CN203510715U - Multi-head five-axis ultrasonic plastic spot welding machine - Google Patents

Abstract

The utility model discloses a multi-head five-axis ultrasonic plastic spot welding machine. Multiple sound heads are fixed on respective follow-up rams respectively; all sound heads share a driving ram in a time-sharing manner; the driving ram is connected with or separated from the follow-up rams through an automatic clutch; extension sections are arranged at the left and right ends of a movable cross beam; the extension sections are provided with locking standby sound heads for positioning locks and uniformly distributed along the X direction; a working sound head is driven by a driver to move under numerical control along the X and Z directions; a workbench is composed of a rocking basket and a turntable and rotates around the A axis and the C axis under numerical control; a rocking basket bracket is in floating connection with an equipment base through a horizontal moving pair, and is driven by a numerical control driver along a Y direction to move horizontally from front to back under numerical control, so that the sound heads and a workpiece move relatively to five axes and quick interchange of multiple varieties of sound heads is realized at the same time; moreover, the manufacturing cost is relatively low after structural optimization. The multi-head five-axis ultrasonic plastic spot welding machine disclosed by the utility model is suitable for multi-point quick automatic welding of different varieties in a three-dimensional spatial curved surface, and can quickly meet the welding requirements of a new product simply by procedure modification so as to realize flexible manufacturing.

Description

Bull 5 axle Ultrasonic Plastic mash welders

Affiliated technical field

The utility model relates to a kind of mash welder, is especially applicable to the intelligent flexible multi-axis ultrasonic ripple plastics mash welder of three-dimensional space curved surface multi-point welding.

Background technology

Patent ZL201320298631.7 has announced a kind of 5 axle Ultrasonic Plastic mash welders, the advantage of comprehensive cradle-type 5 shaft mechanical machining centers and planer-type 5 shaft mechanical machining centers, operation principle and stress characteristic innovation structure in conjunction with Ultrasonic Plastic mash welder designs again, this utility model solves the technical scheme that its technical problem adopts: sound head assembly is by moving horizontally secondary and moved cross beam floating connection, and is driven and do horizontal movement along X-axis by digital controlled driver; Moved cross beam passes through vertical moving sets and planer-type movable machine frame column floating connection, and is driven and move up and down along W axle by driver; Planer-type movable machine frame is by moving horizontally secondary and plant bottom case floating connection, and driven and do horizontal movement along Y-axis by digital controlled driver; Cradle-type workbench consists of cradle and rotating disk, cradle is direct and base is hinged, and drive and to rotate around hinged rotating shaft by digital controlled driver, the rotating disk on cradle is driven and is rotated to rotating shaft around C by digital controlled driver, and C is to rotating shaft and the described horizontally hinged rotating shaft of cradle quadrature all the time.

The patent ZL201320298631.7 beneficial effect of the invention is: realizing under the prerequisite of three-dimensional space curved surface intelligent multipoint flexible welding, significantly reduce equipment cost, significantly reduce and take up an area space simultaneously, be beneficial to universal.But, in practical application, often need on a set of product, weld difform solder joint, namely need to change the sound head of different structure shape, and ultrasonic wave sound head is different from miscellaneous part, ultrasonic wave sound head need to be done acoustics coupling with transducer, is generally to adopt high-strength bolt to tighten under special process, is difficult to realize automation, even if realize replacing sound head automatically after dropping into larger cost, also can therefore affect production efficiency; Welding manipulator generally adopts the way of changing whole sound head assembly to reach the object of changing sound head at present, and sound head modular construction complexity causes automatic catching robot manufacturing cost higher.

In addition, the y-axis shift of the 5 axle Ultrasonic Plastic mash welders that patent ZL201320298631.7 announces moves as moving pole structure, although its portal frame has been done light-weight design, but still have larger deadweight, if add the weight of a plurality of standby sound heads, gross weight is bigger than normal, and center of gravity is higher, causes stability and the mobility of Y-axis motion poor.

Summary of the invention

In order to overcome the deficiency of existing Ultrasonic Plastic mash welder, the utility model provides a kind of bull 5 axle Ultrasonic Plastic mash welders, on a kind of 5 axle Ultrasonic Plastic mash welder bases of announcing at patent ZL201320298631.7, realize many kinds sound head quick-replaceable, optimize stability and the mobility of Y-axis motion simultaneously.

The utility model solves the technical scheme that its technical problem adopts: sound head ram is divided into initiatively ram and servo-actuated ram two parts, a plurality of sound heads are separately fixed at separately on servo-actuated ram, the time sharing shared active ram of all sound heads, initiatively ram and servo-actuated ram are respectively by X-direction moving sets and moved cross beam floating connection, initiatively ram is connected by automatic clutch with servo-actuated ram or is separated, initiatively ram is driven and is driven the servo-actuated ram of institute's combination and sound head to do left and right horizontal numerical control displacement along X-axis by digital controlled driver, with the synchronization-moving sound head assembly of active ram, be called work sound head assembly, initiatively ram separated with servo-actuated ram after at directions X without movement interference, now servo-actuated ram no longer moves with active ram, the sound head assembly not moving with active ram is called standby sound head assembly, Jun You extension, two ends, moved cross beam left and right, and the effective length of extension, two ends is all more than or equal to whole standby sound head element width sums, on extension, moved cross beam two ends, have along the uniform positioning lock of X-direction, the X-direction centre-to-centre spacing of positioning lock is more than or equal to the width of standby sound head assembly, on all servo-actuated rams, all have the location structure matching with positioning lock, all standby sound head assemblies are all locked on moved cross beam extension, portal frame is fixed on base rear portion, abdicates leading space and is convenient to pick and place workpiece, and moved cross beam passes through vertical moving sets and gantry pillar floating connection, and is driven and do lifting displacement along W axle by driver, workbench consists of cradle support, cradle and rotating disk, and rotating disk, and is driven and to be rotated around C Shaft and NC Machining Test by digital controlled driver to revolute pair and cradle floating connection by C, cradle is hinged to jointed shaft and cradle support by A, and is driven and rotated to jointed shaft numerical control around A by digital controlled driver, and C axle and A axle be quadrature all the time, cradle support is by moving horizontally secondary and plant bottom case floating connection, and horizontal numerical control displacement before and after being done along Y-axis driving by digital controlled driver.

Definition " X, Y, Z axis " is to be based upon the linear axis that cartesian coordinate is fastened, and meets right-hand rule.The vertical multi-head 5 axle Ultrasonic Plastic mash welders of take are example, the trunnion axis that definition X-axis is left and right directions, and the trunnion axis that Y-axis is fore-and-aft direction, Z axis is vertical axes; Definition " Z axis " is main shaft, and Z axis overlaps with sound head center line, and this peripheral hardware " W axle " is parallel with Z axis.

Definition " A, B, C axle " is rotating shaft, and A axle is parallel to X-axis, and B axle is parallel to Y-axis, and C axle is perpendicular to A (or B) axle.The vertical multi-head 5 axle Ultrasonic Plastic mash welders of take are example, horizontal cradle is usingd A axle and is rotated around X-axis as basic rotating shaft, C axle remains and the mutual grade separation of A axle as floating rotating axle, and the rotation of A axle can change the orientation of C axle, and the rotation of C axle does not change the orientation of A axle.

Described " sound head assembly " comprises sound head, ultrasonic transformer, transducer and the guard housing thereof on conventional meaning, here transducer guard housing can double as servo-actuated ram, increase if desired independent servo-actuated ram, and between servo-actuated ram and transducer guard housing, increase weld cylinder (or spring) and moving sets.Preferably adopt lead screw pair serial spring to drive moved cross beam along the elevating movement of W axle, or adopt serial cylinders to drive moved cross beam along the elevating movement of W axle, can save so independently servo-actuated ram, and double as servo-actuated ram with transducer guard housing.

Described " extension " refer to moved cross beam normal operation region outside piecemeal activity crossbeam (containing moving sets, drive secondary etc.), when described moved cross beam normal operation region is work sound head components welding workpiece on moved cross beam along the region of X-axis activity.

Described " clutch " in conjunction with time have and limit the function that initiatively ram and servo-actuated ram misplace in X-direction, include but not limited to mechanical bayonet lock, the forms such as electromagnetic coupled, preferably adopt mechanical clamping pin structure: initiatively on ram, have the moving sets perpendicular to X-axis, described moving sets movable part front end has dop (front end refers to that this member is towards one end of servo-actuated ram), servo-actuated ram correspondence position all has the bayonet socket matching with described dop, initiatively ram moves to behind servo-actuated ram position along X-direction, the linear actuator being fixed on active ram drives dop to insert bayonet socket, now clutch combination, servo-actuated ram is with active ram synchronizing moving, when active ram drive servo-actuated ram move to positioning lock position, moved cross beam extension locked after, linear actuator drives dop to exit bayonet socket, clutch separation now, servo-actuated ram does not move with active ram.Described " bayonet socket " includes but not limited to U-shaped draw-in groove, circular hole, square hole or taper hole etc., described " dop " front end stretches into bayonet socket part and matches in X-direction and bayonet socket, there is equal effect in described dop and bayonet socket orientation after exchanging, and preferably dop is on active ram.

More preferably adopt cylinder or circular cone pin to make the dop of clutch, pin is by air cylinder driven, there is the advantages such as simple in structure, positioning and guiding is good, initiatively on ram, there is the guide pin bushing perpendicular to X-axis, clutch air cylinder is fixed on active ram, guide pillar rear end is connected with clutch air cylinder piston rod, guide pillar front end is made pin shape, servo-actuated ram correspondence position all has the pin hole matching with described pin, initiatively ram moves to behind servo-actuated ram position along X-direction, air cylinder driven pin inserts pin hole, now clutch combination, and servo-actuated ram is with active ram synchronizing moving.During concrete enforcement, even cylinder piston rod itself can be used as to guide pillar, guide pin bushing internal diameter and clutch air cylinder piston rod external diameter match, clutch air cylinder piston rod front end is made cylinder or taper bolt spike, all servo-actuated ram correspondence positions all have the pin hole matching with clutch air cylinder piston rod front end clutch pin, and clutch pin and pin hole match.

During described " positioning lock " locking, have and limit the function that servo-actuated ram and moved cross beam extension misplace in X-direction, positioning lock can adopt and " clutch " similar mechanical clamping pin structure, on moved cross beam extension, have along the uniform dop of X-direction, the X-direction centre-to-centre spacing of dop is more than or equal to the width of standby sound head assembly, all servo-actuated ram correspondence positions all have the unsteady clamp with the interlock of clutch pin, the clamp front end that floats has the bayonet socket matching with aforementioned dop, unsteady clamp rear end has push rod to be positioned at pin hole, and push rod upper end does not exceed pin hole upper surface, there are returning place force or flywheel moment to act on and float on clamp, the direction of this returning place force or flywheel moment with drive clutch pin contrary and be less than driving clutch pin in conjunction with the active force of servo-actuated ram in conjunction with the force direction of servo-actuated ram, described returning place force or flywheel moment include but not limited to elastic force, gravity and magnetic force, described dop and bayonet socket orientation can exchange.Preferably adopt and the unsteady clamp of clutch pin interlock or the elasticity positioning bead positioning lock as standby sound head assembly, have simple in structure, without advantages such as drive.

Described clutch and positioning lock mutual linking, have one between the two at least in combination or lock-out state.

Described " X-axis moving sets " includes but not limited to ball line slide rail, optical axis, special-shaped slide bar, chute etc., preferably adopts ball line slide rail, has side direction antitorque, and damping is little, kinematic accuracy advantages of higher.

Preferably by lead screw pair, drive X, two linear axis motions of Y, can reduce driving power, motion is steady, accurate positioning; By worm gear, drive A, two rotating shaft motions of C, can overcome larger disturbing moment with smaller power.

Preferably,, from A to jointed shaft axis direction, cradle support is convex shape or L shaped structure, A is positioned at protruding high point to jointed shaft, convex shape or L shaped structure can alleviate cradle support weight to greatest extent, reduce equipment cost, can also avoid moved cross beam and cradle support height to interfere simultaneously.

The beneficial effects of the utility model are: realizing under the prerequisite of three-dimensional space curved surface intelligent multipoint flexible welding, realizing at lower cost many kinds sound head quick-replaceable, enhancing productivity, optimizing stability and the mobility of Y-axis motion simultaneously.

accompanying drawing explanation

Below in conjunction with drawings and Examples, the utility model is further illustrated.

Fig. 1 is the structural principle front view of first specific embodiment of the utility model.

Fig. 2 is the side direction view of Fig. 1.

Fig. 3 is that the F-F of Fig. 1 is to cutaway view.

Fig. 4 is the partial enlarged drawing of Fig. 2.

Fig. 5 is the structural principle side view of second specific embodiment of the utility model.

Fig. 6, Fig. 7 are the partial enlarged drawings of Fig. 5.

Fig. 8, Fig. 9 are the partial enlarged drawings of the 3rd specific embodiment.

1. bases in figure, 2. optical axis column is held concurrently W to moving sets, 3. descend X-direction moving sets, 4. standby sound head assembly, 5. moved cross beam, 6.X axle lead screw pair, 7. go up X-direction moving sets, 8. fixed cross beam, 9.W axle servomotor, 10.W axle lead screw pair, 11. clutch air cylinders, 12. active rams, 13. clutch pins, 14.X axle servomotor, 15. servo-actuated rams, 16. work sound heads, 17.A is to jointed shaft, 18. cradle supports, 19.Y is to moving sets, 20. cradles, 21.Y axle servomotor, 22.Y axle lead screw pair, 23.A axle servomotor, 24.A axle worm gear, 25. rotating disks, 26.C axle servomotor, 27.C axle worm gear, 28. workpiece, 29.Z axle welding spring, 30. elasticity positioning beads, 31.Z axle weld cylinder, 32.W axle lift cylinder, 33. dops, 34. unsteady clamps, 35. stage clips, 36. push rods, 37. bayonet sockets, 38. rotating shafts.

the specific embodiment

In Fig. 1, Fig. 2 and Fig. 3, X-axis is left and right horizontal linear axis, and Y-axis is front and back horizontal linear axles, and Z axis is upper and lower vertical straight bobbin, and W axle is parallel to Z axis, and A axle is basic rotating shaft, and A axle is parallel to X-axis, and C axle is floating rotating axle, and C axle is perpendicular to A axle; In employing, sheet cold-bending channel-section steel is done moved cross beam (5), Jun You extension, two ends, moved cross beam left and right, and the effective length of extension, two ends is all more than or equal to whole four groups of standby sound heads (4) width sum; Two groups of X-direction moving sets that have upper and lower parallel arrangement on moved cross beam, four groups of standby sound head assemblies and one group of work sound head assembly are by lower X-direction moving sets (3) and moved cross beam floating connection, initiatively ram (12) is by upper X-direction moving sets (7) and moved cross beam floating connection, and by X-axis servomotor (14) by X-axis lead screw pair (6) driving along X-axis numerical control displacement; Initiatively on ram, there is clutch pin (13), this clutch pin is driven up and down by the clutch air cylinder (11) being fixed on active ram, work sound head assembly is by the sound head of working (16) and servo-actuated ram (15) formation, on servo-actuated ram, have with active ram on the pin hole that matches of clutch pin; On moved cross beam extension, have along the uniform elasticity positioning bead (30) of X-direction, the centre-to-centre spacing of elasticity positioning bead is more than or equal to the width of standby sound head assembly, and all has the locating hole matching with elasticity positioning bead on the servo-actuated ram of all sound head assemblies.During work, according to putting in order of sound head, select successively the sound head of different structure, the four groups of standby sound heads of original state of take are all example in left end extension, initiatively ram welds in conjunction with one group of sound head assembly of low order end by clutch pin, after completing this bond pads, this sound head assembly is moved to moved cross beam low order end, and by this sound head assembly of elasticity positioning bead temporary locking on moved cross beam right-hand member extension, unclamp clutch pin, this work sound head is just transformed to standby sound head, drive initiatively ram to the one group of sound head assembly top of end of keeping right in four groups of standby sound head assemblies of left end, drive clutch pin descending, in conjunction with this sound head assembly, overcome the temporary locking of elasticity positioning bead to this group sound head assembly, along X-axis displacement, enter working region, this is organized standby sound head and is just transformed to work sound head and welds, now state as shown in Figure 1, change successively from right to left by that analogy sound head assembly and complete whole welding, during next part welding, complete successively from left to right conversely again.Portal frame is by optical axis column (2, hold concurrently W to moving sets) and top fixed cross beam (8) formation, moved cross beam by W to moving sets (2) and gantry pillar floating connection, Z axis welding spring (29) upper end is connected with W axle lead screw pair (10) nut lower end, spring lower end is connected with moved cross beam, W axle lead screw pair nut is by vertical moving sets and moved cross beam floating connection, W axle servomotor (9) welds Spring driving moved cross beam along W axial displacement by W axle lead screw pair series connection Z axis, cradle-type workbench is by cradle support (18), cradle (20) and rotating disk (25) form, cradle support is by Y-direction moving sets (19) and plant bottom case (1) floating connection, and horizontal movement before and after being driven along Y-axis by Y-axis lead screw pair (22) by Y-axis servomotor (21), cradle is hinged to jointed shaft (17) and cradle support by A, and drive and rotate to jointed shaft around A by A axle worm gear (24) by A axle servomotor (23), rotating disk on cradle is driven around himself rotating shaft 360 degree and is rotated by C axle worm gear (27) by C axle servomotor (26), and rotating disk self rotating shaft and A are to jointed shaft quadrature all the time, from A to jointed shaft axis direction, cradle support is convex shape structure, and A is positioned at protruding high point to jointed shaft, and convex shape structure can alleviate cradle support weight to greatest extent, reduce equipment cost, can also avoid moved cross beam (5) and cradle support height to interfere simultaneously, during work, first will on workpiece (28), need that point of welding to rotate around C axle, the normal of this point is in Y-Z plane, around A, to jointed shaft, rotate again, make the normal parallel of this point in Z axis, then along this pad of Y-axis translation to the X-Z plane of sound head place, simultaneously along X-axis translation sound head to this pad, along W axle, move down moved cross beam again, after work sound head contact workpiece, the reaction force of sound head overcomes Z axis welding spring pressure and completes setting pressure welding along Z axis displacement.

Fig. 4 is the partial enlarged drawing of Fig. 2, in employing, sheet cold-bending channel-section steel is done moved cross beam (5), two groups of X-direction moving sets that have upper and lower parallel arrangement on moved cross beam, standby sound head assembly and work sound head assembly are by lower X-direction moving sets (3) and moved cross beam floating connection, on moved cross beam extension, have along the uniform elasticity positioning bead (30) of X-direction, on all servo-actuated rams, all there is the locating hole matching with elasticity positioning bead, standby sound head assembly, by elasticity positioning bead temporary locking, can not depart from desired location because of equipment vibrations, clutch air cylinder (11) is fixed on active ram (12), its piston rod front end connects clutch pin (13), initiatively on ram, there is Z-direction guide pin bushing, the double clutch pin of making guide pillar is through this guide pin bushing, work sound head assembly consists of the sound head of working (16) and servo-actuated ram (15), on all servo-actuated rams, all there is the pin hole matching with aforementioned clutch pin, initiatively ram is by upper X-direction moving sets (7) and moved cross beam floating connection, and drive and be displaced to behind the servo-actuated ram of standby sound head assembly position along X-axis numerical control by X-axis lead screw pair (6) by X-axis servomotor, clutch air cylinder drives the descending insertion pin hole of clutch pin in conjunction with servo-actuated ram, the driving force of X-axis servomotor is much larger than the temporary locking power of elasticity positioning bead, drive by force standby sound head assembly to enter welding job region and become work sound head assembly, and along the synchronous numerical control displacement of X-axis, during welding, W axle servomotor drives moved cross beam along W axial displacement by W axle lead screw pair (10) series connection Z axis welding spring (29), after work sound head contact workpiece, the reaction force of sound head overcomes Z axis welding spring pressure and completes setting pressure welding along Z axis displacement, when work sound head assembly with active ram, move to positioning lock position, moved cross beam extension by the locking of elasticity positioning bead after, clutch air cylinder drives on-of pin to nail on row and exits pin hole, now initiatively ram and servo-actuated ram are at directions X without movement interference, and this servo-actuated ram no longer moves with active ram.

In Fig. 5, portal frame is by optical axis column (2, hold concurrently W to moving sets) and top fixed cross beam (8) formation, in employing, sheet cold-bending unequal angle is done moved cross beam (5), moved cross beam by W to moving sets (2) and gantry pillar floating connection, W axle lift cylinder (32) front end is arranged on that on fixed cross beam, (described cylinder " front end " refers to cylinder piston rod one end downwards, otherwise be " tail end "), Z axis weld cylinder (31) piston rod is connected with W axle lift cylinder piston rod, and Z axis weld cylinder tail end is connected with moved cross beam; Cradle-type workbench consists of cradle support (18), cradle (20) and rotating disk (25), cradle support is by Y-direction moving sets (19) and plant bottom case (1) floating connection, and horizontal movement before and after being driven along Y-axis by Y-axis lead screw pair (22) by Y-axis servomotor (21); From A to jointed shaft axis direction, the L-shaped structure of cradle support, A is positioned at protruding high point to jointed shaft, and L shaped structure can alleviate cradle support weight to greatest extent, reduce equipment cost, can also avoid moved cross beam (5) and cradle support height to interfere simultaneously; During work, W axle lift cylinder and Z axis weld cylinder tandem drive moved cross beam be along W axial displacement, and drive that sound head is descending completes welding.

In Fig. 6, moved cross beam (5) is evenly equipped with a plurality of dops (33) on extension, two ends, on servo-actuated ram (15), there is the unsteady clamp (34) with clutch pin (13) interlock, the bayonet socket of unsteady clamp front end matches in X-direction and aforementioned dop, the push rod (36) that is positioned at pin hole is fixedly connected with unsteady clamp rear end, and supported by stage clip (35), in the time of the servo-actuated ram of the descending combination of clutch pin, press down push rod, and further overcome stage clip elastic force and depress unsteady clamp, make to float clamp upper surface lower than edge under dop, now servo-actuated ram unlocks from moved cross beam extension and with active ram (12) synchronizing moving, because push rod upper end does not exceed pin hole upper surface, therefore before unsteady clamp and dop release, clutch pin is first in conjunction with servo-actuated ram, can avoid standby sound head module position out of control, in Fig. 7, on-of pin discharges push rod when nailing on the separated servo-actuated ram of row, and the clamp that floats goes back up to initial position under the bounce effect of stage clip, and the clamp height that makes to float overlaps with dop, thereby servo-actuated ram is locked on moved cross beam extension.

In Fig. 8, clutch air cylinder is fixed on active ram (12), its piston rod front end is made taper bolt spike and is directly doubled as clutch pin (13), on servo-actuated ram (15), there is the pin hole matching with this clutch pin, moved cross beam (5) is evenly equipped with a plurality of bayonet sockets (37) on extension, two ends, on servo-actuated ram, there is the unsteady clamp (34) with the interlock of clutch pin, the dop of unsteady clamp front end matches in X-direction and aforementioned bayonet socket, the anterior weight of the clamp that floats is greater than rearward weight generation and makes its moment of (38) turning anticlockwise (also can utilize torsion spring or magnet to generate above-mentioned flywheel moment) around the shaft, the push rod (36) that is positioned at servo-actuated ram pin hole is fixedly connected with unsteady clamp, in the time of the servo-actuated ram of the descending combination of clutch pin, press down push rod, and further overcome the clamp flywheel moment of floating and drive the clamp that floats to turn clockwise around the shaft, make its front end dop upwarp disengaging bayonet socket, now servo-actuated ram unlocks from moved cross beam extension and with active ram synchronizing moving, in Fig. 9, on-of pin discharges push rod when nailing on the separated servo-actuated ram of row, and the clamp that floats is turned back to counterclockwise initial position under aforementioned flywheel moment effect, dop position is overlapped with bayonet socket, thereby servo-actuated ram is locked on moved cross beam extension.

Claims (8)

1. bull 5 axle Ultrasonic Plastic mash welders, by frame, workbench and many group sound head module compositions, it is characterized in that: sound head ram is divided into initiatively ram and servo-actuated ram two parts, a plurality of sound heads are separately fixed at separately on servo-actuated ram, the time sharing shared active ram of all sound heads, initiatively ram and servo-actuated ram are respectively by X-direction moving sets and moved cross beam floating connection, initiatively ram is connected by automatic clutch with servo-actuated ram or is separated, initiatively ram is driven and is driven the servo-actuated ram of institute's combination and sound head to do left and right horizontal numerical control displacement along X-axis by digital controlled driver, initiatively ram separated with servo-actuated ram after at directions X without movement interference, portal frame is fixed on base rear portion, and moved cross beam passes through vertical moving sets and gantry pillar floating connection, and is driven and do lifting displacement along W axle by driver, workbench consists of cradle support, cradle and rotating disk, and rotating disk, and is driven and to be rotated around C Shaft and NC Machining Test by digital controlled driver to revolute pair and cradle floating connection by C, cradle is hinged to jointed shaft and cradle support by A, and is driven and rotated to jointed shaft numerical control around A by digital controlled driver, and C axle and A axle be quadrature all the time, cradle support is by moving horizontally secondary and plant bottom case floating connection, and horizontal numerical control displacement before and after being done along Y-axis driving by digital controlled driver.

2. bull 5 axle Ultrasonic Plastic mash welders according to claim 1, it is characterized in that: Jun You extension, two ends, moved cross beam left and right, and the effective length of extension, two ends is all more than or equal to whole standby sound head element width sums, on extension, moved cross beam two ends, have along the uniform positioning lock of X-direction, the X-direction centre-to-centre spacing of positioning lock is more than or equal to the width of standby sound head assembly, and all servo-actuated ram correspondence positions all have the location structure matching with positioning lock.

3. bull 5 axle Ultrasonic Plastic mash welders according to claim 1, it is characterized in that: initiatively on ram, have the moving sets perpendicular to X-axis, described moving sets movable part front end has dop, all servo-actuated ram correspondence positions all have the bayonet socket matching with described dop, dop matches in X-direction and bayonet socket, moving sets movable part is driven automatically by the linear actuator being fixed on active ram, and described dop and bayonet socket orientation can exchange.

4. bull 5 axle Ultrasonic Plastic mash welders according to claim 1, it is characterized in that: initiatively on ram, have the guide pin bushing perpendicular to X-axis, clutch air cylinder is fixed on active ram, guide pin bushing internal diameter and clutch air cylinder piston rod external diameter match, clutch air cylinder piston rod front end is made cylinder or taper bolt spike, all servo-actuated ram correspondence positions all have the pin hole matching with clutch air cylinder piston rod front end clutch pin, and clutch pin and pin hole match.

5. bull 5 axle Ultrasonic Plastic mash welders according to claim 1, is characterized in that: from the hinged shaft axis direction of cradle, cradle support is convex shape or L shaped structure, and the hinged rotating shaft of cradle is positioned at protruding high point.

6. bull 5 axle Ultrasonic Plastic mash welders according to claim 1, is characterized in that: by lead screw pair, drive X, two linear axis motions of Y, and leading screw rotates, nut translation; By worm gear, drive A, two rotating shaft motions of C.

7. bull 5 axle Ultrasonic Plastic mash welders according to claim 2, it is characterized in that: positioning lock adopts mechanical clamping pin structure, on moved cross beam extension, have along the uniform dop of X-direction, the X-direction centre-to-centre spacing of dop is more than or equal to the width of standby sound head assembly, all servo-actuated ram correspondence positions all have the unsteady clamp with the interlock of clutch pin, the clamp front end that floats has the bayonet socket matching with aforementioned dop, unsteady clamp rear end has push rod to be positioned at pin hole, and push rod upper end does not exceed pin hole upper surface, there are returning place force or flywheel moment to act on and float on clamp, the direction of this returning place force or flywheel moment with drive clutch pin contrary and be less than driving clutch pin in conjunction with the active force of servo-actuated ram in conjunction with the force direction of servo-actuated ram, described returning place force or flywheel moment include but not limited to elastic force, gravity and magnetic force, described dop and bayonet socket orientation can exchange.

8. bull 5 axle Ultrasonic Plastic mash welders according to claim 2, it is characterized in that: adopt elasticity positioning bead to do positioning lock, on moved cross beam extension, have along the uniform elasticity positioning bead of X-direction, the X-direction centre-to-centre spacing of elasticity positioning bead is more than or equal to the width of standby sound head assembly, and all servo-actuated ram correspondence positions all have the locating hole matching with elasticity positioning bead.

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