CN206263486U - A kind of triple axle servo positioner - Google Patents

Abstract

The utility model relates to the field of welding, in particular to a three-axis servo positioner, which is applied to welding fixtures. The three-axis servo positioner at least includes a machine base, a horizontal rotation mechanism and a longitudinal rotation end, wherein the horizontal The rotation mechanism is arranged on the machine base, and a beam is carried above the horizontal rotation mechanism. The longitudinal rotation end includes a driving end and a driven end, so that the first tooling fixture and the second tooling fixture are between the driving end and the driven end. It can be rotated in between to continuously adjust the position according to the welding needs. At the same time, the servo motor has higher control precision than other motors, and can achieve more precise control. Two fixtures can be set between the driving end and the driven end. Achieve efficient tooling welding process.

Description

A three-axis servo positioner

technical field

The utility model relates to the field of welding, in particular to a three-axis servo positioner.

Background technique

The existing positioner is a single non-continuous operation, which cannot meet the fast production cycle and cannot be integrated into the automatic production line, and the structure of the rotating platform is composed of ordinary frequency conversion motors, large and small gears, working platforms, bearings and The base is assembled. The rotation of the ordinary frequency conversion motor drives the pinion gear to rotate, and the engagement of the pinion gear and the large gear drives the platform to rotate. When the operator or the manipulator stops at the required angle, due to the gap between the large and small gears and the inertia effect when the ordinary frequency conversion motor stops, As a result, the required stop angle cannot guarantee the accuracy, resulting in the deviation of the weld bead generated by the manipulator during welding, which affects the quality of the product, and at the same time, a single platform limits the welding efficiency.

Utility model content

In view of the above problems, the utility model proposes a three-axis servo positioner, which is applied to welding fixtures. The three-axis servo positioner includes:

Machine base;

The horizontal rotation mechanism is arranged on the machine base, and a beam is carried on the top of the horizontal rotation mechanism;

Longitudinal swivel ends, including:

The active end and the driven end, the active end and the driven end are respectively arranged at the two ends of the beam, and a first servo motor and a second servo motor are arranged in the active end, so The active end includes a first active end and a second active end, and the driven end includes a first driven end and a second driven end;

The first active subend and the second active subend are symmetrical to each other according to the beam, and the first driven subend and the second driven subend are symmetrical to each other according to the crossbeam;

The first active sub-end and the first driven sub-end are arranged on the same side of the beam and correspond to each other, and the second active sub-end and the second driven sub-end are arranged on the side of the cross beam on the same side and correspond to each other;

A first fixture is detachably installed between the first active sub-end and the first driven sub-end, the first driven sub-end and the second driven sub-end are connected between the second active sub-end and the first driven sub-end. A second fixture is detachably installed between the second follower ends;

The first servo motor drives the first fixture to rotate between the first active end and the first driven end through a first output disk, and the second servo motor drives the first tool to rotate between the first active end and the first driven end through a second The output disk drives the second fixture to rotate between the second driving end and the second driven end.

The above-mentioned three-axis servo positioner, wherein a first reducer is arranged between the first servo motor and the first output disk, and a first reducer is arranged between the second servo motor and the second output disk. There is a second reducer.

In the above-mentioned three-axis servo positioner, a first driven shaft is provided at the connecting portion between the first driven sub-end and the first fixture, and the second driven sub-end is connected to the first tooling fixture. The connecting part of the two fixtures is provided with a second driven shaft.

The above-mentioned three-axis servo positioner, wherein, the driven end includes:

A plurality of bearings, each bearing is arranged on a bearing installation shaft, and a shaft sleeve is arranged outside the bearing.

In the above-mentioned three-axis servo positioner, a first tool quick change device is arranged on the first output disk, and a second tool quick change device is arranged on the second output disk.

The above-mentioned three-axis servo positioner, wherein, a first tool positioning pin is provided on the first output disc adjacent to the first tool quick change device, and a first tool positioning pin is arranged on the second output disc adjacent to the second tool quick change device. The position of the tool quick change device is provided with a second tool positioning pin.

In the aforementioned three-axis servo positioner, both the first servo motor and the second servo motor are electrically connected to a main control cabinet.

In the above-mentioned three-axis servo positioner, the main control cabinet is a main control cabinet including a programmable logic controller.

In the above-mentioned three-axis servo positioner, the first output disk and the second output disk are flanges.

In the above-mentioned three-axis servo positioner, wherein, the first output disc is connected to the first reducer by bolts, and the second output disc is connected to the second reducer by bolts.

In summary, the utility model proposes a three-axis servo positioner, which is applied to welding fixtures. The three-axis servo positioner at least includes a machine base, a horizontal rotation mechanism and a longitudinal rotation end, wherein, The horizontal rotation mechanism is arranged on the machine base, and there is a crossbeam on the top of the horizontal rotation mechanism. The horizontal rotation mechanism is driven by the third servo motor to realize the horizontal rotation of itself relative to the machine base. The longitudinal rotation end includes a driving end and a driven end. , so that the first tooling fixture and the second tooling fixture rotate between the driving end and the driven end to continuously adjust the position according to the welding needs. At the same time, the servo motor has higher control precision than other motors, and can achieve more accurate control, and two tooling fixtures can be set between the driving end and the driven end to achieve a highly efficient tooling welding process.

Description of drawings

Figure 1 is a top view of the appearance of the three-axis servo positioner in the embodiment of the present invention;

Fig. 2 is a side view of the appearance of the three-axis servo positioner in the embodiment of the present invention;

Fig. 3 is the front view of the three-axis servo positioner in the embodiment of the utility model;

Fig. 4 is a cross-sectional view of the first position side of the active end in the embodiment of the utility model;

Fig. 5 is a cross-sectional view of the first position side of the driven end in the embodiment of the present invention;

Fig. 6 is a top view of the operation room where the three-axis servo positioner is placed in the embodiment of the utility model;

Fig. 7 is a perspective view of the operating room in which the three-axis servo positioner is placed in the embodiment of the utility model.

detailed description

A specific embodiment of the present utility model will be further described below in conjunction with the accompanying drawings.

This embodiment provides a three-axis servo positioner, whose top view and side view are shown in Figure 1 and Figure 2, and its front view is shown in Figure 3, which is applied to welding fixtures, and Figure 4 shows this The cross-sectional view of the first position side of the active end in the embodiment, Fig. 5 shows the cross-sectional view of the first position side of the driven end in this embodiment, and it can be seen from Fig. 6 and Fig. 7 that the three-axis servo positioner Can include:

Base 110;

The horizontal rotation mechanism 120 can be arranged on the machine base 110, and a crossbeam 130 can be carried on the top of the horizontal rotation mechanism, and the horizontal rotation mechanism 120 can be driven by a third servo motor 153 to realize the horizontal rotation of the horizontal rotation structure 120 relative to the machine base 110 ;

The longitudinally rotating end portion may include a driving end portion 141 and a driven end portion 142. The driving end portion 141 and the driven end portion 142 are respectively arranged on two ends of the beam and are preferably aligned parallel to each other. The driving end portion 141 may be provided with The first servo motor 151 and the second servo motor (the relevant structures such as the second servo motor, the second output disk, and the second positioning pin are not given in the accompanying drawings, because the first servo motor and the second servo motor in this embodiment are for example The servo motors are symmetrically arranged at both ends of the active end 141, and the positions of the second servo motor and related structures that are symmetrical to it can be easily obtained by describing the related structures such as the first servo motor 151), and the active end 141 can be Including a first active sub-end 1411 and a second active sub-end 1412, the driven end 142 can include a first driven sub-end 1421 and a second driven sub-end 1422, the first active sub-end 1411 can be connected with The second active subend 1412 is symmetrical to each other according to the beam 130, and the first driven subend 1421 and the second driven subend 1422 can also be symmetrical to each other according to the crossbeam 130. A first fixture 161 is detachably installed between a follower end 1421, and a second clamp 161 is detachably installed between a second drive end 1412 and a second follower end 1422 on the other side of the beam 130. Fixture 162;

Wherein, the first servo motor 151 can drive the first fixture 231 to rotate between the first driving end 1411 and the first driven end 1421 through a first output plate 171; the second servo motor can use a second output The disc 172 drives the second tooling fixture 232 to rotate between the second driving sub-end 1412 and the second driven sub-end 1422 .

The active end portion 141 may be structurally integrated, or may be separated by the beam 130 . Specifically, the beam 130 can only be set to connect with one side of the active end 141 (at this time, the active end 141 is structurally integrated, and the connection method is not shown in the figure), and the beam 130 can also be arranged on the active end 141. on the end portion 141 (as shown in FIG. 6 ), and divides the active end portion 141 .

The active end portion 141 further includes a first active end 1411 and a second active end 1412 . The first active subend 1411 and the second active subend 1412 are divided according to the above-mentioned beam 130 . Specifically, when the active end portion 141 is a whole, the active end portion 141 is artificially divided into a first active end portion 1411 and a second active end portion 1412 according to the position where the beam 130 connects to the side of the active end portion 141 . If the crossbeam 130 is disposed on the active end portion 141 , the active end portion 141 is divided into the first active subend 1411 and the second active subend 1412 according to the crossbeam 130 .

The driven end portion 142 may be structurally integrated, or may be separated by the beam 130 . Specifically, the crossbeam 130 can only be set to connect with one side of the driven end 142 (at this time, the driven end 142 is structurally integrated, and the connection method is not shown in the figure), and the crossbeam 130 can also be set On the driven end portion 142 (as shown in FIG. 6 ), the driving end portion 141 is divided.

The driven end portion 142 further includes a first driven sub-end 1421 and a second driven sub-end 1422 . The first driven sub-end 1421 and the second driven sub-end 1422 are divided according to the above-mentioned beam 130 . Specifically, when the driven end 142 is a whole, the driven end 142 is artificially divided into a first driven end 1421 and a second driven end according to the position where the beam 130 connects the side of the driven end 142. End 1422. If the beam 130 is disposed on the driven end portion 142 , the driven end portion 142 is divided into the first driven sub-end 1421 and the second driven sub-end 1422 according to the cross beam 130 .

Preferably, a first speed reducer 181 is arranged between the first servo motor 151 and the first output disk 171, and a second speed reducer (not shown and marked), are used to adjust the rotational speeds of the first output disc 171 and the second output disc 172 respectively.

Preferably, a first driven shaft 241 may be provided at the connecting portion between the first driven subend 1421 and the first fixture 161, and a first driven shaft 241 may be provided at the connecting portion between the second driven subend 1422 and the second fixture 162. Two driven shafts (not shown and marked in the accompanying drawings).

Preferably, the driven end 142 may include a plurality of bearings, taking the bearing 180 in the drawings as an example, which can make the first driven shaft 241 and the second driven shaft rotate freely; the bearing 180 may be arranged on the bearing installation shaft 190 Above, a shaft sleeve 200 may be provided outside the bearing 180 .

Preferably, the first output disc 171 and the second output disc 172 are provided with tooling quick change devices to fix or disassemble the first tooling fixture 161 and the second tooling fixture 162, such as the first output shown in FIG. The first tooling quick-changing device 210 provided on the disc 171 and the second tooling quick-changing device can also be arranged at the same position on the second output disc 172 ; the first speed reducer 181 can be installed on a mounting plate 250 .

Preferably, a first tool positioning pin 220 may be provided at a position adjacent to the first tool quick change device 210 on the first output disc 171 to position the first tool clamp 161, and a similar position on the second output disc 172 may be provided with a The second tool positioning pin, these two tool positioning pins can also be provided with pin sleeves, such as the pin sleeve 230 provided on the first tool positioning pin 220 .

Preferably, the first servo motor 151, the second servo motor and the third servo motor 153 can all be electrically connected to a main control cabinet (not marked in the drawings), so as to operate and drive according to the control signals output from the main control cabinet. More preferably, the main control cabinet may include: a programmable logic controller for sending control signals.

Preferably, both the first output disk 171 and the second output disk 172 are flanges. More preferably, the first output disk 171 and the first reducer 181 may be connected by bolts, and the second reducer and the second output disk 172 may also be connected by bolts, but not limited to other connection and fixing methods.

As shown in FIG. 5 , preferably, the first driven shaft 241 can be connected with the first driven disc 261 to freely rotate under the drive of the first driven disc 261; the bearing 180 can be fixed by the bearing fastening 270; The first driven shaft 241 can also have a third quick change device 211 (also can include an additional quick change block 212) and a third tool positioning pin 221 opposite to the first quick change device 210 and the tool positioning pin 220, the third tool positioning pin 221 The tool positioning pin 221 can also be provided with a pin sleeve 231 ; preferably, the second driven plate 262 can have a fourth quick change device and a fourth tool positioning pin similar to the first driven plate 261 .

The bottom of the horizontal rotation mechanism 120 of the three-axis servo positioner shown in Figure 3 can be provided with a base 110, and the horizontal rotation mechanism 120 can include a third output disk 1201; the third output disk 1201 can be connected to a reducer installation disk 1202 And the third reducer 1203 installed on the reducer mounting plate 1202 (the positional relationship between the third reducer and the reducer mounting plate should not be limited to the third reducer being located above the reducer mounting plate, it can also be below or other orientations), therefore, the third reducer 1203 can output the rotational driving force to the third output disk 1201, so that the third output disk 1201 rotates relative to the base 110, and then the third reducer 1203 above the third output disk 1201 Each component rotates horizontally at the same time; the third output disc 1201 can be connected with a beam mounting plate 1204; the beam mounting plate 1204 can be installed and fixed with a beam 1205, and the beam 1205 can be provided with a control driving end 141 and a driven end 142; In addition, a sealing cover 1206, a sealing shaft 1207, a pinion 1208, a pinion positioning block 1209, a maintenance cover 1210, a protection cover 1211, a rotary frame 1212, a beam cover 1213, a label 1214, and a label 1215 can also be provided. , Mounting bolts 1216-1228, sealing ring 1229, flat washer 1230, spring washer 1231-1235, oil seal 1236, bearing 1237, key 1238.

Fig. 6 is a top view of the operation room with a three-axis servo positioner in the embodiment of the utility model; Fig. 7 is a perspective view of the operation room with a three-axis servo positioner in the embodiment of the utility model, to help the present invention Those skilled in the art understand the layout of the operation room in FIG. 6 . The detailed layout is shown in FIGS. 6 and 7 , and it can be seen from FIG. 7 that a typical three-axis servo positioner 300 is placed in the operation room.

In summary, the utility model proposes a three-axis servo positioner, which is applied to welding fixtures. The three-axis servo positioner at least includes: a machine base, a horizontal rotation mechanism and a longitudinal rotation end, wherein , the horizontal rotation mechanism is arranged on the machine base, and there is a beam on the top of the horizontal rotation mechanism. The horizontal rotation mechanism is driven by the third servo motor to realize its own horizontal rotation relative to the machine base. The longitudinal rotation end includes a driving end and a driven end. part, so that the first fixture and the second fixture rotate between the driving end and the driven end to continuously adjust the position according to the welding needs. At the same time, the servo motor has higher control precision than other motors, and can achieve more accurate control, and two tooling fixtures can be set between the driving end and the driven end to achieve a highly efficient tooling welding process.

Through the description and the drawings, typical examples of specific implementations are given, and other transformations can also be made based on the spirit of the present utility model. While the above utility model provides one embodiment, these disclosures are not intended to be limiting.

Various changes and modifications will no doubt become apparent to those skilled in the art upon reading the foregoing description. Therefore, the appended claims should be considered to cover all changes and modifications within the true intent and scope of the present invention. Any and all equivalent scope and content within the scope of the claims should still be regarded as within the intent and scope of the present utility model.

Claims (10)

1. a kind of triple axle servo positioner, it is characterised in that be applied to welding tool setup, the triple axle servo positioner Including：

Support；

Horizontal rotary mechanism, is arranged on the support, and a crossbeam is carried above the horizontal rotary mechanism；

Longitudinal rotary end, including：

Active end and driven end, the active end and the driven end portion are respectively arranged at the two ends of the crossbeam, institute State and one first servomotor and one second servomotor are provided with active end, the active end includes one first prime End and one second prime end, the driven end include one first follower end and one second follower end；

The first prime end and the second prime end according to the crossbeam symmetrically, the first follower end and The second follower end is symmetrical according to the crossbeam；

The first prime end and the first follower end are arranged at the same side of the crossbeam and mutually correspond to, described the Two prime ends and the second follower end are arranged at the same side of the crossbeam and mutually corresponding；

One first frock clamp is removably installed between the first prime end and the first follower end, in institute State and one second frock clamp is removably installed between the second prime end and the second follower end；

First servomotor is by the first frock clamp described in one first output dish driving in first drive end and institute Rotation between the first driven end is stated, second servomotor is by the second frock clamp described in one second output dish driving in institute State and rotated between the second drive end and second driven end.

2. triple axle servo positioner according to claim 1, it is characterised in that first servomotor and described The first reductor is provided between one output panel, being provided with second between second servomotor and second output panel subtracts Fast machine.

3. triple axle servo positioner according to claim 1, it is characterised in that the first follower end and described The coupling part of one frock clamp is provided with a first driven shaft, the company of the second follower end and second frock clamp Socket part sets up separately and is equipped with a second driven shaft.

4. triple axle servo positioner according to claim 3, it is characterised in that the driven end includes：

Multiple bearings, each described bearing is arranged in bearing installation axle, and the Bearing outer is provided with axle sleeve.

5. triple axle servo positioner according to claim 1, it is characterised in that be provided with first output panel First frock fast replacing device, is provided with one second frock fast replacing device on second output panel.

6. triple axle servo positioner according to claim 5, it is characterised in that neighbouring described on first output panel The position of the first frock fast replacing device is provided with one first tool locating pin, neighbouring second frock on second output panel The position of fast replacing device is provided with one second tool locating pin.

7. triple axle servo positioner according to claim 1, it is characterised in that first servomotor and described Two servomotors are electrically connected with a control cabinet.

8. triple axle servo positioner according to claim 7, it is characterised in that the control cabinet is to include programmable patrolling Collect the control cabinet of controller.

9. triple axle servo positioner according to claim 2, it is characterised in that first output panel and described second Output panel is ring flange.

10. triple axle servo positioner according to claim 9, it is characterised in that first output panel and described One reductor is bolted, and second output panel is bolted with second reductor.