CN204997257U - Integrative machine people of multi -functional five planer -types welding - Google Patents

Integrative machine people of multi -functional five planer -types welding Download PDF

Info

Publication number
CN204997257U
CN204997257U CN201520679326.1U CN201520679326U CN204997257U CN 204997257 U CN204997257 U CN 204997257U CN 201520679326 U CN201520679326 U CN 201520679326U CN 204997257 U CN204997257 U CN 204997257U
Authority
CN
China
Prior art keywords
gear
joint
rail
bearing
little
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201520679326.1U
Other languages
Chinese (zh)
Inventor
刘涛
杜宏旺
赵亚楠
田红岩
康俊峰
谢振平
孙家诚
李生保
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201520679326.1U priority Critical patent/CN204997257U/en
Application granted granted Critical
Publication of CN204997257U publication Critical patent/CN204997257U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model provides an integrative machine people of multi -functional five planer -types welding, first stand, second stand move joint, the 2nd X through a X respectively and move the joint and install on first rail and second rail, and the crossbeam is installed between first stand and second stand, and the transfer arm passes through Y and moves the joint and installs on the crossbeam, and the lifing arm passes through Z removal joint to be installed on the transfer arm the tip of lifing arm is provided with U rotary mechanism, and U rotary mechanism's tip is provided with V rotary mechanism, and V rotary mechanism's end connection has the soldering set or cuts the utensil. The utility model discloses the various spaces cutting of adaptable large -scale spherical crown, curved plate, pressure vessel, cone, barrel etc. And the multipass welding of multilayer that two gold medals belong to the three dimensions junction.

Description

The welded machine people of multi-functional five axle planer-type
Technical field
The utility model relates to a kind of robot, particularly relates to the welded machine people of a kind of multi-functional five axle planer-type.
Background technology
At present, patent of invention multifunctional gantry type seven-shaft industrial robot (the Chinese patent of Harbin Engineering University's application, 200910072010.5) and a kind of industrial robot structure with seven tandem shafts (Chinese patent for pipe end operations of patent of invention application number:, application number: 201010101017.8), structure all has seven joint freedom degrees, the utility model patent has five joint freedom degrees, except the Three Degree Of Freedom of implementation space rectangular co-ordinate motion has similar structures, other two degrees of freedom has diverse mechanical transmission structure and motion mode, cutting and welding purposes can be met especially, therefore with above-mentioned two patents, there is the difference had in essence.And planer-type two-freedom gas flame cuttiug machine people can only cut curve various in plane at present, even if carry soldering set also can only realize welding in plane, but its structural design cannot carry out three-dimensional space curve welding.The planer-type five axle gas flame cuttiug machine people produced for representative with ESA company now, comprise the vertical displacement movement of movement in the horizontal plane of XY diaxon and Z axis, X, Y, Z tri-axle is orthogonal, the rotating shaft U around Z axis is connected in Z axis lower end, arc plate is connected in rotating shaft U lower end, and tool is cut in installation on arc plate, and make it produce rotary motion around Hu Ban center, and the center of arc plate is cut point, cut the angle that the axis of tool and Z axis formed and be 90 degree in theory to the maximum, but this mode is owing to making its cut coverage be difficult to reach 90 degree by the restriction of arc plate project organization, make its cutting angle critical constraints, also do not carry soldering set in reality and carry out weld job, owing to this structural design cannot realize carry welding equipment, even if carry welding equipment to weld, its soldering angle and cutting angle are limited equally, meanwhile, the gear drive at arc plate place is difficult to protect, and under the condition of work making it severe, is difficult to ensure precision in long-term use procedure.
All welding equipment is not carried in the robot reality of above-mentioned several structure, main cause is that its structural design just cannot carry soldering set, even if carry out certain to improve lift-launch soldering set, planer-type two-freedom gas flame cuttiug machine people just cannot realize the welding of three-dimensional space curve, and no matter is cutting operation or weld job critical constraints with its working space of planer-type five axle gas flame cuttiug machine people that ESA company produces for representative.Be badly in need of a kind of weld job that can carry out in reality can realize cutting operation again and the Three dimensional slots of larger angle scope and the multi-functional of three-dimensional welding operation can be realized in the robot of one.It is relatively dexterous compact that the utility model patent has structure, is convenient to carry soldering set, and the mechanism of the utility model patent is easy to ensure positioning precision and repetitive positioning accuracy, can realize the operation of large space precision welding.
Summary of the invention
The purpose of this utility model provides the welded machine people of a kind of multi-functional five axle planer-type in order to the welding of the multilayer multiple tracks of the cutting of various spaces and two metal three dimensions junctions adapting to large-scale spherical crown, curved slab, pressure vessel, cone, cylindrical shell etc.
The purpose of this utility model is achieved in that the first column 202, second column 210 is respectively by an X linear joint 201, 2nd X linear joint 211 is arranged on the first rail 213 and the second rail 214, crossbeam 206 is arranged between the first column 202 and the second column 210, transfer arm 212 is installed on crossbeam 206 by Y linear joint 205, lifting arm 204 is arranged on transfer arm 212 by Z linear joint 203, the end of described lifting arm 204 is provided with U rotating mechanism 207, the end of U rotating mechanism 207 is provided with V rotating mechanism 208, the end of V rotating mechanism 208 is connected with soldering set or cuts tool 209, described U rotating mechanism 207 comprises the U support 16 being arranged on lifting arm end, the U joint motor 14 be arranged on U support 16, the U joint speed reducer 13 be connected with U joint motor 14 output, the first gear 9 being sleeved on U joint speed reducer 13 output and the second gear 10 engaged with the first gear 9, and described second gear 10 is sleeved on the second gear shaft, the second gear shaft is arranged on U support 16, described V rotating mechanism 208 comprise the V support 8 be connected with the second gear 10 end face, the V joint motor 6 be arranged on V support 8, the V joint speed reducer 7 be connected with the output of V joint motor 6, the gear III5 be sleeved on V joint speed reducer 7 output, with gear III5 meshed gears II4 and with gear II4 meshed gears I3, gear II4 and gear I3 is arranged on corresponding gear shaft respectively and described gear shaft is arranged on V support 8, the end face of gear I3 is fixed with folder rifle device 2, and the end of folder rifle device 2 is fixed with soldering set or cuts tool 209.
Compared with prior art, the beneficial effects of the utility model are: the utility model can carry out weld job can realize cutting operation again and can realize the Three dimensional slots of larger angle scope and the multi-functional of three-dimensional welding operation in the robot of one.It is relatively dexterous compact that the utility model has structure, is convenient to carry soldering set, and the utility model is easy to ensure positioning precision and repetitive positioning accuracy, can realize the operation of large space precision welding.The utility model can carry welding equipment, can meet cutting and weld purposes, carry out three-dimensional space curve welding, under severe operating conditions, can ensure precision in long-term use procedure.
Accompanying drawing explanation
Fig. 1 is structure diagram of the present utility model;
Fig. 2 is overall structure schematic diagram of the present utility model;
Fig. 3 is the schematic diagram one of U rotating mechanism of the present utility model and V rotating mechanism;
Fig. 4 is the schematic diagram two of U rotating mechanism of the present utility model and V rotating mechanism;
Fig. 5 is the schematic diagram one of Y linear joint of the present utility model and Z linear joint;
Fig. 6 is the schematic diagram two of Y linear joint of the present utility model and Z linear joint;
Fig. 7 is the schematic diagram three of Y linear joint of the present utility model and Z linear joint;
Fig. 8 is the X linear joint schematic diagram one of supporting leg I of the present utility model;
Fig. 9 is the X linear joint schematic diagram two of supporting leg I of the present utility model;
Figure 10 is the X linear joint schematic diagram one of supporting leg II of the present utility model;
Figure 11 is the X linear joint schematic diagram two of supporting leg II of the present utility model;
Figure 12 is the schematic diagram one that the utility model adjusts the adjustment cushion block of the rail depth of parallelism between pad steel and rail;
Figure 13 is the schematic diagram two that the utility model adjusts the adjustment cushion block of the rail depth of parallelism between pad steel and rail.
In figure: soldering set or cut tool 1, folder rifle device 2, gear I 3, gear 4 II, gear III 5, V joint motor 6, V joint speed reducer 7, V support 8, first gear 9, second gear 10, set screws 11, reducer stent 12, U joint speed reducer 13, U joint motor 14, set screws 15, U support 16, tooth bar 17, set screws 18, lifting arm 19, slide rail 20, set screws 21, slide rail 22, set screws 23, slide block 24, slide block 25, gear shaft 26, turbine and worm decelerator 27, motor 28, YZ contiguous block 29, slide rail 30, set screws 31, slide block 32, set screws 33, slide block 34, set screws 35, slide rail 36, set screws 37, slide block 38, set screws 39, slide block 40, set screws 41, tooth bar 42, set screws 43, support 44, set screws 45, motor 46, decelerator 47, gear 48, crossbeam 49, bolt group 50, bolt group 51, supporting leg I 52, supporting leg II 53, motor 54, decelerator 55, support 56, set screws 57, gear 58, tooth bar 59, rail 60, walking axle 61, road wheel 62, bearing 63, little round nut 64, little axle 65, bearing 66, little round nut 67, little axle 68, bearing 69, little round nut 70, little axle 71, bearing 72, little round nut 73, little axle 74, walking axle 75, road wheel 76, bearing 77, little round nut 78, little axle 79, bearing 80, little round nut 81, little axle 82, bearing 83, little round nut 84, little axle 85, bearing 86, little round nut 87, little axle 88, walking axle 89, road wheel 90, walking axle 91, road wheel 92, motor 93, decelerator 94, support 95, set screws 96, gear 97, tooth bar 98, rail 99, bearing 100, little round nut 101, little axle 102, bearing 103, little round nut 104, little axle 105, bearing 106, little round nut 107, little axle 108, bearing 109, little round nut 110, little axle 111, bearing 112, little round nut 113, little axle 114, bearing 115, little round nut 116, little axle 117, bearing 118, little round nut 119, little axle 120, bearing 121, little round nut 122, little axle 123, bolt 124, bolt 125, compressing tablet 126, bolt 127, bolt 128, compressing tablet 129, bolt 130, bolt 131, bolt 132, bolt 133, bolt 134, bolt 135, bolt 136, bolt 137, compressing tablet 138, bolt 139, bolt 140, compressing tablet 141, bolt 142, bolt 143, adjustment cushion block 144, pad steel 145, pad steel 146.
X linear joint 201, first column 202, Z linear joint 203, lifting arm 204, Y linear joint 205, crossbeam 206, U rotary joint 207, V rotary joint 208, cut tool or soldering set 209, second column 210, X linear joint 211, transfer arm 212, first rail 213, second rail 214.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the utility model is described in further detail.
The utility model have employed planer type structure, first pad steel is laid on ground, rail guiding mechanism installed by pad steel, the quantity and spacing of rail guiding mechanism is suitably set according to actual conditions, rail is arranged on many group adjustment cushion blocks by bolt, adjusts the depth of parallelism of portal frame both sides rail in horizontal plane by organizing guiding mechanism more; Rail for railway is through processing, make the road wheel be arranged on supporting leg can carry out linear contact lay with rail with clamping bearing, and rail is clamped, make between rail and supporting leg, there are two frees degree, but the restriction of the deadweight through cutting robot, makes the road wheel on supporting leg can only have an one-movement-freedom-degree along rail.Two supporting legs all adopt triangular form structure, because its structural stability is good and self center of gravity is low, be conducive to reducing the centre-to-centre spacing of every support being installed two wheels, and then increase effective travel, and this structure directly increases the stability of robot motion; On two supporting legs, crossbeam is installed, make two supporting legs and crossbeam form planer type structure, and on crossbeam side, be fixed with two slide rails be parallel to each other, hold high configuration two slide blocks at each slide rail, make to form an one-movement-freedom-degree on crossbeam direction, it is also by gear-rack drive; Be arranged on four slide blocks on two slide rails and YZ contiguous block is installed, YZ contiguous block is installed the slide block of lifting, the slide block of fixed installation lifting on lifting arm, slide rail opposing slider is made only to have elevating movement, wherein X, Y, Z tri-axles are orthogonal, thus can the movement of implementation space mutually on vertical three directions; Be provided with in lifting arm lower end at the U rotary joint around lifting arm lifting direction, make it can produce unlimited rotary motion; V rotary joint is connected with below U rotary joint, the axle center of U rotary joint and the axle center of V rotary joint orthogonal, and at V rotary joint place fixed installation folder rifle device, folder rifle device is installed soldering set or cut tool, make to cut tool or soldering set produces rotary motion around V rotary joint; When carrying out weld job, folder rifle device clamping soldering set, comprises submerged arc welding wire-feeding welding gun, argon arc welding wire feed welding gun and other multiple welding guns, in the case of cutting, tool is cut in the clamping of folder rifle device, comprises oxygen and acetylene burning torch, oxygen and hydrogen burning torch and plasma cutting gun; Thus constitute that five joints contact mutually there is the planer-type robot that can realize welding and cutting operation gathers multi-function in integral whole.The planer type structure that robot adopts makes the working space of robot/structural volume than large, therefore is convenient to workman's on-site supervision and operation, and the utility model has and improves operating efficiency, ensures the quality of products and effectively reduce the advantage of labor strength.
Wherein Fig. 1 is robot architecture's simplified schematic diagram, reference name sequence number is wherein: X linear joint 201, first column 202, Z linear joint 203, lifting arm 204, Y linear joint 205, crossbeam 206, U rotary joint 207, V rotary joint 208, cut tool or soldering set 209, second column 210, X linear joint 211, transfer arm 212, first rail 213, second rail 214, and the first described column 202, second column 210 conveniently simplifies mark in sketch, truly that corresponding is supporting leg I52 and supporting leg II53 respectively.
To achieve these goals, the technical scheme that invention adopts is as shown in Figure 1: robot mainly comprises: V rotating mechanism, U rotating mechanism, Y travel mechanism of Z travel mechanism and X travel mechanism.
Described V rotating mechanism: set screws 11, soldering set or cut tool 1, folder rifle device 2, gear I 3, gear 4 II, gear III 5, V joint motor 6, V joint speed reducer 7, V support 8.V support 8 is fixed on immediately below the second gear 10 by set screws 11, gear I 3, gear 4 II and gear III 5 are arranged on V support 8 by respective gear shaft, gear I 3 and folder rifle device 2 are for being fixedly connected with simultaneously, the output shaft being arranged on V joint speed reducer 7 on V support 8 is provided with gear III 5, thus formed with the primary speed-down of V joint speed reducer 7 with gear I 3, the double reduction of gear 4 II and gear III 5, its main purpose is for pulling open V joint motor 6 and V joint speed reducer 7 and the distance of cutting tool or soldering set, the working space cutting tool or soldering set place is made not to be subject to the impact of V joint motor 6 and V joint speed reducer 7 installation site, make again motor and decelerator from the thermal-radiating impact produced when welding or cutting.Three the gears formation double reductions that have of the utility model V joint can adopt the suitable number of gears and gearratio according to speed reducing ratio and transmission distance, also can adopt Steel Belt Transmission, toothed belt transmission, chain drive or other kinds of drive.
Described U rotating mechanism: the first gear 9, second gear 10, reducer stent 12, U joint speed reducer 13, U joint motor 14, set screws 15, U support 16.U support 16 is fixed on immediately below lifting arm 19, the gear shaft of the second gear 10 is arranged on U support 16, reducer stent 12 is fixed on the sidewall of U support 16 by set screws 15, U joint speed reducer 13 is arranged on reducer stent 12, first gear 9 is installed on U joint speed reducer 13 output shaft, first gear 9 and the second gear 10 are transmission of intermeshing, and the axis of rotation of the second gear 10 is on the lifting direction falling arm 19.
Described Z travel mechanism mainly comprises: tooth bar 17, set screws 18, lifting arm 19, slide rail 20, set screws 21, slide rail 22, set screws 23, slide block 24, slide block 25, gear shaft 26, turbine and worm decelerator 27, motor 28, YZ contiguous block 29.Slide block 24 and slide block 25 are arranged in YZ contiguous block 29, the slide rail 21 coordinated with slide block 24 is arranged on lifting arm 19, the slide rail 22 coordinated with slide block 25 is also arranged on lifting arm 19, slide rail 21 and slide rail 22 parallel to each other, thus make the moving direction of the lifting direction of lifting arm 19 and described X moving machine perpendicular, and the moving direction of described Y travel mechanism is also perpendicular.The decelerator of elevating mechanism adopts turbine and worm decelerator 27 to make it have auto-lock function herein, turbine and worm decelerator 27 output shaft installs gear shaft 26, and turbine and worm decelerator 27 and gear shaft 26 are arranged on YZ contiguous block simultaneously, tooth bar 17 is fixed on lifting arm 19 by set screws 18, and tooth bar 17 intermeshes with the tooth on gear shaft 26.
Described Y travel mechanism mainly comprises: YZ contiguous block 29, slide rail 30, set screws 31, slide block 32, set screws 33, slide block 34, set screws 35, slide rail 36, set screws 37, slide block 38, set screws 39, slide block 40, set screws 41, tooth bar 42, set screws 43, support 44, set screws 45, motor 46, decelerator 47, gear 48.The crossbeam 49 of portal frame is installed slide rail 30 and slide rail 36, and make slide rail 30 and slide rail 36 parallel to each other; On crossbeam 49, tooth bar 42 is installed simultaneously, and on slide rail 30, is provided with slide block 32 and slide block 34, slide rail 36 is provided with slide block 38 and slide block 40; YZ contiguous block 29 is fixed on slide block 38, slide block 40, slide block 34 and slide block 32 by set screws 29, set screws 41, set screws 35 and set screws 33, many groups slide block makes its weight capacity strengthen, electric machine support 44 in Y-direction is fixed on YZ contiguous block 29 by set screws 45, support 44 is installed decelerator 47, decelerator 47 output shaft is provided with gear 48, and gear 48 and tooth bar 42 engage each other; The moving direction of Y travel mechanism and the moving direction of X travel mechanism perpendicular.
Described X travel mechanism mainly comprises: crossbeam 49, bolt group 50, bolt group 51, supporting leg I 52, supporting leg II 53, motor 54, decelerator 55, support 56, set screws 57, gear 58, tooth bar 59, rail 60, walking axle 61, road wheel 62, bearing 63, little round nut 64, little axle 65, bearing 66, little round nut 67, little axle 68, bearing 69, little round nut 70, little axle 71, bearing 72, little round nut 73, little axle 74, walking axle 75, road wheel 76, bearing 77, little round nut 78, little axle 79, bearing 80, little round nut 81, little axle 82, bearing 83, little round nut 84, little axle 85, bearing 86, little round nut 87, little axle 88, walking axle 89, road wheel 90, walking axle 91, road wheel 92, motor 93, decelerator 94, support 95, set screws 96, gear 97, tooth bar 98, rail 99, bearing 100, little round nut 101, little axle 102, bearing 103, little round nut 104, little axle 105, bearing 106, little round nut 107, little axle 108, bearing 109, little round nut 110, little axle 111, bearing 112, little round nut 113, little axle 114, bearing 115, little round nut 116, little axle 117, bearing 118, little round nut 119, little axle 120, bearing 121, little round nut 122, little axle 123, bolt 124, bolt 125, compressing tablet 126, bolt 127, bolt 128, compressing tablet 129, bolt 130, bolt 131, bolt 132, bolt 133, bolt 134, bolt 135, bolt 136, bolt 137, compressing tablet 138, bolt 139, bolt 140, compressing tablet 141, bolt 142, bolt 143, adjustment cushion block 144, pad steel 145, pad steel 146.Wherein form portal frame by supporting leg I 52, supporting leg II 53 and crossbeam 49, form main body frame; Lay on ground and pursue the proper method and pad steel 145 and pad steel 146 fixed on the ground, according to actual conditions, on pad steel 145 and pad steel 146, many group adjustment cushion blocks 144 are evenly installed at interval, rail 60 and rail 99 is provided with on many group adjustment cushion blocks 144, by adjusting bolt on many group adjustment cushion blocks 144 and rail 60 and rail 99 are fixed by compressing tablet, and the rail 60 below supporting leg I 52 and supporting leg II 53 and rail 99 are parallel to each other; Rail 60 is provided with tooth bar 59, rail 99 is provided with tooth bar 98, supporting leg I 52 and supporting leg II 53 are provided with drive unit; Fix eight little axles on each leg, each little axle installs bearing, and by little round nut by bearing axial restraint, wherein form four groups of clampings for rail on each leg, road wheel is arranged on supporting leg by walking axle, each supporting leg installs two road wheels, when being arranged on that on supporting leg, motor sends rotary motion, the gear generation gear motion being fixed on the tooth bar on rail and being arranged on supporting leg, in addition due to the own wt of robot, portal frame can be moved along rail direction.
The utility model is according to the span of actual cutting operation in addition, the distance namely between supporting leg I and supporting leg II, when span is little, suitably adopts monolateral driving at X linear joint place; When span is large, suitably adopt bilateral driving at X linear joint place, even if X linear joint adopts bilateral driving, it is still an one-movement-freedom-degree.
V rotating mechanism shown in Fig. 2, Fig. 3 and Fig. 4, when weld job, clamper 2 clamps soldering set, and tool is cut in clamper 2 clamping in the case of cutting; Gear I 3, gear 4 II and gear III 5 are arranged on V support 8 by respective gear shaft, clamper 2 is arranged on gear I 3, clamper 2 can rotate with the gear shaft of gear I 3 around gear I 3, because when cutting and welding, speed is all very slow comparatively speaking, so need carry out primary speed-down through V joint speed reducer 7, and the gear train that gear I 3, gear 4 II and gear III 5 are formed forms double reduction.V joint motor 6 is installed on V joint speed reducer 7, V joint speed reducer 7 is arranged on V support 8 by screw, the output shaft of V joint speed reducer 7 is provided with gear III 5, when V joint motor 6 sends rotational action, through the primary speed-down of V joint speed reducer 7 and the double reduction that is made up of gear I 3, gear 4 II and gear III 5, final drive is clamped in the soldering set on clamper 2 or cuts tool rotates around the installation shaft of gear I 3, thus realizes the rotation of V axle.
Fig. 2, U rotating mechanism shown in Fig. 3 and Fig. 4, U support 16 is fixed on immediately below lifting arm 19, the gear shaft of the second gear 10 is arranged on U support 16, the axis of rotation of the second gear 10 is on the lifting direction falling arm 19, reducer stent 12 is fixed on the sidewall of U support 16 by set screws 15, U joint speed reducer 13 is arranged on reducer stent 12, first gear 9 is installed on reducer output shaft, first gear 9 and the second gear 10 are transmission of intermeshing, adopt the engaged transmission of the second gear 10 and the first gear 9 can adopt hollow-core construction in the center of the second gear 10, make the driver circuit of V joint motor 6 and cut tool or soldering set pipeline used can through the center of the second gear 10, can mounting circuit slip ring and gas circuit slip ring in U support 16, V support 8 is made to drive V rotary joint unlimited rotary, when U joint motor 14 sends spinning movement, by the primary speed-down of U joint speed reducer 13 and the secondary engaged transmission of the first gear 9 and the second gear 10, the V support 8 be arranged on the second gear 10 is driven to rotate together.
Z travel mechanism shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, slide block 24 and slide block 25 are arranged in YZ contiguous block 29, the slide rail 21 coordinated with slide block 24 is arranged on lifting arm 19, the slide rail 22 coordinated with slide block 25 is also arranged on lifting arm 19, slide rail 21 and slide rail 22 parallel to each other, because only having along an one-movement-freedom-degree on slide rail direction between slide rail and slide block, structurally make the moving direction of the lifting direction of lifting arm 19 and described X moving machine orthogonal, and the moving direction of described Y travel mechanism is also orthogonal; On the opposite of lifting arm 19 of installing slide rail 21 and slide rail 22, tooth bar 17 is fixed on lifting arm 19 by set screws 18; The decelerator of elevating mechanism adopts turbine and worm decelerator 27 to make it have auto-lock function herein, turbine and worm decelerator 27 output shaft installs gear shaft 26, and simultaneously by turbine and worm decelerator 27, is arranged on by gear shaft 26 on YZ contiguous block; Gear shaft 26 and tooth bar 17 are engaged transmission, when motor 28 sends spinning movement, by the engaged transmission of gear shaft 26 with tooth bar 17, lifting arm 19 is driven to move up and down, thus the U rotating mechanism be arranged on below lifting arm 19 is moved up and down together, and the V rotating mechanism be arranged under U rotating mechanism moves together.
Y travel mechanism shown in Fig. 2, Fig. 5, Fig. 6, Fig. 7, the crossbeam 49 of portal frame is installed slide rail 30 and slide rail 36, and make slide rail 30 and slide rail 36 parallel to each other, and on slide rail 30, be provided with slide block 32 and slide block 34, slide rail 36 be provided with slide block 38 and slide block 40; On crossbeam 49, pass through set screws 43 by tooth bar 42 on crossbeam 49, the longitudinal direction of tooth bar 42 and the direction of slide rail are parallel to each other simultaneously; YZ contiguous block 29 is fixed on slide block 28, slide block 40, slide block 34 and slide block 32 by set screws 29, set screws 41, set screws 35 and set screws 33, electric machine support 44 in Y-direction is arranged on YZ contiguous block 29 by set screws 45, support 44 is installed decelerator 47, decelerator 47 output shaft is provided with gear 48, and gear 48 and tooth bar 42 engage each other; When motor sends spinning movement, by the engaged transmission of tooth bar 42 and gear 48, make to be arranged on together with slide block 32, slide block 34, slide block 38 and slide block 40 and YZ contiguous block 29 and move along slide rail direction, thus driving the Z travel mechanism be arranged on YZ contiguous block 29 to move together, the U rotating mechanism namely making to be connected under lifting arm 19 moves together with V rotating mechanism.
X travel mechanism shown in Fig. 2, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12 and Figure 13, wherein forms portal frame by supporting leg I 52, supporting leg II 53 and crossbeam 49, forms main body frame; Lay on ground and pursue the proper method and pad steel 145 and pad steel 146 fixed on the ground, make pad steel 145 and pad steel 146 substantially parallel.According to actual conditions, on pad steel 145 and pad steel 146, many group adjustment cushion blocks 144 are evenly installed at interval, on many group adjustment cushion blocks 144, be provided with rail 60 and rail 99, rail 60 and rail 9 also can take multistage to lay according to the haul distance of X travel mechanism.
Adjust structure below with regard to one group of adjustment cushion block 144 place carries out describing, bolt 124, bolt 131, bolt 136 and bolt 143 will organize adjustment cushion block 144 fixed bolster steel 145 and pad steel 146 upper surface more, compressing tablet 126, compressing tablet 129, compressing tablet 138 and compressing tablet 141 are having slot near rail place as shown in the figure, by being arranged on the bolt 125 on adjustment cushion block 144, bolt 130, bolt 137 and bolt 142 are respectively by compressing tablet 126, compressing tablet 129, rail pushed down by compressing tablet 138 and compressing tablet 141, rail can be moved down, at compressing tablet 126, compressing tablet 129, the rail place of the slot opposite position of compressing tablet 138 and compressing tablet 141 is processed with screw thread, can pass through bolt 132, bolt 133, bolt 134 and bolt 135 by rail jack-up, when bolt 132, bolt 133, when bolt 134 is different with the height of bolt 135 jack-up, just can realize the pose adjustment of rail, bolt 132, bolt 133, bolt 134 and bolt 135 are placed in the slot of corresponding compressing tablet, can avoid compressing tablet 126, compressing tablet 129, compressing tablet 138 and compressing tablet 141 relative bolt 125 respectively, bolt 130, the axis rotation of bolt 137 and bolt 142, and rail cannot be pushed down, bolt 127, bolt 128, bolt 139 and bolt 140 are screwed into by the screw thread place being arranged on processing on adjustment cushion block 144 and are pushed up to rail, make it move left and right, thus when padding steel 145 and substantially installing parallel with pad steel 146, make the rail 99 on the rail 60 on pad steel 145 and pad steel 145 parallel to each other in horizontal plane by the adjustment organizing the equally distributed adjustment in interval cushion block 144 more.When connecting for multistage rail, junction is preferably in the centre position of adjusting pad block 144.
The structure at supporting leg 52 place shown in Fig. 2, Figure 10 and Figure 11, adopt triangular structure, it has good stability and underslung advantage, little axle 105 is installed below supporting leg 53, little axle 108, little axle 102, little axle 111, little axle 114, little axle 119, little axle 117 and little axle 123, and at little axle 105, little axle 108, little axle 102, little axle 111, little axle 114, little axle 119, little axle 117 and little axle 123 are separately installed with bearing 103, bearing 106, bearing 100, bearing 109, bearing 112, bearing 118, bearing 115, bearing 121, and with respectively with little round nut 104, little round nut 107, little round nut 101, little round nut 110, little round nut 113, little round nut 119, little round nut 116, little round nut 120 is by bearing axial restraint, its middle (center) bearing 103 and bearing 106, bearing 100 and bearing 109, bearing 112 and bearing 118, bearing 121 and bearing 115 form four groups of clampings to rail 99 both sides respectively, supporting leg 53 is provided with walking axle 89 and walking axle 91, and on walking axle 89 installed rows travelling wheel 90, road wheel 90 axle 89 that can detour away rotates, installed rows travelling wheel 92 on walking axle 91, and road wheel 92 axle 91 that can detour away rotates, simultaneously under the effect of portal frame self gravitation, portal frame can be moved on rail, and be unlikely to depart from rail, mounting bracket 95 on supporting leg 53, support 95 is installed decelerator 94, and installs gear 97 on decelerator 94 output shaft, rail 99 is installed tooth bar 98, and gear 97 and tooth bar 98 are engaged transmission.
The structure at supporting leg 52 place shown in Fig. 2, Fig. 8 and Fig. 9, adopt triangular structure, it has good stability and underslung advantage; Little axle 65, little axle 68, little axle 71, little axle 74, little axle 79, little axle 82, little axle 85, little axle 88 are installed below supporting leg 52, and on little axle 65, little axle 68, little axle 71, little axle 74, little axle 79, little axle 82, little axle 85, little axle 88, be separately installed with bearing 63, bearing 66, bearing 69, bearing 72, bearing 77, bearing 80, bearing 83, bearing 86, and respectively with little garden nut 64, little garden nut 67, little garden nut 69, little garden nut 73, little garden nut 78, little garden nut 81, little garden nut 84, little garden nut 87 by bearing axial restraint; Its middle (center) bearing 63 and bearing 66, bearing 72 and bearing 69, bearing 77 and bearing 80, bearing 86 and bearing 83 form four groups of clampings to rail 60 both sides respectively; Supporting leg 52 is provided with walking axle 75 and walking axle 61, and on walking axle 61 installed rows travelling wheel 62, road wheel 62 axle 61 that can detour away rotates, installed rows travelling wheel 76 on walking axle 75, and road wheel 76 axle 75 that can detour away rotates; Simultaneously under the effect of portal frame self gravitation, portal frame can be moved on rail, and be unlikely to depart from rail; Mounting bracket 56 on supporting leg 52, support 56 is installed decelerator 55, and installs gear 58 on decelerator 55 output shaft, rail 60 is installed tooth bar 59, and gear 58 and tooth bar 59 are engaged transmission.
Motor, decelerator, gear that supporting leg 52 is installed with supporting leg 53 both sides are identical with tooth bar, namely the structure at supporting leg 52 place and the structure at supporting leg 53 place are symmetrical structure on crossbeam median surface, because speed reducing ratio is identical, when motor 93 and motor 54 export rotary motion simultaneously, promote portal frame and move along firm rail; When distance between supporting leg 52 and supporting leg 53 is larger, adopt bilateral driving, when the distance between supporting leg 52 and supporting leg 53 is smaller, monolateral driving can be adopted; Even if X linear joint adopts bilateral driving, it is still an one-movement-freedom-degree.

Claims (1)

1. the welded machine people of multi-functional five axle planer-type, first column (202), second column (210) is respectively by an X linear joint (201), 2nd X linear joint (211) is arranged on the first rail (213) with on the second rail (214), crossbeam (206) is arranged between the first column (202) and the second column (210), transfer arm (212) is installed on crossbeam (206) by Y linear joint (205), lifting arm (204) is arranged on transfer arm (212) by Z linear joint (203), it is characterized in that: the end of described lifting arm (204) is provided with U rotating mechanism (207), the end of U rotating mechanism (207) is provided with V rotating mechanism (208), the end of V rotating mechanism (208) is connected with soldering set or cuts tool (209), the second gear (10) that described U rotating mechanism (207) comprises the U support (16) being arranged on lifting arm end, the U joint motor (14) be arranged on U support (16), the U joint speed reducer (13) be connected with U joint motor (14) output, the first gear (9) being sleeved on U joint speed reducer (13) output and engages with the first gear (9), and described second gear (10) is sleeved on the second gear shaft, the second gear shaft is arranged on U support (16), described V rotating mechanism (208) comprises the V support (8) be connected with the second gear (10) end face, be arranged on the V joint motor (6) on V support (8), the V joint speed reducer (7) be connected with the output of V joint motor (6), be sleeved on the gear III (5) on V joint speed reducer (7) output, with gear III (5) meshed gears II (4) and with gear II (4) meshed gears I (3), gear II (4) and gear I (3) is arranged on corresponding gear shaft respectively and described gear shaft is arranged on V support (8), the end face of gear I (3) is fixed with folder rifle device (2), the end of folder rifle device (2) is fixed with soldering set or cuts tool (209).
CN201520679326.1U 2015-09-02 2015-09-02 Integrative machine people of multi -functional five planer -types welding Active CN204997257U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520679326.1U CN204997257U (en) 2015-09-02 2015-09-02 Integrative machine people of multi -functional five planer -types welding

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520679326.1U CN204997257U (en) 2015-09-02 2015-09-02 Integrative machine people of multi -functional five planer -types welding

Publications (1)

Publication Number Publication Date
CN204997257U true CN204997257U (en) 2016-01-27

Family

ID=55154162

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520679326.1U Active CN204997257U (en) 2015-09-02 2015-09-02 Integrative machine people of multi -functional five planer -types welding

Country Status (1)

Country Link
CN (1) CN204997257U (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105149831A (en) * 2015-09-02 2015-12-16 哈尔滨工程大学 Multifunctional five-axis gantry type integrated welding robot
CN105798502A (en) * 2016-05-23 2016-07-27 丁士林 Four-freedom-degree industrial welding robot for sewage treatment pipeline and feculence-blocking plate
CN105834620A (en) * 2016-05-23 2016-08-10 丁士林 Intelligent welding robot based on series-parallel structure
CN105834621A (en) * 2016-05-23 2016-08-10 丁士林 Welding manipulator of welding robot based on symmetric redundant parallel mechanism
CN105880892A (en) * 2016-05-23 2016-08-24 丁士林 Multi-freedom-degree environment-friendly welding industrial robot for sewage treatment pipeline and drain grating plate
CN105921867A (en) * 2016-06-06 2016-09-07 中车唐山机车车辆有限公司 Automatic spot welding equipment for car body underframe
CN105965521A (en) * 2016-06-30 2016-09-28 永胜机械工业(昆山)有限公司 Robot intelligent pore-opening device
CN105965162A (en) * 2016-06-30 2016-09-28 永胜机械工业(昆山)有限公司 Intelligent pipe opening welding device by robot
CN106112332A (en) * 2016-07-20 2016-11-16 张学衡 A kind of vehicle bodywork soldering welding robot
CN106181163A (en) * 2016-08-26 2016-12-07 济南时代新纪元科技有限公司 A kind of Cartesian coordinate type welding robot
CN107838596A (en) * 2017-10-27 2018-03-27 孙洪军 A kind of intelligent automatic welding device applied widely based on Internet of Things
CN108127285A (en) * 2018-01-05 2018-06-08 惠安耐亚节能科技有限公司 A kind of dumper skip plate robot welding machine
CN108347143A (en) * 2016-06-23 2018-07-31 张雪梅 A kind of method that motor stator insulated groove is automatically inserted into insulating paper

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105149831B (en) * 2015-09-02 2017-01-25 哈尔滨工程大学 Multifunctional five-axis gantry type integrated welding robot
CN105149831A (en) * 2015-09-02 2015-12-16 哈尔滨工程大学 Multifunctional five-axis gantry type integrated welding robot
CN105798502A (en) * 2016-05-23 2016-07-27 丁士林 Four-freedom-degree industrial welding robot for sewage treatment pipeline and feculence-blocking plate
CN105834621A (en) * 2016-05-23 2016-08-10 丁士林 Welding manipulator of welding robot based on symmetric redundant parallel mechanism
CN105880892A (en) * 2016-05-23 2016-08-24 丁士林 Multi-freedom-degree environment-friendly welding industrial robot for sewage treatment pipeline and drain grating plate
CN105798502B (en) * 2016-05-23 2017-12-12 郑利敏 A kind of four-degree-of-freedom sewage treatment pipeline sewage blocking plate welding industry robot
CN105834621B (en) * 2016-05-23 2017-11-24 嵊州北航投星空众创科技有限公司 A kind of welding robot welding manipulator based on symmetrical redundancy parallel mechanism
CN105834620A (en) * 2016-05-23 2016-08-10 丁士林 Intelligent welding robot based on series-parallel structure
CN105921867A (en) * 2016-06-06 2016-09-07 中车唐山机车车辆有限公司 Automatic spot welding equipment for car body underframe
CN108347143A (en) * 2016-06-23 2018-07-31 张雪梅 A kind of method that motor stator insulated groove is automatically inserted into insulating paper
CN105965162A (en) * 2016-06-30 2016-09-28 永胜机械工业(昆山)有限公司 Intelligent pipe opening welding device by robot
CN105965521A (en) * 2016-06-30 2016-09-28 永胜机械工业(昆山)有限公司 Robot intelligent pore-opening device
CN106112332A (en) * 2016-07-20 2016-11-16 张学衡 A kind of vehicle bodywork soldering welding robot
CN106112332B (en) * 2016-07-20 2018-04-06 重庆瑞特精密模具有限公司 A kind of vehicle bodywork soldering welding robot
CN106181163A (en) * 2016-08-26 2016-12-07 济南时代新纪元科技有限公司 A kind of Cartesian coordinate type welding robot
CN107838596A (en) * 2017-10-27 2018-03-27 孙洪军 A kind of intelligent automatic welding device applied widely based on Internet of Things
CN108127285A (en) * 2018-01-05 2018-06-08 惠安耐亚节能科技有限公司 A kind of dumper skip plate robot welding machine

Similar Documents

Publication Publication Date Title
CN204997257U (en) Integrative machine people of multi -functional five planer -types welding
CN105149831A (en) Multifunctional five-axis gantry type integrated welding robot
CN201147872Y (en) Pipe intersecting line cutting machine
CN105798497B (en) A kind of omnidirectional industrial automatic welding machine people
CN204135608U (en) A kind of welding clamping tooling of octagon steel tube tower
CN105880892B (en) A kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot
CN105798496B (en) A kind of Intelligent welding robot rotates four-degree-of-freedom adjusting bracket with three translations one
CN104669910A (en) Eight-head five-shaft four axis pendulum head engraving machine
CN105817798B (en) A kind of environment protection sewage handles pipeline sewage blocking plate welding robot
CN101913044A (en) Elevating mechanism for cutting machine head of five-axis steel tube intersecting line
CN104385817B (en) A kind of solid carving machine
CN102350610B (en) Flexible welding assembly for hydraulic oil pipe connector
CN201792123U (en) Triaxial steel pipe intersecting line cutting machine
CN105081637A (en) Crane box girder three-degree-of-freedom movable welding robot
CN206966853U (en) A kind of efficient cutting processing equipment
CN201792133U (en) Cutting head lifting mechanism of five-shaft steel tube intersecting line cutting machine
CN206241528U (en) A kind of rotatable jig
CN202151703U (en) Moving boring machine suitable for filed processing
CN204506288U (en) Eight three-dimensional four axle yaw engraving machines of five axles
CN110900074A (en) Assembled limiting welding platform for machining large-scale welding parts
CN202894633U (en) Multi-gun fine adjustment mechanism
CN105798502B (en) A kind of four-degree-of-freedom sewage treatment pipeline sewage blocking plate welding industry robot
CN105252105B (en) Flame groove cutting machine
CN206824752U (en) A kind of large-size horizontal band saw machine
CN203556960U (en) Angle iron backoff machine

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model