CN203184850U - Rectangular coordinate system welding robot device - Google Patents

Rectangular coordinate system welding robot device Download PDF

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Publication number
CN203184850U
CN203184850U CN 201320061658 CN201320061658U CN203184850U CN 203184850 U CN203184850 U CN 203184850U CN 201320061658 CN201320061658 CN 201320061658 CN 201320061658 U CN201320061658 U CN 201320061658U CN 203184850 U CN203184850 U CN 203184850U
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CN
China
Prior art keywords
slide rail
welding
tooling platform
slide
welding robot
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CN 201320061658
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Chinese (zh)
Inventor
张立勋
夏占
齐李
张永发
韩亮
周洁
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张家港市永发机器人科技有限公司
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Priority to CN 201320061658 priority Critical patent/CN203184850U/en
Application granted granted Critical
Publication of CN203184850U publication Critical patent/CN203184850U/en

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Abstract

The utility model discloses a rectangular coordinate system welding robot device, wherein a welding working length can be prolonged continuously and stability is good. The rectangular coordinate system welding robot device structurally comprises a gantry installation frame of slide rails in the X direction, the Y direction and the Z direction, wherein the slide rails are vertical in a paring mode. Sliding and moving driving devices with sliding blocks are arranged on the sliding rails in the three directions. The slide rail in the X direction is arranged on the gantry installation frame, the slide rail in the Y direction is supported on the slide rail in the X direction and connected with the sliding block on the slide rail in the X direction, and the slide rail in the Y direction can slide on the slide rail in the X direction back and forth. The slide rail in the Z direction is supported on the slide rail in the Y direction and connected with the sliding block on the slide rail in the Y direction, the slide rail in the Z direction is vertically supported on the slide rail in the Y direction and connected with the sliding block on the slide rail in the Y direction, and the slide rail in the Z direction can slide on the slide rail in the Y direction back and forth. A rotating motor provided with a welding gun head is connected with the sliding block in the slide rail in the Z direction, and the welding gun head can slide back and forth on the slide rail in the Z direction and rotate back and forth by being driven by the rotating motor.

Description

Rectangular coordinate system welding robot device

Technical field

The utility model relates to the welding robot field.

Background technology

Industrial robot is a kind of multiduty, programmable automatic control operation device, is widely used in the every field of industrial automation.Welding robot is a kind of of industrial machine philtrum, and it is mainly used in replacing manually carrying out welding job.The welding robot that uses mainly is the articulated type welding robot at present, the articulated type welding robot is provided with weld assembly, weld assembly comprises: the welding wire machine, be connected with on the welding wire machine be used to the welding gun flexible pipe that wears welding wire, the head of welding gun flexible pipe is equipped with arc welding gun head, and arc welding gun head is installed on the joint arm of articulated type welding robot.By controller the joint arm of articulated type welding robot is carried out motion control, handle the purpose that arc welding gun head carries out welding job thereby reach.The shortcoming of articulated type welding robot is as follows: one, the complex structure of articulated type welding robot, poor stability, bearing capacity are low; Two, the cost height of articulated type welding robot; Three, the radius of clean-up is limited, and maximum can only be three meters, thereby causes the welding job length limited; Four, the repetitive positioning accuracy of prosthetic robot is low; Five, poor stability is safeguarded inconvenient.

The utility model content

The utility model technical issues that need to address are: provide that a kind of cost is low, good stability, bearing capacity height, welding job length can prolong and can improve the rectangular coordinate system welding robot device with four frees degree of positioning accuracy.

For addressing the above problem, the technical solution adopted in the utility model is: rectangular coordinate system welding robot device, comprise: the welding robot human body, on the welding robot human body weld assembly is installed, described weld assembly comprises: the welding wire machine, be connected with on the welding wire machine be used to wearing the welding gun flexible pipe, the end of welding gun flexible pipe is provided with arc welding gun head, the welding robot main body structure comprises: gantry installing rack, gantry installing rack is by two support posts, constitute with the top braces crossbeam that is bearing in two support post tops, gantry installing rack is provided with orthogonal X in twos, Y, Z direction slide rail, X, Y, be respectively arranged with the slippage drive unit of band slide block on the Z direction slide rail, the directions X slide rail is horizontally set on the horizontal support crossbeam, the two ends of horizontal support crossbeam are fixedly mounted on respectively on two support posts of gantry installing rack, one end bearing of Y-direction slide rail is on the directions X slide rail, and be connected with slide block on being arranged on the directions X slide rail, the other end of Y-direction slide rail is protruding, make the Y-direction slide rail form the cantilevered slide rail, under the driving of the slippage drive unit of the band slide block on the directions X slide rail, the Y slide rail can slidably reciprocate at the X slide rail, Z direction slide rail vertically arranges, Z direction slide rail is bearing on the Y-direction slide rail, and be connected with slide block on being arranged on the Y-direction slide rail, under the driving of the slippage drive unit of the band slide block on the Y-direction slide rail, Z direction slide rail can slidably reciprocate at the Y-direction slide rail; Concrete mounting structure between weld assembly and the welding robot human body comprises: the welding wire machine is fixedly mounted on the Y-direction slide rail, fixed cover is equipped with mounting sleeve on the welding gun flexible pipe on arc welding gun head top, mounting sleeve is fixedlyed connected with the output shaft of electric rotating machine by coupling assembling, electric rotating machine is installed on the electric rotating machine seat, under the driving of electric rotating machine, mounting sleeve can drive arc welding gun head and come back rotation along with the output shaft of electric rotating machine, the electric rotating machine seat is connected with slide block on being arranged on Z direction slide rail, under the driving of the slippage drive unit of the band slide block on the Z direction slide rail, the electric rotating machine seat can slide up and down at Z direction slide rail by the driven rotary motor.

Further, aforesaid rectangular coordinate system welding robot device, wherein, the structure of the slippage drive unit of described band slide block comprises: described slide rail is the Support Level slide rail, end at slide rail is provided with the slippage drive motors, the output shaft of slippage drive motors is connected with the afterbody of leading screw on being arranged on slide rail, threaded engagement is provided with slide block on the leading screw, slide block is provided with chute, chute matches with track in the slide rail, slidably reciprocates along track at the driving sliding block of slippage drive motors.

Further, aforesaid rectangular coordinate system welding robot device, wherein, also be provided with supporting mechanism between Y-direction slide rail and gantry installing rack, its concrete structure is: the bottom of oblique gripper shoe is fixedly connected on the bracketed part of Y-direction slide rail, the upper end of vertical gripper shoe is fixedly connected on the oblique gripper shoe, the bottom supporting of vertical gripper shoe is on supporting seat, described supporting seat is fixedly supported upon on the directions X slide rail on the slide block in the slippage drive unit of band slide block, the upper end of oblique gripper shoe is connected with auxiliary slider, described auxiliary slider matches with auxiliary slide rail, and can slidably reciprocate thereon, described auxiliary slide rail is horizontally set on the top braces crossbeam of gantry installing rack, and auxiliary slide rail and directions X slide rail are parallel to each other.

Further, aforesaid rectangular coordinate system welding robot device, wherein, the structure of described coupling assembling is: the sleeve pipe connecting plate of band supporting leg is fixedlyed connected with mounting sleeve, be fixedly connected with the plate that is rotatably connected on the supporting leg of the sleeve pipe connecting plate of band supporting leg, be rotatably connected to be set with on the plate and exempt from the key axle bush, the output shaft of electric rotating machine with exempt from the swelling of key axle bush and be connected.

Further, aforesaid rectangular coordinate system welding robot device, wherein, below Z direction slide rail, be provided with the welding tooling platform, its concrete structure comprises: be bearing in the tooling platform panel on the support foundation, the tooling platform panel is provided with first working region and territory, secondary service area, between support foundation and tooling platform panel, be provided with electronic transposer, its concrete structure comprises: the two bottom sides of tooling platform panel is set with the tooling platform slide rail respectively, the both sides, top of support foundation are set with the tooling platform slide block respectively, the tooling platform slide rail is corresponding being bearing in the tooling platform slide block of both sides, support foundation top respectively, the tooling platform servomotor of band parking brake is installed in support foundation, the output shaft of tooling platform servomotor is provided with gear, the tooth bar that is meshed with gear is fixedly mounted on the bottom of tooling platform panel, under the driving of tooling platform servomotor, the tooling platform slide rail of tooling platform panel two bottom sides can slidably reciprocate in the tooling platform slide block of support foundation both sides respectively, and can make first working region, the territory, secondary service area alternately is positioned at welding robot human body's welding post; Between support foundation and tooling platform panel, also be provided with manual transposer, its concrete structure comprises: be separately installed with the first switching regulator magnet base and second switch formula magnet base in support foundation one side, can be arranged on the side of the tooling platform panel between the two switching regulator magnet bases by the suction ferropexy of first, second switching regulator magnet base absorption respectively, when suction iron moves to another switching regulator magnet base from the first switching regulator magnet base, realize that first working region, territory, secondary service area alternately are positioned at the conversion operations of welding robot human body's welding post.

Further, aforesaid rectangular coordinate system welding robot device, wherein, bottom in first working region and territory, secondary service area is provided with buffer spring and photoelectric sensor switch respectively, when trade-off is realized in two working regions on the tooling platform panel, described buffer spring can be conflicted respectively on the support foundation of a corresponding end, described photoelectric sensor switch can detect respectively corresponding working region alternately be positioned at the welding robot human body welding post state and send detection signal.

Again further, aforesaid rectangular coordinate system welding robot device wherein, has worm type of reduction gearing on the described tooling platform servomotor.

The beneficial effects of the utility model: on the one hand, the length of X, Y, Z direction slide rail can prolong setting respectively according to the actual welding requirements of one's work respectively, and the welding job length on X, Y, the Z direction will prolong along with the prolongation of X, Y, Z direction slide rail like this; On the other hand, owing to be provided with electric rotating machine, electric rotating machine can drive arc welding gun head along with the output shaft rotation of electric rotating machine, makes the welding robot human body have the free degree of rotating around Z direction slide rail; In addition, the welding robot human body adopts the form of the rectangular coordinate system slide rail on the installing rack of gantry, and its good stability, bearing capacity height and cost are low.

Description of drawings

Fig. 1 is the structural representation of rectangular coordinate system welding robot device described in the utility model.

Fig. 2 is the structural representation that has disposed the rectangular coordinate system welding robot device of welding tooling platform.

Fig. 3 is the polycrystalline substance schematic diagram that the welding tooling platform is looked up direction among Fig. 2.

Fig. 4 is the cross-sectional structure schematic diagram of directions X slide rail among Fig. 2.

Fig. 5 is the structure for amplifying schematic diagram of A part among Fig. 2.

The specific embodiment

Be described in further details below in conjunction with accompanying drawing and the utility model of optimum embodiment.

As Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, described rectangular coordinate system welding robot device, comprise: the welding robot human body, on the welding robot human body weld assembly is installed, described weld assembly comprises: welding wire machine 7, be connected with on the welding wire machine 7 be used to the welding gun flexible pipe 9 that wears welding wire, the other end of welding gun flexible pipe 9 is provided with arc welding gun head 8, the welding robot main body structure comprises: gantry installing rack 36, gantry installing rack 36 is by two support posts 1, constitute with the top braces crossbeam 2 that is bearing in two support post 1 tops, gantry installing rack 36 is provided with orthogonal X in twos, Y, Z direction slide rail, X, Y, be respectively arranged with the slippage drive unit of band slide block on the Z direction slide rail, X, Y, the structure of the slippage drive unit of the band slide block on the Z direction slide rail is identical, present embodiment is that example is launched explanation with the slippage drive unit of the band slide block on the directions X slide rail 3 only, its concrete structure comprises: directions X slide rail 3 is the Support Level slide rail, end at directions X slide rail 3 is provided with directions X slippage drive motors 17, the output shaft of directions X slippage drive motors 17 is connected with the afterbody of directions X leading screw 18 on being arranged on directions X slide rail 3, threaded engagement is provided with directions X slide block 19 on the directions X leading screw 18, directions X slide block 19 is provided with directions X chute 20, directions X chute 20 matches with directions X track 21 in the directions X slide rail 3, directions X slide block 19 slidably reciprocates along directions X track 21 under the driving of directions X slippage drive motors 17, in order to play dustproof effect, directions X slide rail 3 loam cakes are equipped with dust cap 22.Directions X slide rail 3 is horizontally set on the horizontal support crossbeam 4, the two ends of horizontal support crossbeam 4 are fixedly mounted on respectively on two support posts 1 of gantry installing rack 36, one end bearing of Y-direction slide rail 5 is on directions X slide rail 3, and fixedly connected with directions X slide block 19, the other end of Y-direction slide rail 5 is protruding, make Y-direction slide rail 5 form the cantilevered slide rail, referring to shown in Figure 1, Y-direction slide rail 5 with the concrete syndeton of directions X slide block 19 is in the present embodiment: Y-direction slide rail 5 is fixedly connected on a side of supporting seat 14, the bottom of supporting seat 14 is set with first connecting plate 23, and described first connecting plate 23 is fixedlyed connected with directions X slide block 19.Also be provided with supporting mechanism between Y-direction slide rail 5 and gantry installing rack 36 in the present embodiment, its concrete structure comprises: oblique gripper shoe 12, the bottom of oblique gripper shoe 12 is fixedly connected on the bracketed part of Y-direction slide rail 5, on the fixedly connected oblique gripper shoe 12 in upper end of vertical gripper shoe 13, the bottom supporting of vertical gripper shoe 13 is on supporting seat 14, the upper end of oblique gripper shoe 12 is connected with auxiliary slider 15, described auxiliary slider 15 matches with auxiliary slide rail 16, and can slidably reciprocate thereon, described auxiliary slide rail 16 is horizontally set on the top braces crossbeam 2 of gantry installing rack 36, auxiliary slide rail 16 is parallel to each other with directions X slide rail 3, under the driving of directions X slippage drive motors 17, Y-direction slide rail 5 can slidably reciprocate at directions X slide rail 3, slidably reciprocates at auxiliary slide rail 16 thereby drive auxiliary slider 15.Y-direction slide rail 5 adopts the cantilevered rail structures in the present embodiment, and such advantage is: the working space of Z direction slide rail 6 belows can not be subjected to supporting the influence of the supporting mechanism of Y-direction slide rail 5.Z direction slide rail 6 vertically arranges, Z direction slide rail 6 is bearing on the Y-direction slide rail 5 and with the slide block on being arranged on Y-direction slide rail 5 fixedlys connected, under the driving of the slippage drive motors on the Y-direction slide rail 5, Z direction slide rail 6 can slidably reciprocate at Y-direction slide rail 5; Concrete mounting structure between weld assembly and the welding robot human body comprises: welding wire machine 7 is fixedly mounted on an end of Y-direction slide rail 5, in order to make Y-direction slide rail 5 stressed relative equilibriums, welding wire machine 7 and Z direction slide rail 6 are separately positioned on the Y-direction slide rail 5 of both sides of directions X slide rail 3, fixed cover is equipped with mounting sleeve 10 on the welding gun flexible pipe 9 on arc welding gun head 8 tops, mounting sleeve 10 is fixedlyed connected with the output shaft of electric rotating machine 11 by coupling assembling, as shown in Figure 5, the structure of the coupling assembling in the present embodiment is: the sleeve pipe connecting plate 42 of band supporting leg is fixedlyed connected with mounting sleeve 10, horizontal fixed is connected with the plate 41 that is rotatably connected on the supporting leg of the sleeve pipe connecting plate 42 of band supporting leg, the bolt that is rotatably connected on the plate 41 is provided with exempts from key axle bush 43, the output shaft of electric rotating machine 11 with exempt from 43 swellings of key axle bush and be connected, this connected mode bearing capacity is big, be suitable for type frequently reciprocating; Electric rotating machine 11 is installed on the electric rotating machine seat 44, under the driving of electric rotating machine 11, mounting sleeve 10 can drive arc welding gun head 8 along with the output shaft rotation of electric rotating machine 11, connecting plate 45 on the electric rotating machine seat 44 is fixedlyed connected with the slide block on being arranged on Z direction slide rail 6, under the driving of the slippage drive motors on the Z direction slide rail 6, connecting plate 45 can the driven rotary motor cabinet 44 slides up and down at Z direction slide rail 6.

Below Z direction slide rail 6, be provided with the welding tooling platform, its concrete structure comprises: be bearing in the tooling platform panel 25 on the support foundation 24, tooling platform panel 25 is provided with first working region 37 and territory, secondary service area 38, between support foundation 24 and tooling platform panel 25, be provided with electronic transposer, its concrete structure comprises: the two bottom sides of tooling platform panel 25 is set with tooling platform slide rail 26 respectively, the both sides, top of support foundation 24 are set with tooling platform slide block 27 respectively, tooling platform slide rail 26 is corresponding being bearing in the tooling platform slide block 27 of both sides, support foundation top respectively, in support foundation the band worm type of reduction gearing is installed, and the tooling platform servomotor 28 of band parking brake, parking brake on the tooling platform servomotor 28 can play the effect of braking to the output shaft of the tooling platform servomotor 28 after the outage, when tooling platform servomotor 28 is in outage, when namely in running order, after opening parking brake, the output shaft of tooling platform servomotor 28 can rotate under the drive of external force, after closing parking brake, the output shaft of tooling platform servomotor 28 is in the lock state.The output shaft of tooling platform servomotor 28 is provided with gear 29, the tooth bar 30 that is meshed with gear 29 is fixedly mounted on the bottom of tooling platform panel 25, under the driving of tooling platform servomotor 28, the tooling platform slide rail 26 of tooling platform panel 25 two bottom sides can slidably reciprocate in the tooling platform slide block 27 of support foundation both sides respectively, also can make first working region 37, territory, secondary service area 38 alternately be positioned at welding robot human body's welding post; Between support foundation 24 and tooling platform panel 25, also be provided with manual transposer, its concrete structure comprises: the side in support foundation 24 1 sides is separately installed with the first switching regulator magnet base 31 and second switch formula magnet base 32, the switching regulator magnet base is a kind of mechanical organ commonly used in the mechanical field, its inside is provided with coil, open and produce magnetic field after electromagnetic switch on it makes its inner coil electricity, thereby produce magnetic force.Can be fixedly installed on the side of the tooling platform panel 25 between the two switching regulator magnet bases by the suction iron 33 of first, second switching regulator magnet base absorption respectively, the first switching regulator magnet base 31 arranges near territory, secondary service area 38 in the present embodiment, when inhaling iron 33 and move to second switch formula magnet base 32 or move to the first switching regulator magnet base 31 from second switch formula magnet base 32 from the first switching regulator magnet base 31, realize that first working region 37, territory, secondary service area 38 alternately are positioned at the conversion operations of welding robot human body's welding post mutually.Be provided with buffer spring 34 and photoelectric sensor switch 35 respectively in the bottom in first working region 37 and territory, secondary service area 38, when trade-off is realized in two working regions on the tooling platform panel 25, described buffer spring 34 can be conflicted respectively on the support foundation 24 of a corresponding end, described photoelectric sensor switch 35 can detect respectively corresponding working region alternately be positioned at the welding robot human body welding post state and send detection signal.

Operation principle of the present utility model is as follows: as shown in Figure 1 and Figure 2, the slide rail of X, Y, three directions of Z has been determined three directions that arc welding gun head 8 moves along X, Y, Z.During welding job, under the driving of directions X slippage drive motors 17, directions X leading screw 18 rotates, thereby driving directions X slide block 19 slidably reciprocates along directions X track 21, owing to fixedly connected between Y-direction slide rail 5 and the directions X slide block 19, therefore Y-direction slide rail 5 can drive Z direction slide rail 6 on it along with directions X slide block 19 slidably reciprocates at directions X slide rail 3 together, thereby changes the locus of arc welding gun head 8 on directions X; In like manner under the driving of the slippage drive motors on the Y-direction slide rail 5, Z direction slide rail 6 slidably reciprocates at Y-direction slide rail 5, thereby changes the locus of arc welding gun head 8 on Y-direction; In like manner under the driving of the slippage drive motors on the Z direction slide rail 6, electric rotating machine seat 44 slides up and down at Z direction slide rail 6 again, thereby changes the locus of arc welding gun head 8 on the Z direction; Owing to be provided with electric rotating machine 11, under the driving of electric rotating machine 11, mounting sleeve 10 drives arc welding gun head 8 together along with the output shaft of electric rotating machine 11 comes back rotation, thereby can change the angle that arc welding gun head 8 rotates around Z direction slide rail in addition.During welding, by controller to controlling automatically, pre-set welding route in controller, controller can make arc welding gun head 8 respectively in X, Y, Z and the enterprising line position adjustment of four direction of rotating around Z direction slide rail, thereby makes arc welding gun head 8 can carry out welding job according to the path of setting all the time.When carrying out welding job, welding wire machine 7 can be delivered to welding wire on the arc welding gun head 8 by welding gun flexible pipe 9, thereby guarantees normally carrying out of welding job.In the present embodiment, all be to adopt leading screw type type of drive in the slippage drive unit of band slide block on X, Y, the Z direction slide rail, the positioning accuracy height of this type of drive can reach 0.01mm.In the present embodiment, the welding robot human body adopts the form that is arranged at the rectangular coordinate system slide rail on the installing rack of gantry, can improve welding robot human body's stability and bearing capacity so greatly, and can prolong the length that X, Y, Z direction slide rail are set according to the actual needs of welding job respectively, thereby make the length of the welding job on X, Y, the Z direction also can correspondingly prolong.

In the present embodiment, in order to cooperate welding job better, the below of Z direction slide rail 6 is provided with the welding tooling platform, and tooling platform panel 25 is installed in the below of arc welding gun head 8, and make one of them working region be positioned at welding robot human body's welding post, can be referring to Fig. 2.First working region 37 is positioned at welding robot human body's welding post among Fig. 2, and territory, secondary service area 38 is positioned at outside welding robot human body's the welding post.During the beginning welding job, the workpiece that will need earlier to weld is placed on first working region 37, then workpiece is carried out welding job, meanwhile carry out the material loading operation in territory, secondary service area 38, being about to the next workpiece of welding that needs is placed on the territory, secondary service area 38, after the welding of the workpiece on first working region 37 finishes, start tooling platform servomotor 28, gear 29 on tooling platform servomotor 28 output shafts rotates, driving tooth bar 30 is moved to the left, the tooling platform slide rail 26 of tooling platform panel 25 two bottom sides can slide left in the tooling platform slide block 27 of support foundation 24 both sides respectively like this, replaced to welding robot human body's welding post in territory, secondary service area 38, buffer spring 34 conflicts of 38 bottoms, territory, secondary service area are played buffering and spacing effect in the support foundation 24 of right-hand member, the photoelectric sensor switch 35 of 38 bottoms, territory, secondary service area detects the state that territory, secondary service area 38 is positioned at welding robot human body's welding post fully, and send detection signal to controller, controller is given an order to tooling platform servomotor 28 after receiving this signal, it is cut off self-lock, territory, secondary service area 38 just is locked in welding robot human body's the welding post like this, just can carry out welding operation to the workpiece on the territory, secondary service area 38, simultaneously carry out blanking and the operation of material loading again in first working region 37 of being released welding post left, the workpiece of finishing that welds that is about on first working region 37 is removed, and another workpiece that need weld is placed on it; After the welding of the workpiece on the territory, secondary service area 38 is finished, restart tooling platform servomotor 28, the output shaft reverse rotation driven gear 29 of tooling platform servomotor 28 rotates, thereby driving tooth bar 30 moves right, replaced again to welding robot human body's welding post in first working region 37, the buffer spring conflict of 37 bottoms, first working region is played buffering and spacing effect in the support foundation 24 of left end, the photoelectric sensor switch of 37 bottoms, first working region detects the state that first working region 37 is positioned at welding robot human body's welding post, and send this detection signal to controller, controller is given an order to tooling platform servomotor 28 after receiving this signal, it is cut off self-lock, such first working region 37 just is locked in welding robot human body's the welding post, just can carry out welding operation to the workpiece on first working region 37 again then, carry out the operation of blanking and material loading ground simultaneously in the territory, secondary service area 38 of being released welding post to the right.More than operation constantly repeats, and can cooperate the welding robot human body to carry out hardly welding operation discontinuously, has improved the operating efficiency of welding greatly, and after being provided with photoelectric sensor switch, can be convenient to realize automatic control.

In the present embodiment, also be provided with manual transposer on the welding tooling platform, when electronic transposer is out of order or based on other reasons, can carries out manual ex-situ operations.Manually during ex-situ operations, tooling platform servomotor 28 is in off-position, opens the parking brake on the tooling platform servomotor 28, and the output shaft of tooling platform servomotor 28 can be rotated under the situation that has external force to drive.As shown in Figure 2, this moment, first working region 37 was positioned at welding robot human body's welding post, inhaled the inboard that iron 33 is attracted to the first switching regulator magnet base 31.When needs replace, close the electromagnetic switch on the first switching regulator magnet base 31, promote tooling platform panel 25 left, gear 29 on the output shaft of the tooth bar 30 drive tooling platform servomotors 28 of tooling platform panel 25 bottoms rotates at this moment, the tooling platform slide rail 26 of tooling platform panel 25 two bottom sides slides left in the tooling platform slide block 27 of support foundation 2 both sides respectively simultaneously, such first working region 37 is released welding robot human body's welding post gradually left, territory, secondary service area 38 is advanced in welding robot human body's the welding post gradually, when suction iron 33 moves to second switch formula magnet base 32 from the first switching regulator magnet base 31, territory, secondary service area 38 is positioned at welding robot human body's welding post fully, buffer spring 34 conflicts of 38 bottoms, territory, secondary service area are played buffering and spacing effect in the support foundation 24 of right-hand member, open the electromagnetic switch on the second switch formula magnet base 31, make second switch formula magnet base 32 produce magnetic force, and will inhale iron 33 and firmly be adsorbed on its inboard, close the parking brake on the tooling platform servomotor 28 then, territory, secondary service area 38 just is locked in welding robot human body's the welding post like this; In the time need being replaced again in first working region 37 to welding robot human body's the welding post, close the magnetic switch on the second switch formula magnet base 32, open the parking brake on the tooling platform servomotor 28, promote tooling platform panel 25 to the right, gear 29 on the output shaft of the tooth bar 30 reverse drive tooling platform servomotors 28 of tooling platform panel 25 bottoms rotates at this moment, the tooling platform slide rail 26 of tooling platform panel 25 two bottom sides slides to the right in the tooling platform slide block 27 of support foundation 24 both sides respectively simultaneously, welding robot human body's welding post is released in territory, secondary service area 38 gradually to the right like this, first working region 37 is pushed in welding robot human body's the welding post gradually, when suction iron 33 moves to the first switching regulator magnet base 31 from second switch formula magnet base 32, first working region 37 is positioned at welding robot human body's welding post fully, buffer spring 34 conflicts of 37 bottoms, first working region are played buffering and spacing effect on the support foundation 2 of left end, open the magnetic switch on the first switching regulator magnet base 31 this moment again, make its generation magnetic force will inhale iron 33 and firmly be adsorbed on its inboard, and close the parking brake that tooling platform closes tooling platform servomotor 28, such first working region 37 is locked in again in welding robot human body's the welding post; Manually the process of the welding in the ex-situ operations process, material loading, blanking is identical with electronic control section, repeats no more.More than operation repeats constantly to realize that first working region 37 and territory, secondary service area 38 constantly alternately are positioned at the conversion operations of welding robot human body's welding post, thereby cooperate the welding robot human body to carry out welding operation incessantly, welding job efficient improves greatly; In addition, because material loading and blanking be all outside welding post, the security the when workman works like this improves greatly.

Claims (7)

1. rectangular coordinate system welding robot device, comprise: the welding robot human body, on the welding robot human body weld assembly is installed, described weld assembly comprises: the welding wire machine, be connected with on the welding wire machine be used to the welding gun flexible pipe that wears welding wire, the end of welding gun flexible pipe is provided with arc welding gun head, it is characterized in that: the welding robot main body structure comprises: gantry installing rack, gantry installing rack is by two support posts, constitute with the top braces crossbeam that is bearing in two support post tops, gantry installing rack is provided with orthogonal X in twos, Y, Z direction slide rail, X, Y, be respectively arranged with the slippage drive unit of band slide block on the Z direction slide rail, the directions X slide rail is horizontally set on the horizontal support crossbeam, the two ends of horizontal support crossbeam are fixedly mounted on respectively on two support posts of gantry installing rack, one end bearing of Y-direction slide rail is on the directions X slide rail, and be connected with slide block on being arranged on the directions X slide rail, the other end of Y-direction slide rail is protruding, make the Y-direction slide rail form the cantilevered slide rail, under the driving of the slippage drive unit of the band slide block on the directions X slide rail, the Y slide rail can slidably reciprocate at the X slide rail, Z direction slide rail vertically arranges, Z direction slide rail is bearing on the Y-direction slide rail, and be connected with slide block on being arranged on the Y-direction slide rail, under the driving of the slippage drive unit of the band slide block on the Y-direction slide rail, Z direction slide rail can slidably reciprocate at the Y-direction slide rail; Concrete mounting structure between weld assembly and the welding robot human body comprises: the welding wire machine is fixedly mounted on the Y-direction slide rail, fixed cover is equipped with mounting sleeve on the welding gun flexible pipe on arc welding gun head top, mounting sleeve is fixedlyed connected with the output shaft of electric rotating machine by coupling assembling, electric rotating machine is installed on the electric rotating machine seat, under the driving of electric rotating machine, mounting sleeve can drive arc welding gun head and come back rotation along with the output shaft of electric rotating machine, the electric rotating machine seat is connected with slide block on being arranged on Z direction slide rail, under the driving of the slippage drive unit of the band slide block on the Z direction slide rail, the electric rotating machine seat can slide up and down at Z direction slide rail by the driven rotary motor.
2. rectangular coordinate system welding robot device according to claim 1, it is characterized in that: the structure of the slippage drive unit of described band slide block comprises: described slide rail is the Support Level slide rail, end at slide rail is provided with the slippage drive motors, the output shaft of slippage drive motors is connected with the afterbody of leading screw on being arranged on slide rail, threaded engagement is provided with slide block on the leading screw, slide block is provided with chute, chute matches with track in the slide rail, slidably reciprocates along track at the driving sliding block of slippage drive motors.
3. rectangular coordinate system welding robot device according to claim 1 and 2, it is characterized in that: also be provided with supporting mechanism between Y-direction slide rail and gantry installing rack, its concrete structure is: the bottom of oblique gripper shoe is fixedly connected on the bracketed part of Y-direction slide rail, the upper end of vertical gripper shoe is fixedly connected on the oblique gripper shoe, the bottom supporting of vertical gripper shoe is on supporting seat, described supporting seat is fixedly supported upon on the directions X slide rail on the slide block in the slippage drive unit of band slide block, the upper end of oblique gripper shoe is connected with auxiliary slider, described auxiliary slider matches with auxiliary slide rail, and can slidably reciprocate thereon, described auxiliary slide rail is horizontally set on the top braces crossbeam of gantry installing rack, and auxiliary slide rail and directions X slide rail are parallel to each other.
4. rectangular coordinate system welding robot device according to claim 1 and 2, it is characterized in that: the structure of described coupling assembling is: the sleeve pipe connecting plate of band supporting leg is fixedlyed connected with mounting sleeve, be fixedly connected with the plate that is rotatably connected on the supporting leg of the sleeve pipe connecting plate of band supporting leg, be rotatably connected to be set with on the plate and exempt from the key axle bush, the output shaft of electric rotating machine with exempt from the swelling of key axle bush and be connected.
5. rectangular coordinate system welding robot device according to claim 1 and 2 is characterized in that:
Below Z direction slide rail, be provided with the welding tooling platform, its concrete structure comprises: be bearing in the tooling platform panel on the support foundation, the tooling platform panel is provided with first working region and territory, secondary service area, between support foundation and tooling platform panel, be provided with electronic transposer, its concrete structure comprises: the two bottom sides of tooling platform panel is set with the tooling platform slide rail respectively, the both sides, top of support foundation are set with the tooling platform slide block respectively, the tooling platform slide rail is corresponding being bearing in the tooling platform slide block of both sides, support foundation top respectively, the tooling platform servomotor of band parking brake is installed in support foundation, the output shaft of tooling platform servomotor is provided with gear, the tooth bar that is meshed with gear is fixedly mounted on the bottom of tooling platform panel, under the driving of tooling platform servomotor, the tooling platform slide rail of tooling platform panel two bottom sides can slidably reciprocate in the tooling platform slide block of support foundation both sides respectively, and can make first working region, the territory, secondary service area alternately is positioned at welding robot human body's welding post; Between support foundation and tooling platform panel, also be provided with manual transposer, its concrete structure comprises: be separately installed with the first switching regulator magnet base and second switch formula magnet base in support foundation one side, can be arranged on the side of the tooling platform panel between the two switching regulator magnet bases by the suction ferropexy of first, second switching regulator magnet base absorption respectively, when suction iron moves to another switching regulator magnet base from the first switching regulator magnet base, realize that first working region, territory, secondary service area alternately are positioned at the conversion operations of welding robot human body's welding post.
6. rectangular coordinate system welding robot device according to claim 5, it is characterized in that: the bottom in first working region and territory, secondary service area is provided with buffer spring and photoelectric sensor switch respectively, when trade-off is realized in two working regions on the tooling platform panel, described buffer spring can be conflicted respectively on the support foundation of a corresponding end, described photoelectric sensor switch can detect respectively corresponding working region alternately be positioned at the welding robot human body welding post state and send detection signal.
7. rectangular coordinate system welding robot device according to claim 5 is characterized in that: have worm type of reduction gearing on the described tooling platform servomotor.
CN 201320061658 2013-02-04 2013-02-04 Rectangular coordinate system welding robot device CN203184850U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103111777A (en) * 2013-02-04 2013-05-22 张家港市永发机器人科技有限公司 Rectangular coordinate system welding robot device
CN103753058A (en) * 2013-12-18 2014-04-30 广西科技大学 Four-shaft double-station spot welding robot
CN106825863A (en) * 2017-03-27 2017-06-13 绔ユ旦 A kind of welder
CN106975867A (en) * 2017-05-04 2017-07-25 福州市汇合兴机械设备有限公司 A kind of welder
CN108581303A (en) * 2018-03-09 2018-09-28 淮安信息职业技术学院 A kind of high-speed welding robot
CN110405392A (en) * 2019-07-30 2019-11-05 马鞍山市金韩防水保温工程有限责任公司 A kind of handware processing surface welder and its application method
US10913158B2 (en) 2018-05-14 2021-02-09 Caterpillar Inc. Robotic system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103111777A (en) * 2013-02-04 2013-05-22 张家港市永发机器人科技有限公司 Rectangular coordinate system welding robot device
CN103753058A (en) * 2013-12-18 2014-04-30 广西科技大学 Four-shaft double-station spot welding robot
CN106825863A (en) * 2017-03-27 2017-06-13 绔ユ旦 A kind of welder
CN106975867A (en) * 2017-05-04 2017-07-25 福州市汇合兴机械设备有限公司 A kind of welder
CN106975867B (en) * 2017-05-04 2018-05-18 南京力同重工机械有限公司 A kind of welder
CN108581303A (en) * 2018-03-09 2018-09-28 淮安信息职业技术学院 A kind of high-speed welding robot
US10913158B2 (en) 2018-05-14 2021-02-09 Caterpillar Inc. Robotic system
CN110405392A (en) * 2019-07-30 2019-11-05 马鞍山市金韩防水保温工程有限责任公司 A kind of handware processing surface welder and its application method

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