CN205834535U - Full-automatic welding machinery arm - Google Patents

Abstract

The utility model discloses a full-automatic welding robot arm, which comprises a bottom platform (1), on which an X-axis platform (4), a Z-axis platform (6) and a Y-axis platform (10) are arranged. The shaft platform (10) is also provided with a manipulator platform (21), and the screw nut at the bottom of the manipulator platform (21) matches the Y-axis lead screw (11), and the outer sleeve (14) is arranged on the manipulator platform (21). ), the outer sleeve (14) is rotatably connected with the mechanical arm (15), and the rotating motor (16) is arranged on the manipulator platform (21), and the gear on the working end of the rotating motor (16) is connected with the end of the mechanical arm (15) The gears are meshed, and a welding gun clamp (17) is hinged at the end of the mechanical arm (15), and the welding gun clamp (17) is driven by a swing motor arranged in the mechanical arm (15).

Description

Fully automatic welding robot arm

technical field

The utility model relates to the field of welding, in particular to a fully automatic welding mechanical arm.

Background technique

In the field of mechanical production and processing, welding operations are required in many places. The traditional welding work requires manual operation. This method has problems such as heavy workload and low work efficiency. For this reason, there are now some welding operations that can be realized. devices, but most of these devices can only drive the welding torch to move on a simple trajectory in three-dimensional space. For some equipment with complex structures, it is difficult for traditional automatic welding equipment to achieve multi-directional and multi-angle welding operations. Production brought certain difficulties and problems.

Contents of the invention

The utility model aims to solve the above-mentioned deficiencies in the prior art, and proposes a fully automatic welding robot arm with ingenious design and reasonable layout, which can quickly and conveniently complete welding work under various complicated working conditions.

The technical solution of the utility model is: a fully automatic welding robot arm, characterized in that: the robot arm includes a bottom platform 1, and an X-axis rack 2 and an X-axis guide rail are arranged along the length direction of the bottom platform 1 3, and the X-axis guide rails 3 are two symmetrically arranged, the X-axis platform 4 is slidably connected to the X-axis guide rails 3, the X-axis motor 5 is arranged on the X-axis platform 4, and the working end of the X-axis motor 5 The gear on the top meshes with the X-axis rack 2, a Z-axis platform 6 is longitudinally arranged on the X-axis platform 4, and a Z-axis screw 7 and a Z-axis guide rail 8 are arranged along the length direction of the Z-axis platform 6 , wherein the Z-axis lead screw 7 is driven by the Z-axis motor 9 arranged on the Z-axis platform 6, and the Z-axis guide rails 8 are two symmetrically arranged, and the Y-axis platform 10 is slidably connected to the Z-axis guide rails 8 , the screw nut at the bottom of the Y-axis platform 10 is matched with the Z-axis screw 7, and a Y-axis screw 11 and a Y-axis guide rail 12 are arranged along the length direction of the Y-axis platform 10, wherein the Y-axis screw 11 is arranged on the Y-axis platform 10 is driven by the Y-axis motor 13, and the Y-axis guide rails 12 are two symmetrically arranged, and the manipulator platform 21 is slidably connected to the Y-axis guide rails 12, and the screw nut at the bottom end of the manipulator platform 21 and the Y-axis lead screw 11 Matching, described manipulator platform 21 is provided with outer sleeve 14, is connected with mechanical arm 15 in rotation in outer sleeve 14, is provided with rotating motor 16 on manipulator platform 21, and the gear on the working end of rotating motor 16 and mechanical arm The gear at the end of the mechanical arm 15 is engaged, and the end of the mechanical arm 15 is hinged with a welding torch clamp 17, and the described welding torch clamp 17 is driven by a swing motor arranged in the mechanical arm 15.

A smart camera 18 is provided at the end of the mechanical arm 15 .

A distance sensor 19 is provided at the end of the mechanical arm 15 .

A wire feeder 20 is arranged on the X-axis platform 4 .

A fixed pulley 24 is rotatably supported on the top of the Z-axis platform 6, and a connecting rope 22 is arranged on the fixed pulley 24. One end of the connecting rope 22 is connected with the Y-axis platform 10, and the other end of the connecting rope 22 is A counterweight 23 is provided, and the Y-axis platform 10 and the counterweight 23 are respectively located on two sides of the Z-axis platform 6 .

Compared with the prior art, the utility model has the following advantages:

This kind of structural form of fully automatic welding robot arm is designed to solve the problem that traditional welding devices are difficult to complete the work smoothly during the welding process of some devices with more complex structures. A set of X-axis translation and Y-axis translation , Z-axis translation, rotation and swing in one structure, it can drive the welding torch to do various actions in three-dimensional space, even for devices with relatively complex structures, it can also successfully complete the welding work. At the same time, it also has a parameter acquisition device (smart camera and distance sensor), so that when this mechanical arm is equipped with a corresponding control system, it can realize fully automated welding operations, save a lot of labor costs and labor, and greatly improve production. efficiency. Therefore it can be said that it has possessed multiple advantages, and is particularly suitable for popularization and application in this field, and its market prospect is very broad.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of an embodiment of the utility model.

Fig. 2 is a schematic structural view of the bottom platform part of the embodiment of the present invention.

Fig. 3 is a schematic structural diagram of the Z-axis platform part of the embodiment of the present invention.

Fig. 4 is a schematic structural diagram of the Y-axis platform part of the embodiment of the present invention.

Fig. 5 is a schematic structural diagram of the mechanical arm part of the embodiment of the present invention.

Fig. 6 is a three-dimensional schematic view of the axial side of the embodiment of the present invention.

detailed description

The specific embodiment of the utility model will be described below in conjunction with the accompanying drawings. As shown in Figures 1 to 6: a fully automatic welding robot arm, which includes a bottom platform 1 installed on the bottom surface of the foundation, and an X-axis rack 2 and an X-axis guide rail 3 are arranged along the length direction of the bottom platform 1 , wherein the X-axis guide rail 3 is two symmetrically arranged heels, and the X-axis platform 4 is slidably connected to the X-axis guide rail 3. The X-axis platform 4 is provided with an X-axis motor 5, and the gear on the working end of the X-axis motor 5 Engaged with the above-mentioned X-axis rack 2; a Z-axis platform 6 is longitudinally arranged on the X-axis platform 4, and a Z-axis screw 7 and a Z-axis guide rail 8 are arranged along the length direction of the Z-axis platform 6, wherein The Z-axis lead screw 7 rotatably supported on the Z-axis platform 6 is driven by the Z-axis motor 9 also arranged on the Z-axis platform 6, and the Z-axis guide rails 8 are also symmetrically arranged, sliding on the Z-axis guide rails 8 A Y-axis platform 10 is connected, and the screw nut on the Y-axis platform 10 is matched with the above-mentioned Z-axis screw 7; a Y-axis screw 11 and a Y-axis guide rail 12 are arranged on the length direction of the Y-axis platform 10, wherein The Y-axis lead screw 11 that is rotatably supported on the Y-axis platform 10 is driven by a Y-axis motor 13 that is also arranged on the Y-axis platform 10, and the Y-axis guide rails 12 are two symmetrically arranged, and the Y-axis guide rails 12 A manipulator platform 21 is slidably connected on the manipulator platform 21. A screw nut matching the Y-axis lead screw 11 is arranged on the manipulator platform 21. An outer sleeve 14 is also arranged on the manipulator platform 21. In this outer sleeve 14, a mechanical The arm 15 is also provided with a rotating motor 16 on the manipulator platform 21. The gear on the working end of the rotating motor 16 meshes with the gear at the end of the mechanical arm 15, that is, the rotating motor 16 can drive the mechanical arm 15 to rotate relative to the outer sleeve 14, A welding torch clamp 17 is hinged at the end of the mechanical arm 15, and this welding torch clamp 17 is driven by a swing motor arranged inside the mechanical arm 15;

A fixed pulley 24 is rotatably supported on the top of the Z-axis platform 6, and a connecting rope 22 is arranged on the fixed pulley 24. One end of the connecting rope 22 is connected with the Y-axis platform 10, and the other end of the connecting rope 22 is provided with a matching The weight 23, and the Y-axis platform 10 and the counterweight 23 are respectively located on the two sides of the Z-axis platform 6. The counterweight 23 can balance the weight of the Z-axis platform 6 and various mechanisms on it, and prevent the Z-axis screw 7 from being stressed. affect normal work;

A smart camera 18 and a distance sensor 19 are also arranged at the end of the mechanical arm 15 , and a wire feeder 20 is also arranged on the X-axis platform 4 .

The working process of the fully automatic welding robot arm in the embodiment of the utility model is as follows: first, the welding torch is fixed on the welding torch fixture, the bottom platform 1 is fixed on the bottom surface of the foundation, and then the X-axis motor 5 works to drive the X-axis platform 4 and the All mechanisms move along the length direction of the X-axis guide rail 3 to realize displacement in the X-axis direction;

The Z-axis motor 9 works to drive the Z-axis screw 7 to rotate (forward or reverse), and the Z-axis platform 6 matched with the Z-axis screw 7 through the screw nut will move along the length direction of the Z-axis guide rail 8 to realize The displacement of the Z-axis platform and all mechanisms on it in the Z-axis direction;

The Y-axis motor 13 works to drive the Y-axis screw 11 to rotate (forward or reverse), and the manipulator platform 21 matched with the Y-axis screw 11 through the screw nut will move along the length direction of the Y-axis guide rail 12 to realize the manipulator Displacement in the Y-axis direction of the platform 21 and all mechanisms on it;

The combination of the above three actions realizes the movement of various trajectories of the manipulator platform 21 (that is, the welding torch fixture 17 and the welding torch on it) in three-dimensional space;

The rotating motor 16 works, drives the mechanical arm 15 to rotate relative to the outer sleeve 14 through the gear transmission pair, and drives the mechanical arm 15 to communicate with the welding torch to rotate around the axis of the mechanical arm 15. At the same time, the swing motor works to drive the welding torch clamp 17 to make a certain angle The combination of the above two actions (rotation, swing) and the translational action of the welding torch in three-dimensional space allows the device to flexibly and conveniently complete welding operations in various complex situations and structures;

During the working process of the device, the wire feeder 20 provides welding wire for the welding torch, while the smart camera 18 can collect real-time image signals at the welding torch, and the distance sensor 19 can detect the distance between the welding torch and the place to be welded. These signals can be directly transmitted to the control system, and the control system will send corresponding instructions to each actuator (each motor) according to these signals to realize fully automatic welding operation; they can also be sent to the control personnel through the control system, and the control personnel can use these signals according to these The signal information sends corresponding instructions to each actuator (each motor) to realize semi-automatic welding operation.

Because the device can perform welding operations in relatively complex structures and conditions, it is particularly suitable for welding operations in devices such as high-pressure coil components.

Claims (5)

1. A fully automatic welding robot arm, characterized in that: the robot arm includes a bottom platform (1), and an X-axis rack (2) and an X-axis guide rail ( 3), and the X-axis guide rails (3) are two symmetrically arranged, the X-axis platform (4) is slidably connected to the X-axis guide rails (3), and the X-axis platform (4) is provided with an X-axis The motor (5), the gear on the working end of the X-axis motor (5) meshes with the X-axis rack (2), and the Z-axis platform (6) is longitudinally arranged on the X-axis platform (4), along the The Z-axis platform (6) is provided with a Z-axis screw (7) and a Z-axis guide rail (8) in the length direction, wherein the Z-axis screw (7) passes through a Z-axis motor (9) arranged on the Z-axis platform (6) ) drive, and the Z-axis guide rails (8) are two symmetrically arranged, the Y-axis platform (10) is slidably connected to the Z-axis guide rails (8), and the screw nut at the bottom of the Y-axis platform (10) is connected to the Z The shaft screw (7) is matched, and the Y-axis screw (11) and the Y-axis guide rail (12) are arranged along the length direction of the Y-axis platform (10), wherein the Y-axis screw (11) is set on the Y-axis platform ( 10) is driven by the Y-axis motor (13), and the Y-axis guide rails (12) are two symmetrically arranged, and the manipulator platform (21) is slidably connected to the Y-axis guide rails (12), and the manipulator platform (21 ) at the bottom end is matched with the Y-axis lead screw (11), the manipulator platform (21) is provided with an outer sleeve (14), and the outer sleeve (14) is rotatably connected with a mechanical arm (15). The manipulator platform (21) is provided with a rotating motor (16), the gear on the working end of the rotating motor (16) meshes with the gear at the end of the mechanical arm (15), and the welding torch clamp (17) is hinged at the end of the mechanical arm (15) , the welding torch clamp (17) is driven by a swing motor arranged in the mechanical arm (15). 2. The fully automatic welding robot arm according to claim 1, characterized in that: an intelligent camera (18) is arranged at the end of the robot arm (15). 3. The fully automatic welding robot arm according to claim 1, characterized in that: a distance sensor (19) is provided at the end of the robot arm (15). 4. The fully automatic welding robot arm according to claim 1, characterized in that: the X-axis platform (4) is provided with a wire feeder (20). 5. The fully automatic welding robot arm according to claim 1, characterized in that: a fixed pulley (24) is rotatably supported on the top of the Z-axis platform (6), and the fixed pulley (24) is provided with A connecting rope (22), one end of the connecting rope (22) is connected to the Y-axis platform (10), the other end of the connecting rope (22) is provided with a counterweight (23), and the Y-axis platform (10) and The counterweights (23) are located on both sides of the Z-axis platform (6).