecting part; wherein,
The connecting part is arranged between the two supporting plates, the side wall of the connecting part is in butt joint with the supporting plate on the corresponding side, a wire feeding through hole which penetrates through the connecting part is formed in the connecting part, and a first concave part for accommodating the first bevel gear pair is formed on one side of the connecting part away from the third driving motor; and
The pivot portion is integrally formed with the clamping member, and a side of the pivot portion remote from the clamping member forms a second recess accommodating the second bevel gear pair.
8. The welding gun holding device as defined in claim 7, wherein:
The welding gun clamping device further comprises a displacement sensor arranged at the wire inlet or the wire outlet of the wire guide channel.
9. A welding apparatus comprising a welding gun holder as defined in any one of claims 1 to 8.
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| CN202410162867.0A CN117697277B (en) | 2024-02-05 | 2024-02-05 | Welding gun clamping device and welding equipment |
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| CN202410162867.0A CN117697277B (en) | 2024-02-05 | 2024-02-05 | Welding gun clamping device and welding equipment |
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| CN117697277A (en) | 2024-03-15 |
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