A kind of 5-shaft linkage numerical control manipulator bonding machine
The utility model relates to welding equipment technology, especially a kind of 5-shaft linkage numerical control manipulator bonding machine.
Hardware process often need carry out welding processing to it, and due to diversity, the scrambling of hardware, traditional welding procedure is mostly by manually completing.Although manual operations is simple, higher to operator's skill set requirements, and weld seam position often occurs rat, later stage work amount is large, and efficiency is also low.The multi-axis numerical control Series Welder device designed in prior art, is mainly used in the welding to periphery, plane, some position, still few to the welding processing of complicated batch workpiece, many curve forms.If patent publication No. is CN102091851A, a kind of Three-axis linkage numerical control welding machine of design, frame is provided with Three-axis drive mechanism, welding gun is installed by Three-axis drive mechanism, and drive welding gun to assigned address according to the control instruction received, along the driving mechanism of X-axis, Y-axis, Z axis self-movement, make the movement that welding gun realizes on three-dimensional.And for example patent publication number is CN103962761A, a kind of ready-package digital-control two-head three-dimensional curve bonding machine provided, comprise three-jaw or chuck that one is used for connecting tubing or excellent class part, at least one welding support, the lower end of welding support is connected with plumb joint, the upper end of scroll chuck is connected with slewing equipment, is connected, is connected with lifting device above slewing equipment between slewing equipment with described welding support by transverse movement beam; Coordinating for rolling between welding support with described transverse movement beam, transverse movement beam being provided with the transverse movement drive unit controlling the motion of described welding support; The output of lifting device is provided with the angle-adjusting mechanism controlling welding wire direction; This device is mainly arranged on pipe part, connects for two tubings or excellent class part the continuous line welding formed.
Summary of the invention
The purpose of this utility model is to solve different, that the face of weld is complicated hardware Welding Problems, providing a kind of reasonable in design, the multiple workpiece of disposable clamping, the five-shaft numerical control once welded machinery hand bonding machine.
Above-mentioned technical problem of the present utility model is mainly solved by following technical proposals: a kind of 5-shaft linkage numerical control manipulator bonding machine, it is characterized in that comprising horizontally disposed X-axis, bottom is positioned at Z axis in X-axis and vertical with X-axis, Z axis is provided with the Y-axis module that can move up and down along Z axis, Y-axis module comprises horizontal crossbearer, be provided with the expansion bracket along Y direction movement in horizontal crossbearer, expansion bracket end connects the C axle vertical with Y-axis; Based on C axle, be provided with the A axle vertical with C axle in C axle lower end, A axle is provided with rotary machine hand and connects welding gun; Workpiece turntable is provided with corresponding to welding gun working position.
The technical program cooperating platform (i.e. fixed frame) is by the linear drives module of X-axis, Y-axis, Z axis, and C axle rotating mechanism, A axle rotating mechanism and work piece holder turntable realize task jointly.Wherein, Y-axis place module is based upon on the basis of Z axis place module, and Z axis module is based upon on the basis of X-axis place module, and X-axis is arranged in frame, C axle rotating mechanism is arranged on the basis of Y-axis place module, and A axle rotating mechanism is arranged on the basis of C axle rotating mechanism.Welding gun is arranged on below binding clasp that A axle is arranged, rotates, carry out operation to welding position centered by A axle.
As preferably, Z axis is placed in vertical type shelf, and the lower end of vertical type shelf is provided with X-axis slide block, and X-axis is placed in Y-axis module, and Y-axis module is provided with the X-axis guide rail coordinated with slide block.
As preferably, be provided with driving screw mandrel in described Y-axis module, in vertical type shelf, bottom is provided with and the drive nut driving screw mandrel to coordinate.
As preferably, described vertical type shelf top is provided with servomotor, and described servomotor drives the driving screw mandrel be arranged in vertical type shelf by Timing Belt.
As preferably, described horizontal crossbearer is tubular structure, is provided with guide rail in Y-axis module in horizontal crossbearer, and expansion bracket is provided with the Y-axis module inner slide coordinated with guide rail in described Y-axis module.
As preferably, be provided with servomotor below the horizontal crossbearer one end in described Y-axis module, this servomotor coordinates with the driving screw mandrel of expansion bracket tail end.
As preferably, be also provided with Y-axis servomotor below the described horizontal crossbearer of Y-axis module, Z axis servomotor drives Z axis to move by the screw mandrel in Z axis Timing Belt and vertical type shelf.Y-axis mould composition level is based upon on the basis of Z axis.
As preferably, described A axle is perpendicular to C axle, parallel with X-axis, and A axle rotary machine hand provides the spinning movement that welding gun is pivot with A axle.
Effective effect of the present utility model is: by the multiple workpiece of clamping disposable in welding gun scope of activities, the disposable welding job completing multiple workpiece; By the linkage structure of five-shaft numerical control machinery hand, can weld complex-curved, flexibility is high, and can guarantee welding quality; The welding campaign of rotation arbitrarily can be done relative to curved surface, make tip maintenance relative to the forward leaning angle of curved surface, obtain good welding effect; Can automated job be realized, reduce labor intensity of operating staff, and applied widely, security good.
Accompanying drawing explanation
Fig. 1 is a kind of perspective view of the present utility model.
Fig. 2 is the main TV structure schematic diagram of one of the present utility model.
Fig. 3 is the plan structure schematic diagram of the utility model Fig. 2.
In figure: 1. X-axis Timing Belt, 2. X-axis servomotor, 3. slide block, 4. guide rail, 5. vertical type shelf, 6. Z axis servomotor, 7. Z axis Timing Belt, 8. Y-axis module, 9. Y-axis servomotor, 10. C axle servomotor, 11. A axle Timing Belts, 12. welding guns, 13. workpiece, 14. workpiece turntables, 15. workpiece frames, 16. welding gun frames, 17. Z axis slide blocks, 18. Z axis guide rails, 19. Y-axis Timing Belts, 20. Y-axis servomotors, guide rail in 21. Y-axis modules, 22. Y-axis module inner slides, 23. expansion brackets, 24. rotary machine hands.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.
A kind of 5-shaft linkage numerical control manipulator of the present embodiment bonding machine, see Fig. 1 to Fig. 3, is provided with two frames, one be that welding gun frame 16, two is workpiece frames 15, X, Y, Z, A, C five axle all come by respective module driving mechanism.
Welding gun frame 16 first arranges horizontally disposed X-axis module driving mechanism, and X-axis module driving mechanism comprises horizontally disposed driving screw mandrel, drives screw mandrel to realize displacement by X-axis servomotor 2 through X-axis Timing Belt 1.The Z axis module driving mechanism vertical with X-axis, bottom is provided with the nut coordinated with the driving screw mandrel in X-axis, and carries out mobile guide by X-axis slide block 3, X-axis guide rail 4 on a mating.
On Z axis, Z axis servomotor 6 is equipped with at Z axis module driving mechanism top, and Z axis servomotor 6 drives the driving screw mandrel in it by Z axis Timing Belt 7.Guide pass is equipped with in Z axis module driving mechanism side, guide pass is provided with Z axis guide rail 18, this guide pass is arranged the Y-axis module 8 that can move up and down along Z axis, Y-axis module 8 comprises horizontal crossbearer, and the end of horizontal crossbearer is provided with the Z axis slide block 17 coordinated with Z axis guide rail 18.Horizontal crossbearer is tubular structure, and arranges retractable expansion bracket in its one end along Y-axis.Particularly, horizontal crossbearer inside is provided with guide rail 21 in Y-axis module.Y-axis module 8 is provided with the Y-axis servomotor 20 of drive nut, and the driving screw mandrel that Y-axis servomotor 20 is connected with expansion bracket tail end coordinates.Be provided with servomotor 9 below horizontal crossbearer in Y-axis module 8, drive screw mandrel to do spinning movement by Y-axis Timing Belt 19.
Expansion bracket is provided with the Y-axis module inner slide 22 coordinated with guide rail 21 in Y-axis module.Expansion bracket end connects one and has vertical direction C axle, and plumb joint top is provided with C axle servomotor 10, C axle servomotor 10 provides C axle driving mechanism to rotate centered by C axle, and the C axle anglec of rotation reaches positive and negative 180 degree.It is positive and negative 90 degree that C axle lower end is provided with welding gun 12, the A axle anglec of rotation connected by A axle rotating mechanism.A axle is vertical with C axle, and A axle rotating mechanism is provided with servomotor, drives the folder rifle spindle nose in A axle rotating mechanism to rotate by A axle Timing Belt 11.
Correspond to welding gun working position installation workpiece turntable 14, according to the size of the design parameter setting workpiece turntable 14 of single unit system, be used for fixing multiple workpiece 13.
The controller of Five Axis CNC System is arranged in frame 16 by this device, and arranges display screen, and operation is directly perceived.Be applied in argon arc welding technique, in welding process, automatically add silk, welded workpiece surfacing brilliance, reliable welding quality, postwelding scarfing cinder treating capacity is little.
Above-described embodiment is to explanation of the present utility model, is not to restriction of the present utility model, anyly all belongs to protection domain of the present utility model to the structure after simple transformation of the present utility model.