CN204470848U - Welding robot workstation - Google Patents
Welding robot workstation Download PDFInfo
- Publication number
- CN204470848U CN204470848U CN201520131729.2U CN201520131729U CN204470848U CN 204470848 U CN204470848 U CN 204470848U CN 201520131729 U CN201520131729 U CN 201520131729U CN 204470848 U CN204470848 U CN 204470848U
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- CN
- China
- Prior art keywords
- mechanical arm
- welding robot
- wobble component
- welding
- robot workstation
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Abstract
The utility model provides a kind of welding robot workstation, comprising: pedestal; Ganged movement mechanism, it is installed on described pedestal, moves in order to carry out three dimensions relative to described pedestal; Wobble component, it carries out three dimensions by described ganged movement mechanism and moves, and can short transverse rotary oscillation in three dimensions; Welding gun, it is clamped in the end of described wobble component, in order to weld workpiece.The welding robot workstation adopting the utility model to provide is applicable to the workpiece of various shapes, and accurately can weld the workpiece of various shapes.
Description
Technical field
The utility model relates to field of automatic welding, particularly a kind of welding robot workstation.
Background technology
The welding of workpiece is mostly realized by human weld, and when carrying out human weld and being welded to certain length, welding personnel must move step, to proceed welding, but this will have impact on the stationarity in welding process, easily cause weld appearance uneven, leak, the phenomenon that outer rim given prominence to by light leak and welding bead joint, therefore, workpiece is welded and must adopt automatic welding technique.
But the workpiece be difficult to for various shapes accurately welds in the process of being welded workpiece by automatic welding technique, the workpiece welding of various shapes cannot be applicable to.
Utility model content
An object of the present utility model is the defect solving the workpiece welding that cannot be applicable to various shapes in prior art.
Another object of the present utility model is to provide a kind of workpiece being applicable to various shapes, and can carry out the welding robot workstation of accurately welding to the workpiece of various shapes.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of welding robot workstation, comprising:
Pedestal;
Ganged movement mechanism, it is installed on described pedestal, moves in order to carry out three dimensions relative to described pedestal; 's
Wobble component, it carries out three dimensions by described ganged movement mechanism and moves, and can short transverse rotary oscillation in three dimensions;
Welding gun, it is clamped in the end of described wobble component, in order to weld workpiece.
Preferably, also comprise mechanical arm, described mechanical arm is connected with described ganged movement mechanism, and described wobble component is arranged on the end of described mechanical arm.
Preferably, described mechanical arm comprises mechanical arm main body, and described mechanical arm main body is connected with described ganged movement mechanism, carries out three dimensions move in order to drive described wobble component.
Preferably, described wobble component is arranged on the free end of mechanical arm main body.
Preferably, described mechanical arm also comprises connector, and described connector is arranged on the free end of described mechanical arm main body, in order to provide the installation position of described wobble component, and can adjust the setting angle of welding gun in described wobble component.
Preferably, described connector comprises housing, gear shaft and lock nut, described gear shaft is arranged in described housing rotationally, described lock nut is arranged on described gear shaft and matches to lock described gear shaft with described housing, described housing is connected with the free end of described mechanical arm main body, and described gear shaft is connected with described wobble component.
Preferably, described wobble component comprises the axle reductor and axle servomotor that are connected with described mechanical arm, and described axle servomotor is connected with described axle reductor.
Preferably, described wobble component also comprises the welding gun jaw be arranged on bottom described axle reductor, and described welding gun jaw is in order to clamp described welding gun.
Preferably, described ganged movement mechanism comprises servomotor and executing agency, and described servomotor drives described executing agency to do three dimensions and moves.
Preferably, described servomotor includes three linear servo-actuators, and described executing agency comprises three straight line executing mechanisms, and the setting of described linear servo-actuator and straight line executing mechanism is moved corresponding with the three dimensions that it carries out.
Preferably, described straight line executing mechanism comprises slide rail, is slidably arranged in the slide block on described slide rail and is fixedly arranged on the flat board of described slider top.
Preferably, described ganged movement mechanism further comprises reductor, and described linear servo-actuator is connected with described straight line executing mechanism by described reductor.
As shown from the above technical solution, advantage of the present utility model and good effect are:
In the utility model, pedestal is provided with in welding robot workstation, ganged movement mechanism, wobble component and welding gun, be installed in ganged movement mechanism on pedestal to carry out three dimensions and move by opposite base, carry out three dimensions to drive wobble component to move thereupon, and can short transverse rotary oscillation in three dimensions, thus make the welding gun being clamped in wobble component end also can carry out three dimensions to move and rotary oscillation in short transverse, make welding gun can movement flexibly, and then be applicable to the workpiece of various shapes, achieve the accurate welding of the workpiece of various shapes.
Accompanying drawing explanation
Fig. 1 is the structural representation of welding robot workstation in an embodiment;
Fig. 2 is the top view of welding robot workstation in Fig. 1;
Fig. 3 is the structural representation of locating clamping tool in an embodiment;
Fig. 4 is the structural representation of the location clamping tool holding up workpiece in Fig. 3;
Fig. 5 is the top view of locating clamping tool in Fig. 3.
Description of reference numerals is as follows: 10, pedestal; 20, ganged movement mechanism; 210, linear servo-actuator; 230, straight line executing mechanism; 231, slide rail; 233, slide block; 235, dull and stereotyped; 30, wobble component; 310, axle reductor; 330, axle servomotor; 350, welding gun jaw; 40, welding gun; 50, mechanical arm; 510, mechanical arm main body; 530, connector; 60, clamping tool is located; 620, clamp system; 630, mechanism is holded up; 640, height adjusts assembly; 613, claw is located; 621, the first frame; 623, the second frame; 625, driven unit; 650, underframe; 6251, slider roller; 6253, clamping motor; 641, height adjusts push pedal; 643, push rod; 645, push pedal motor; 670, position sensor; 70, support; 90, weld seam recognition device.
Detailed description of the invention
The exemplary embodiment embodying the utility model feature & benefits will describe in detail in the following description.Be understood that the utility model can have various changes on different embodiments, it neither departs from scope of the present utility model, and explanation wherein and to be shown in be use when explain in essence, and be not used to limit the utility model.
As depicted in figs. 1 and 2, in one embodiment, a kind of welding robot workstation, comprises pedestal 10, ganged movement mechanism 20, wobble component 30 and welding gun 40.
Pedestal 10 is as the holder of welding robot workstation, and ganged movement mechanism 20 will be installed on pedestal 10, carries out three dimensions move with opposite base 10.That is, the three dimensions that ganged movement mechanism 20 carries out move by include on fore-and-aft direction rectilinear movement, the rectilinear movement on left and right directions and the rectilinear movement in short transverse, according to the welding needs of workpiece, ganged movement mechanism 20 can carry out the rectilinear movement in either direction as above respectively, also can carry out the rectilinear movement at least both direction as above simultaneously.
Concrete, three-dimensional coordinate system will be set up in advance, this three-dimensional coordinate system comprises x reference axis, y reference axis and z coordinate axle, accordingly, x is provided with to mobile platform, y to mobile platform and z to mobile platform, with respectively in order to realize the movement on x direction, y direction and z direction in ganged movement mechanism 20.
Wobble component 30 in order to realize installation and the rotary oscillation of welding gun 40, and carries out three dimensions by ganged movement mechanism 20 and moves.Concrete, wobble component 30 carries out the movement on x direction, y direction and z direction under the drive of ganged movement mechanism 20, and the short transverse as required in three dimensions, namely z coordinate axle carries out rotary oscillation.
Welding gun 40 is clamped in the end of wobble component 30, and can carry out three dimensions move and the rotary oscillation in short transverse under the cooperation of ganged movement mechanism 20 and wobble component 30, and then accurately welds workpiece.
Under the cooperation of pedestal 10 as above, ganged movement mechanism 20, wobble component 30 and welding gun 40, do not need to carry out pre-setting and adjusting according to the shape of workpiece, only need to carry out moving and/or rotary oscillation according to the shape of workpiece in the process of welding, be applicable to various work pieces process occasion.
Wherein, this workpiece can be corrugated plating, corrugated plating is widely used in industrial building, container and road transport car compartment etc., the larger then shear behavior of its ripple knuckle is better, but ripple knuckle is excessive, such as, when ripple knuckle is greater than 60 degree, welding gun 40 is unfavorable for accurate welding with corrugated plating angulation, and then have a strong impact on welding quality, and welding gun 40 can carry out three dimensions and moves and the rotary oscillation in short transverse under the cooperation of ganged movement mechanism 20 and wobble component 30 in welding robot workstation as above, to carry out tracking welding to the weld seam of corrugated plating, realize the corrugated plating welding of large ripple knuckle.
In one embodiment, described welding robot workstation further comprises mechanical arm 50, and this mechanical arm 50 is connected with ganged movement mechanism 20, and wobble component 30 is arranged on the end of mechanical arm 50.
Concrete, mechanical arm 50 includes mechanical arm main body 510, and this mechanical arm main body 510 is connected with ganged movement mechanism 20, carries out three dimensions move in order to drive wobble component 30, thus provides the function of three dimensions movement for wobble component 30.
Wherein, wobble component 30 can be arranged on the free end of mechanical arm main body 510.
Further, mechanical arm 50 as above further comprises connector 530, this connector 530 with thinking the installation position that welding gun 40 provides adjustable, with improve workpiece welding accuracy.
Connector 530 is arranged on the free end of mechanical arm main body 510, in order to provide the installation position of wobble component 30, and can adjust the setting angle of welding gun 40 in wobble component 30, so before workpiece is welded in advance Butt welding gun 40 carry out position adjustment.
Concrete, connector 530 will comprise housing, gear shaft (not shown) and lock nut (not shown), and housing in order to encapsulate gear shaft, and is connected with the free end of mechanical arm main body 510, and gear shaft is arranged in the housing rotationally, to provide rotary drive.And wobble component 30 is connected with rotating gear shaft, to be realized the rotation of wobble component 30 by the rotary drive of gear shaft, and then adjusted the setting angle of welding gun 40 in wobble component 30.
Lock nut to be arranged on gear shaft and to match with housing, screw out housing by lock nut, to unclamp the gear shaft of locking, gear shaft is in free state and can arbitrarily rotates, therefore, the rotation by gear shaft adjusts the wobble component 30 being arranged on gear shaft end.
Accordingly, after treating that adjustment that wobble component 30 carries out completes, lock nut is screwed in, and locks under the cooperation of housing, thus locking teeth wheel shaft, the setting angle of welding gun 40 in current oscillation assembly 30 is locked.
In one embodiment, wobble component 30 comprises axle reductor 310 and axle servomotor 330, and axle reductor 310 is connected with axle servomotor 330.
Concrete, axle reductor 310 can be connected with the free end of mechanical arm main body 510, and to realize four-axle linked along with mechanical arm main body 510 and ganged movement mechanism 20, namely three dimensions moves and its rotary oscillation in short transverse.
Further, axle reductor 310 is also arranged on mechanical arm 50 by being connected with connector 530, owing to adjusting by the setting angle of connector 530 Butt welding gun 40, therefore, by arranging connector 530 between mechanical arm main body 510 and axle reductor 310, further Butt welding gun 40 being carried out position optimization, further increasing the quality of welding.
Further, wobble component 30 as above also comprises welding gun jaw 350, and this welding gun jaw 350 is arranged on bottom axle reductor 310, in order to clamp welding gun 40.
That is, welding gun jaw 350 rotates under the drive of axle reductor 310 around three-dimensional short transverse, and then drives the welding gun 40 of clamping to carry out rotary oscillation around three-dimensional short transverse.
In one embodiment, ganged movement mechanism 20 includes servomotor and executing agency.Servomotor is connected with executing agency, carries out three dimensions move to drive executing agency.
Concrete, because three-dimensional movement includes the rectilinear movement on three directions, therefore, servomotor includes three linear servo-actuators 210, accordingly, executing agency also includes three straight line executing mechanisms 230, and each linear servo-actuator 210 will be connected with a straight line executing mechanism 230, and the setting of linear servo-actuator 210 and straight line executing mechanism 230 is also moved corresponding with the three dimensions that it carries out.
That is, three linear servo-actuators 210 will form a mobile platform respectively with a straight line executing mechanism 230, and namely x is to mobile platform, y to mobile platform and z to mobile platform, to realize x in three dimensions respectively to movement, y to mobile and z to movement.
Pre-set the weld start position in welding robot workstation and three-dimensional work coordinate system, the initial point of three-dimensional work coordinate system is weld start position, three linear servo-actuators 210 are corresponding with the reference axis in three-dimensional work coordinate system respectively, and straight line executing mechanism 230 also will move along corresponding reference axis.
Further, straight line executing mechanism 230 includes slide rail 231, is slidably arranged in the slide block 233 on slide rail 231 and is installed in the flat board 235 at slide block 233 top, to realize smooth and easy slip.
In a preferred embodiment, in the mobile platform be made up of linear servo-actuator 210 and straight line executing mechanism 230, x will be cascading, to meet the length, width and the height requirement that relate in workpiece welding process for initial with pedestal 10 to mobile platform to mobile platform, y to mobile platform and z.
By welding robot workstation as above, welding gun 40 will be made to be able to flexible movement, for the welding of corrugated plating, precision and the uniformity of welding will be drastically increased, avoid weld appearance uneven, leak, the appearance of the situation such as light leak, reduce hand labor intensity, significantly improve welding surroundings.
Under the effect of welding robot workstation as above, make the corrugated plating of larger ripple knuckle also can obtain best welding, improve crudy and the process velocity of the corrugated plating of larger ripple knuckle simultaneously.
In one embodiment, welding robot workstation as above is also provided with location clamping tool 60, this location clamping tool 60 is corresponding with welding gun 40, workpiece to be welded is holded up for locating, to make work to be welded can automatically reach default welding position in welding process, can directly weld without any need for manual operation.
Concrete, location clamping tool 60 includes loading assemblies (not shown), clamp system 620 and holds up mechanism 630.
Be provided with the on-station position of workpiece in loading assemblies 610, clamp system 620 and on-station position are oppositely arranged, so that clamping reaches the workpiece of on-station position; Holding up 630, mechanism is arranged on below clamp system 620, holds up welding position, and then welded by welding gun 40 with the workpiece clamped mechanism 620 clamped.
Further, location clamping tool 60 also comprises height adjustment assembly 640, and it is arranged on the below of clamp system 620, to carry out height adjustment to workpiece.
That is, after workpiece reaches on-station position, height adjustment assembly 640 will carry out height adjustment to workpiece.
In one embodiment, loading assemblies comprises conveyer belt (not shown), location claw 613 and alignment sensor (not shown).
Conveyer belt is used for conveying work pieces, and location claw 613 opposed belt is arranged, and for the transmission stopping workpiece in conveyer belt, that is, claw 613 position, location is the end position of work piece delivery.
Be provided with alignment sensor in the claw 613 of location, whether this alignment sensor is in place for detecting workpiece, if yes, then sends corresponding signal, so that realize Automated condtrol.
By loading assemblies as above, will the automatic charging in welding process be achieved, drastically increase welding efficiency.
In one embodiment, above-mentioned clamp system 620 comprises the first frame 621, slidably the second frame 623 that are fixedly installed and the driven unit 625 driving the second frame 623 to slide.
Underframe 650 is provided with, loading assemblies, clamp system 620 and hold up mechanism 630 and be all arranged on underframe 650 in the clamping tool 60 of location.
The first frame 621 in clamp system 620 will be installed on underframe 650, second frame 623 is then slidably arranged on underframe 650, and realize sliding by the driven unit 625 be attached thereto, slide to order about the second frame 623 when workpiece is in place, and then clamping work pieces.
Further, driven unit 625 includes slider roller 6251, feed screw nut (not shown) and clamping motor 6253.
For realizing the slip of the second frame 623, slider roller 6251 is arranged on bottom the second frame 623, second frame 623 is connected with clamping motor by feed screw nut, and under the effect of feed screw nut and clamping motor 6253, orders about the second frame 623 slided by slider roller 6251.
In one embodiment, height adjustment assembly 640 as above includes height adjustment push pedal 641, push rod 643 and push pedal motor 645, to carry out height adjustment by the cooperation of height adjustment push pedal 641, push rod 643 and push pedal motor 645 to workpiece in place.
Concrete, the bottom that push rod 643 adjusts push pedal 641 with height is connected, and push pedal motor 645 is connected with push rod 643, promotes height adjustment push pedal 641 at the drive lower push rod 643 of push pedal motor 645, and then realizes the height adjustment of workpiece.
In one embodiment, location as above clamping tool 60 further comprises position sensor 670, and this position sensor 670 is arranged on default welding position, whether is placed in welding position to detect workpiece.
In one embodiment, welding robot workstation as above further comprises the wire-feed motor (not shown) be connected with welding gun 40, and this wire-feed motor in order to control welding gun 40 starting the arc and blow-out, and then realizes automatic welding.
In addition, in another embodiment, welding robot workstation as above further comprises the support 70 be connected with the stiff end of mechanical arm 50, the position control motor 80 of the stiff end being arranged on support 70 and the weld seam recognition device 90 that is arranged on support 70, this support 70 is revolution rod member, and it can turn round around stiff end; Position control motor 80 is in order to control the revolution of support 70; Weld seam recognition device 90 can be laser welded seam identifier 90, and it is in order to identify the seam track in workpiece, so that accurately weld.
Although describe the utility model with reference to several exemplary embodiment, should be appreciated that term used illustrates and exemplary and nonrestrictive term.Specifically can implement in a variety of forms due to the utility model and not depart from spirit or the essence of utility model, so be to be understood that, above-mentioned embodiment is not limited to any aforesaid details, and explain widely in the spirit and scope that should limit in claim of enclosing, therefore fall into whole change in claim or its equivalent scope and remodeling and all should be claim of enclosing and contained.
Claims (12)
1. a welding robot workstation, is characterized in that, comprising:
Pedestal;
Ganged movement mechanism, it is installed on described pedestal, moves in order to carry out three dimensions relative to described pedestal;
Wobble component, it carries out three dimensions by described ganged movement mechanism and moves, and can short transverse rotary oscillation in three dimensions;
Welding gun, it is clamped in the end of described wobble component, in order to weld workpiece.
2. welding robot workstation according to claim 1, is characterized in that, also comprises mechanical arm, and described mechanical arm is connected with described ganged movement mechanism, and described wobble component is arranged on the end of described mechanical arm.
3. welding robot workstation according to claim 2, is characterized in that, described mechanical arm comprises mechanical arm main body, and described mechanical arm main body is connected with described ganged movement mechanism, carries out three dimensions move in order to drive described wobble component.
4. welding robot workstation according to claim 3, is characterized in that, described wobble component is arranged on the free end of mechanical arm main body.
5. welding robot workstation according to claim 3, it is characterized in that, described mechanical arm also comprises connector, described connector is arranged on the free end of described mechanical arm main body, in order to provide the installation position of described wobble component, and can adjust the setting angle of welding gun in described wobble component.
6. welding robot workstation according to claim 5, it is characterized in that, described connector comprises housing, gear shaft and lock nut, described gear shaft is arranged in described housing rotationally, described lock nut is arranged on described gear shaft and matches to lock described gear shaft with described housing, described housing is connected with the free end of described mechanical arm main body, and described gear shaft is connected with described wobble component.
7. welding robot workstation according to claim 3, is characterized in that, described wobble component comprises the axle reductor and axle servomotor that are connected with described mechanical arm, and described axle servomotor is connected with described axle reductor.
8. welding robot workstation according to claim 7, is characterized in that, described wobble component also comprises the welding gun jaw be arranged on bottom described axle reductor, and described welding gun jaw is in order to clamp described welding gun.
9. welding robot workstation according to claim 1, is characterized in that, described ganged movement mechanism comprises servomotor and executing agency, and described servomotor drives described executing agency to do three dimensions and moves.
10. welding robot workstation according to claim 9, it is characterized in that, described servomotor includes three linear servo-actuators, described executing agency comprises three straight line executing mechanisms, and the setting of described linear servo-actuator and straight line executing mechanism is moved corresponding with the three dimensions that it carries out.
11. welding robot workstations according to claim 10, is characterized in that, described straight line executing mechanism comprises slide rail, is slidably arranged in the slide block on described slide rail and is fixedly arranged on the flat board of described slider top.
12. welding robot workstations according to claim 9, is characterized in that, described ganged movement mechanism further comprises reductor, and described linear servo-actuator is connected with described straight line executing mechanism by described reductor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520131729.2U CN204470848U (en) | 2015-03-06 | 2015-03-06 | Welding robot workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520131729.2U CN204470848U (en) | 2015-03-06 | 2015-03-06 | Welding robot workstation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204470848U true CN204470848U (en) | 2015-07-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520131729.2U Expired - Fee Related CN204470848U (en) | 2015-03-06 | 2015-03-06 | Welding robot workstation |
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| Country | Link |
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| CN (1) | CN204470848U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983806A (en) * | 2015-03-06 | 2016-10-05 | 扬州中集通华专用车有限公司 | Welding robot station |
| CN107742592A (en) * | 2017-11-07 | 2018-02-27 | 河南森源电气股份有限公司 | Disconnecting switch welding of underframe clamping tool |
-
2015
- 2015-03-06 CN CN201520131729.2U patent/CN204470848U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983806A (en) * | 2015-03-06 | 2016-10-05 | 扬州中集通华专用车有限公司 | Welding robot station |
| CN107742592A (en) * | 2017-11-07 | 2018-02-27 | 河南森源电气股份有限公司 | Disconnecting switch welding of underframe clamping tool |
| CN107742592B (en) * | 2017-11-07 | 2020-07-21 | 河南森源电气股份有限公司 | Clamping tool for welding of isolation switch underframe |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 225009 No. 139 middle Yangzi Road, Jiangsu, Yangzhou Co-patentee after: Zhongji Vehicle (Group) Co.,Ltd. Patentee after: YANGZHOU CIMC TONGHUA SPECIAL VEHICLES Co.,Ltd. Co-patentee after: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. Address before: 225009 No. 139 middle Yangzi Road, Jiangsu, Yangzhou Co-patentee before: CIMC vehicle (Group) Co.,Ltd. Patentee before: YANGZHOU CIMC TONGHUA SPECIAL VEHICLES Co.,Ltd. Co-patentee before: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181214 Address after: 225009 No. 139 middle Yangzi Road, Jiangsu, Yangzhou Co-patentee after: Zhongji Vehicle (Group) Co.,Ltd. Patentee after: YANGZHOU CIMC TONGHUA SPECIAL VEHICLES Co.,Ltd. Address before: 225009 No. 139 middle Yangzi Road, Jiangsu, Yangzhou Co-patentee before: Zhongji Vehicle (Group) Co.,Ltd. Patentee before: YANGZHOU CIMC TONGHUA SPECIAL VEHICLES Co.,Ltd. Co-patentee before: CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) Ltd. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150715 |
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| CF01 | Termination of patent right due to non-payment of annual fee |