CN203526777U - Multi-station mechanical contact type weld pass deviation-rectifying tracking profiling-welding system - Google Patents
Multi-station mechanical contact type weld pass deviation-rectifying tracking profiling-welding system Download PDFInfo
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- CN203526777U CN203526777U CN201320672180.9U CN201320672180U CN203526777U CN 203526777 U CN203526777 U CN 203526777U CN 201320672180 U CN201320672180 U CN 201320672180U CN 203526777 U CN203526777 U CN 203526777U
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Abstract
The utility model discloses a multi-station mechanical contact type weld pass deviation-rectifying tracking profiling-welding system which mainly comprises a driving mechanism and a profiling-welding arm connected to the output end of the driving mechanism. The profiling-welding arm comprises a moving main arm, a telescopic auxiliary arm, a spring device, a welding gun angle and distance positioner, a welding gun seat supporting wheel, a worn wheel and worm rotary speed reducer, a displacement sensor and a welding gun, wherein the moving main arm is a hollow straight arm, the telescopic auxiliary arm is installed in the moving main arm, the front end of the telescopic auxiliary arm is connected with the spring device and then is connected with the worn wheel and worm rotary speed reducer, the welding gun angle and distance positioner and the welding gun seat supporting wheel are installed on the worn wheel and worm rotary speed reducer, the welding gun is installed on the welding gun angle and distance positioned, and the sensor is installed on the telescopic auxiliary arm. The spring device and the welding gun seat supporting wheel are installed at the front end of the telescopic auxiliary arm, a profiling principle is adopted, mechanical actions and spring deformation detection are utilized, welding of the welding gun at the correct position is controlled, the welding quality is good, and deviation does not occur.
Description
Technical field
The utility model relates to a kind of robot welding system, especially a kind of multistation machinery contact welding bead correction tracking profiling welding system.
Background technology
The existing welding dedicated device overwhelming majority designs for single form, regular welding bead, straight line welding bead for example, circular welding bead.Also the favourable welding robot equipment that carries out complex weld path welding with computer numerical control programming.Such as curve welding bead etc.But it is higher for the dimension precision requirement of the front parts of welding that prerequisite is programming welding system; workpiece surface quality is had relatively high expectations; if the cutting accuracy of part is not high; the welding bead trend of not welding and the in theory seam track of computer programming have deviation; adding welding structural element decorates the hot melt distortion of material while carrying out integral solder again after welding and is difficult to control; welding such workpiece can cause the welding system butt welded seam assurance of computer programming inaccurate; the welding track in the gap of easy disengaging own; cause solder skip; welding sideslip is bumper car even, affects welding quality.If run into similar situation, only have artificial carrying out to supplement welding, thus the problem such as it is low to produce welding efficiency, and weldquality is unstable, and face of weld is not attractive in appearance.
Utility model content
The utility model technical issues that need to address are to provide a kind ofly carries out real-time deviation correcting to decorating welding error and welding deformation error, guarantees weldquality, improves the multistation machinery contact welding bead correction tracking profiling welding system of weld seam aesthetics.
For addressing the above problem, technical solution adopted in the utility model is: a kind of multistation machinery contact welding bead correction tracking profiling welding system, mainly comprise driving mechanism and the welding arm of following an example that connects driving mechanism output, this welding arm of following an example comprises mobile principal arm, flexible auxiliary, spring assembly, angle of welding gun and apart from deflection machine, welding gun seat supports wheel, worm and gear rotary decelerator, displacement transducer and welding gun, wherein mobile principal arm is hollow straight-arm, flexible auxiliary is arranged in mobile principal arm, the inner cavity size of flexible auxiliary size and mobile principal arm matches, after flexible auxiliary front end linking springs device, connect again worm and gear rotary decelerator, angle of welding gun and being installed on worm and gear rotary decelerator apart from deflection machine and welding gun seat supports wheel, welding gun is arranged on angle of welding gun and apart from deflection machine, displacement transducer is arranged on the flexible auxiliary of welding gun rear side near spring assembly place.
Described spring assembly comprises two covers---spring assembly A and spring assembly B, wherein a set of being included in is the spring of vertical state and X, Y-direction displacement transducer under free state, for X, Y-direction distortion detecting, another set of spring and the Z direction displacement transducer that only possesses Telescopic that comprise, detects for Z Direction distortion.
Described welding gun seat supports wheel comprises welding gun seat supports wheel A and welding gun seat supports wheel B, and welding gun seat supports wheel A is for the positioning supports of the mobile principal arm of X or Y-direction, welding gun seat supports wheel B for the flexible auxiliary of Z direction support.
Adopt the beneficial effect that technique scheme produces to be: the utility model is by installing spring assembly additional at flexible auxiliary front end and welding gun seat supports is taken turns, the employing principle of following an example, utilizes mechanical action, detection springs distortion, controls welding gun in correct position welding, welding quality is good, not sideslip; Effectively raise welding efficiency, than manual operation efficiency, will improve 4-5 doubly, significantly reduced labour intensity, improve manually-operated security simultaneously.
Accompanying drawing explanation
Fig. 1 is the follow an example perspective view of welding arm of the utility model;
Fig. 2 is the follow an example planar structure schematic diagram of welding arm of the utility model;
Fig. 3 is the utility model Application Example welding casing welding gun location schematic diagram;
Fig. 4 is that the utility model Application Example welding casing moves 90 ° of schematic diagrames of principal arm upset;
Fig. 5 is the utility model Fig. 3 casing overturning welding side plate one end schematic diagram;
Fig. 6 is the utility model Fig. 3 casing overturning welding side plate other end schematic diagram;
Fig. 7 is that the utility model Fig. 5 casing is inverted 180 ° of position views;
Wherein: 1, mobile principal arm, 2, flexible auxiliary, 3, spring assembly A, 4, spring assembly B, 5, angle of welding gun and apart from deflection machine, 6, welding gun seat supports wheel A7, welding gun seat supports wheel B, 8, worm and gear rotary decelerator, 9, displacement transducer, 10, welding gun.
The specific embodiment
Below in conjunction with accompanying drawing, utility model is described in further detail: this Novel main will comprise driving mechanism and the welding arm of following an example that connects driving mechanism output, as depicted in figs. 1 and 2, this welding arm of following an example comprises mobile principal arm 1, flexible auxiliary 2, spring assembly, angle of welding gun and apart from deflection machine 5, welding gun seat supports wheel, worm and gear rotary decelerator 8, displacement transducer 9 and welding gun 10, wherein mobile principal arm 1 is hollow straight-arm, flexible auxiliary 2 is arranged in mobile principal arm 1, the inner cavity size of flexible auxiliary 2 sizes and mobile principal arm 1 matches, after flexible auxiliary 2 front end linking springs devices, connect again worm and gear rotary decelerator 7, angle of welding gun and being installed on worm and gear rotary decelerator 8 apart from deflection machine 5 and welding gun seat supports wheel, welding gun 10 is arranged on angle of welding gun and apart from deflection machine 5, displacement transducer 9 is arranged on the flexible auxiliary of welding gun rear side near spring assembly place.
Foregoing spring assembly comprises two covers---spring assembly A and spring assembly B, wherein a set of being included in is the spring of vertical state and X, Y-direction displacement transducer under free state, for X, Y-direction distortion detecting, another set of spring and the Z direction displacement transducer that only possesses Telescopic that comprise, detects for Z Direction distortion.Described welding gun seat supports wheel comprises welding gun seat supports wheel A and welding gun seat supports wheel B, and welding gun seat supports wheel A is for the positioning supports of the mobile principal arm of X or Y-direction, welding gun seat supports wheel B for the flexible auxiliary of Z direction support.
Below the functional description of each parts of welding arm of following an example:
1, mobile principal arm: mobile principal arm has to Y (Y), the ability that X (X) direction moves, can vertically place and horizontal positioned, has 360 ° of rotation functions.
2, flexible auxiliary: flexible auxiliary self has the ability that Z (Z) direction moves, and simultaneous retractable auxiliary is accompanied by moving of mobile principal arm and has Y (Y), the function (following) that X (X) is mobile.
3, spring assembly A: this spring is vertical state under free state, when mobile principal arm is at X (X) or when Y (Y) direction moves around, the welding gun driving by mobile principal arm with contact workpiece side plate Surface Contact and cause this camber of spring, this spring assembly is provided with X (X) and Y (Y) displacement transducer, by displacement transducer feedback information, control the startup of large arm, stop.
4, spring assembly B: the spring assembly that only possesses Z (Z) direction Telescopic.Wherein be provided with Z (Z) direction displacement transducer.
5, angle of welding gun and apart from deflection machine: make the angle of rifle head and base plate and side plate adjustable thereby there is angle of welding gun regulatory function.Also there is the distance adjustable function that can make welding gun rifle head and base plate and side plate.
6, welding gun seat supports wheel B: when telescopic arm with welding gun when Z (Z) direction moves, play telescopic arm supporting role.
7, welding gun seat supports wheel A: when mobile principal arm carries out X (X) or Y (Y) direction while moving, mobile principal arm is carried out to supporting and location effect.
8, worm and gear rotary decelerator: make welding gun have the function that any place rotation stops in the rotating range of+120 ° to-120 °, its effect is to carry out the swing at casing angle welding place welding in welding process.
This is novel in concrete application, and its course of work is as follows:
One, welding gun position fixing process: (as shown in Figure 3)
1, manually control mobile principal arm and flexible auxiliary thereof, welding gun is placed on to any position in casing.
2, press start button, mobile principal arm will move to-Y-direction, when welding gun touches riser B place, Y (Y) the direction displacement transducer generation action being placed in spring assembly A causes mobile principal arm to stop moving in (Y) direction, now mobile principal arm moves to directions X, when welding gun is encountered riser C place, X (X) the displacement transducer generation action being placed in spring assembly A causes mobile principal arm to stop moving at directions X, and control flexible auxiliary stretches out to (Z) direction simultaneously, when welding gun seat supports wheel B contacts to box bottom E, be arranged on and in spring assembly B, control the flexible sensor of Z (Z) direction and move, flexible auxiliary stops moving down, so far complete welding gun seat in the positioning function of position, angle.
3, finely tune angle of welding gun and apart from deflection machine, make welding gun rifle head be positioned at accurately riser B and the crossing welding bead place of base plate E.
Two, welding process:
1, start welding button, first welding gun rifle head shows certain angle to the bottom corner commissure of riser B place and the crossing weld seam of riser C, reached completely by the dead object at angle welding place, the welding gun starting the arc afterwards starts welding, welding gun swings back certain angle round about simultaneously, be vertical state, the welding that completes angle welding is filled, when welding gun is vertical state, mobile principal arm starts to move to (X) direction the welding bead that welding riser B and base plate E contact, because welding gun support wheel B and welding gun support wheel A are all the time by extremely on base plate and sidewall, the relative position of welding gun and weld seam is not subject to the gradient position of sidewall and base plate, the impact that hot melt distortion changes, when the distortion of spring assembly A and spring assembly B medi-spring acquires a certain degree towards the direction of release spring distortion, we think that now base plate will be separated with support wheel B with support wheel A with side plate, this can cause welding gun to depart from welding bead, now owing in spring assembly A and spring assembly B, displacement transducer being installed, when spring can excite displacement transducer wherein when the direction of alleviating distortion moves, impel mobile principal arm and flexible auxiliary to move towards the direction by dead sidewall and base plate, thereby support wheel A and support wheel B can lean on again again extremely at side plate and base plate place, to prevent that welding gun from departing from welding bead.Thereby reach the object of following the tracks of sidewall and base plate weld seam.Whole process evenly completes in real time, to guarantee the evenly attractive in appearance of weld seam.
2, when welding gun touches riser A, impel spring A to be offset fine motion to directions X, trigger the displacement transducer in spring A simultaneously, mobile principal arm is stopped, simultaneously now vertically the welding gun of state swings certain angle towards wall A direction, to reach the object of welded corner joint riser A and riser B bottom corner weld seam clearly.After execution, stop welding, thereby completed the welding of riser B and the crossing commissure of base plate E and two ends angle welding thereof.
3,, after completing the welding of the first side wall and base plate, mobile principal arm can turn clockwise 90 °, as shown in Figure 4.The welding bead welding that completes riser A and base plate E according to welding gun localization method before and welding method, by that analogy, completes riser D and base plate E, the welding bead welding of riser C and base plate E.
Three, box parts side plate place welding
1, first casing was fallen, opening is placed into side, as shown in Figure 5, by mobile principal arm horizontal positioned, and welding system is adjusted to downhand welding pattern.
2, manually control mobile principal arm and flexible auxiliary thereof, welding gun is placed on to any position in casing.
3, press start button, mobile principal arm starts to move to (Y) direction, when welding gun support wheel A touches side plate B, the spring A with Y (Y) swaying direction is out of shape, trigger Y (Y) direction displacement transducer in spring, now mobile principal arm stops (Y) direction and moves, to directions X, move thereupon, when welding gun touches side plate C, having the spring that X (X) direction moves is out of shape, triggered the displacement transducer of X (X) direction in spring, now mobile principal arm stops the movement of directions X, decelerator turns clockwise 90 ° by welding gun thereupon, now support wheel A and B are completely by extremely on B plate and E plate, the displacement transducer A of rifle head back side top starts to control the retraction of flexible auxiliary, after being moved to casing edge, welding gun stops.Finely tune angle of welding gun and apart from deflection machine, make welding gun aim at the commissure of side plate C and side plate B, now complete the preparation before welding.
4, press welding button, flexible auxiliary starts to move to (Z) direction, and now welding gun completes the weld seam welding of side plate C and side plate B.When welding gun seated connection contacts base plate E; spring B is subject to the compression of Z direction; make to control in spring B the displacement transducer action of Z (Z) direction; flexible auxiliary stops mobile, and welding gun rotates counterclockwise certain angle simultaneously, completes C; B; the fillet weld seam of E face intersection, now welding gun stops arc, and automatic rotation is repositioned to vertical position.
5, complete after the weld seam welding of CB face, mobile principal arm moves to (X) direction, when welding gun touches side plate A, the spring with X (X) direction displacement transducer is out of shape, triggered the displacement transducer of X (X) direction in spring, now mobile principal arm stops the movement of (X) direction, welding gun is rotated counterclockwise to 90 ° thereupon, now support wheel A and B are completely by extremely on B plate and A plate, the displacement transducer A of rifle head back side top starts to control flexible auxiliary and retracts to Z direction, stops after welding gun is moved to casing edge.Automatically start welding gun welding, flexible auxiliary starts to move to (Z) direction simultaneously, and now welding gun completes the weld seam welding of side plate A and side plate B.When welding gun seated connection contacts base plate E; spring B is subject to the compression of Z direction; make to control in spring assembly B the displacement transducer action of Z (Z) direction; flexible auxiliary stops mobile, and welding gun clockwise rotates certain angle simultaneously, completes A; B; the fillet weld seam of E face intersection, now welding gun stops arc, and automatic rotation is repositioned to vertical position.
6, welding riser A and the weld seam of riser D and the weld seam method of riser C and riser D are the same, only the box location shown in this Fig. 5 need to be inverted to 180 °, as shown in Figure 7.
Claims (3)
1. multistation machinery contact welding bead correction tracking profiling welding system, it is characterized in that: mainly comprise driving mechanism and the welding arm of following an example that connects driving mechanism output, this welding arm of following an example comprises mobile principal arm (1), flexible auxiliary (2), spring assembly, angle of welding gun and apart from deflection machine (5), welding gun seat supports wheel, worm and gear rotary decelerator (8), displacement transducer (9) and welding gun (10), wherein mobile principal arm (1) is hollow straight-arm, flexible auxiliary (2) is arranged in mobile principal arm (1), the inner cavity size of flexible auxiliary (2) size and mobile principal arm (1) matches, after flexible auxiliary (2) front end linking springs device, connect again worm and gear rotary decelerator (8), angle of welding gun and being installed on worm and gear rotary decelerator (8) apart from deflection machine (5) and welding gun seat supports wheel, welding gun (10) is arranged on angle of welding gun and apart from deflection machine (5), displacement transducer (9) is arranged on the flexible auxiliary (2) of welding gun rear side near spring assembly place.
2. multistation according to claim 1 machinery contact welding bead correction tracking profiling welding system, it is characterized in that described spring assembly comprises two covers---spring assembly A (3) and spring assembly B (4), wherein a set of being included in is the spring of vertical state and X, Y-direction displacement transducer under free state, for X, Y-direction distortion detecting, another set of spring and the Z direction displacement transducer that only possesses Telescopic that comprise, detects for Z Direction distortion.
3. multistation according to claim 1 machinery contact welding bead correction tracking profiling welding system, it is characterized in that described welding gun seat supports wheel comprises welding gun seat supports wheel A (6) and welding gun seat supports wheel B (7), welding gun seat supports wheel A (6) is for the positioning supports of the mobile principal arm of X or Y-direction, welding gun seat supports wheel B (7) for the flexible auxiliary of Z direction support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320672180.9U CN203526777U (en) | 2013-10-30 | 2013-10-30 | Multi-station mechanical contact type weld pass deviation-rectifying tracking profiling-welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320672180.9U CN203526777U (en) | 2013-10-30 | 2013-10-30 | Multi-station mechanical contact type weld pass deviation-rectifying tracking profiling-welding system |
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| Publication Number | Publication Date |
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| CN203526777U true CN203526777U (en) | 2014-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320672180.9U Expired - Fee Related CN203526777U (en) | 2013-10-30 | 2013-10-30 | Multi-station mechanical contact type weld pass deviation-rectifying tracking profiling-welding system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643059A (en) * | 2016-03-28 | 2016-06-08 | 禹伟 | Tungsten gas protection electric arc welding equipment for total station production line |
| CN106041385A (en) * | 2016-07-22 | 2016-10-26 | 宁波金凤焊割机械制造有限公司 | Welding gun mechanism assembly of steel pipe bundle welding device |
| CN106112333A (en) * | 2016-07-22 | 2016-11-16 | 宁波金凤焊割机械制造有限公司 | A kind of horizontal welder of steel pipe bundle |
| CN116352331A (en) * | 2023-06-01 | 2023-06-30 | 成都吉豪汽车部件有限公司 | Auto parts welding set |
-
2013
- 2013-10-30 CN CN201320672180.9U patent/CN203526777U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643059A (en) * | 2016-03-28 | 2016-06-08 | 禹伟 | Tungsten gas protection electric arc welding equipment for total station production line |
| CN106041385A (en) * | 2016-07-22 | 2016-10-26 | 宁波金凤焊割机械制造有限公司 | Welding gun mechanism assembly of steel pipe bundle welding device |
| CN106112333A (en) * | 2016-07-22 | 2016-11-16 | 宁波金凤焊割机械制造有限公司 | A kind of horizontal welder of steel pipe bundle |
| CN106041385B (en) * | 2016-07-22 | 2017-09-22 | 宁波金凤焊割机械制造有限公司 | A kind of welding gun mechanism assembly of steel pipe bundle welder |
| CN106112333B (en) * | 2016-07-22 | 2018-02-13 | 宁波金凤焊割机械制造有限公司 | A kind of horizontal welder of steel pipe bundle |
| CN116352331A (en) * | 2023-06-01 | 2023-06-30 | 成都吉豪汽车部件有限公司 | Auto parts welding set |
| CN116352331B (en) * | 2023-06-01 | 2023-08-04 | 成都吉豪汽车部件有限公司 | Auto parts welding set |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140409 Termination date: 20171030 |