CN210335279U - Three-axis linkage rotary actuator - Google Patents
Three-axis linkage rotary actuator Download PDFInfo
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- CN210335279U CN210335279U CN201921475194.5U CN201921475194U CN210335279U CN 210335279 U CN210335279 U CN 210335279U CN 201921475194 U CN201921475194 U CN 201921475194U CN 210335279 U CN210335279 U CN 210335279U
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Abstract
The utility model discloses a three-axis linkage rotary actuator, which installs a processing tool on a swing mechanism mainly comprising a horizontal sliding table and a vertical sliding table, and the swing mechanism is installed on a rotary mechanism mainly comprising a rotary shaft and a rotary driving motor, and can realize the rotary motion of the processing tool on the mechanism through the unified control of a control system, and simultaneously can also do linkage action in two linear directions, thereby solving the problem of rotary processing on a large workpiece which can not rotate; the mechanism has a small movement interference range, and a plurality of mechanisms can be arranged for processing at the same time, so that the efficiency is improved; the 3-axis linkage rotating mechanism has good rigidity, so that a joint mechanism of the robot is avoided, and heavy load can be realized; the structure of the device is simpler than that of an industrial robot, the instantaneous response is higher, the reliability is higher, and the cost is lower; the rotary machining device can also be arranged on different travelling mechanisms and matched with auxiliary positioning and locating mechanisms to realize rotary machining of different parts on a large-sized workpiece.
Description
Technical Field
The utility model relates to a machining device technical field, concretely relates to can be used to realize bearing device of processing angle and position synchronization adjustment.
Background
In the production and processing field, many workpieces to be processed cannot be clamped on a rotary worktable due to too large volume, too heavy weight or other reasons, when the workpieces need to be subjected to rotary processing, processing tools often need to perform rotary processing actions, and the tools need to perform linkage actions in two linear directions while rotating, such as: the welding gun welds the circular weld seam while swinging, the paint spray gun sprays the circular workpiece in a reciprocating manner, the polisher polishes the circular workpiece, and the like. At present, people generally adopt industrial robots to carry corresponding tools to realize the functions, but the industrial robots have the following defects: the motion interference area is larger during working; the bearing is limited, and a heavy tool cannot be carried for processing; programming is relatively complex, and high professional skills are required to realize application; the price is high, difficult maintenance, and it is difficult for middle-size and small-size enterprise to bear its purchase and maintenance cost.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to prior art's defect, a realize simple structure, the cost is lower, have heavy load ability, be convenient for operation control, can conveniently realize that large-scale work piece is circular to carry out welding seam welding, round angle processing falls/fillet processing, boring and milling processing etc. can improve the triaxial linkage rotary actuator who processes effect and precision, should place pendulous device and be particularly suitable for being used for bearing tools such as welder, spraying apparatus, grinding apparatus, milling tool and weld, spray paint, round angle that falls/fillet, boring and milling processing operation.
In order to solve the technical problem, the utility model adopts the following technical scheme: the utility model provides a rotatory actuating mechanism of triaxial linkage, constructs including slewing mechanism and clamping, through installing the machining tool (like welder) and forming on rotary mechanism and can carry out the structure that rotates around the work piece, rotary mechanism installs on clamping constructs, and clamping constructs fixed its characterized in that with the work piece: the machining tool is arranged on the swinging mechanism to form a swinging structure; the swing mechanism comprises a vertical sliding table and a horizontal sliding table, the vertical sliding table and the horizontal sliding table are respectively provided with a driving mechanism, the vertical sliding table is fixedly connected with the rotating mechanism, and the horizontal sliding table is arranged on the vertical sliding table to form a structure capable of moving up and down; the horizontal sliding table is provided with a sliding seat which can move horizontally along the horizontal sliding table, the machining tool is arranged on the sliding seat, and the sliding seat drives the machining tool to horizontally approach or keep away from a machining part of a workpiece.
Furthermore, the vertical sliding table is a screw rod sliding table, and a driving mechanism on the vertical sliding table is a vertical sliding table driving motor; the vertical sliding table is provided with a vertical screw rod and a vertical sliding rail which are vertical and parallel, the vertical screw rod is connected with a driving motor of the vertical sliding table, the horizontal sliding table is installed on the vertical screw rod to form a vertical operation structure, and the horizontal sliding table is further sleeved on the vertical sliding rail to form a stable guide structure in vertical operation. The horizontal sliding table is driven by the motor to move, and the motor has a simple implementation structure and high movement precision.
Furthermore, the horizontal sliding table is a screw rod sliding table, and a driving mechanism on the horizontal sliding table is a horizontal sliding table driving motor; the horizontal sliding table is provided with a horizontal screw rod and a horizontal sliding rail which are horizontal and parallel, the horizontal screw rod is connected with a driving motor of the horizontal sliding table through a belt, the sliding seat is installed on the horizontal screw rod to form a structure capable of horizontally running, and the sliding seat is further sleeved on the horizontal sliding rail to form a stable guide structure in horizontal running. The motor drives the sliding seat to move, so that the structure is simple and the moving precision is high.
Furthermore, the rotating mechanism comprises a rotating shaft and a rotating driving motor, the rotating driving motor is fixed on a mounting plate, the rotating shaft is connected with the rotating driving motor to form a rotatable structure, and the rotating shaft and the processing surface of the workpiece form a structure which is basically vertical; the installation support is fixed on the rotating shaft, the vertical sliding table is fixed on the installation support, a structure capable of synchronously rotating with the rotating shaft is formed, and the structure for realizing the rotation of the processing tool around the workpiece is very simple and effective. The rotating shaft can adopt the technical scheme disclosed in the 'segmented rotating shaft capable of preventing pipelines from winding' of the utility model applied by the applicant in another application.
Furthermore, a fixing shaft which protrudes upwards is arranged in the clamping mechanism, and the bottom end of the rotating shaft is connected with the fixing shaft through a bearing to form a rotatable structure.
When the region that processing tool located needs to be adjusted, the rotation driving motor work, and the drive rotation axis is rotatory, and the rotation axis drives the erection support rotatory, and the erection support takes vertical slip table synchronous revolution, so can be rotatory the regional position of needs with processing tool. When a certain position in an area is machined, and the required position cannot be machined due to the fact that the angle of the machining tool is not appropriate, the horizontal sliding table driving motor and the vertical sliding table driving motor are started, the horizontal sliding table moves in the vertical direction, the sliding seat moves in the horizontal direction, the horizontal sliding table driving motor and the vertical sliding table driving motor are matched to adjust the pointing angle of the machining tool, the machining tool continues to point to another position in the area, machining can be continued, and the machining tool rotates to another machining area after the area is machined. The vertical and horizontal linear motion of the processing tool and the rotary motion of the processing tool are subjected to linkage control through the existing electric system, so that the processing tool can swing while rotating, and the rotating speed, the swinging speed and the swinging track of the processing tool can be adjusted according to actual requirements.
The utility model discloses a with the machining tool install on the swing mechanism who gives first place to horizontal slip table and vertical slip table, and the swing mechanism is installed on the rotary mechanism who gives first place to rotation axis and rotation driving motor, can realize through the unified control of control system that the machining tool carries out rotary motion on this mechanism, can also do the linkage action in two straight line directions, and this mechanism is controlled by special control system, the motion parameter of 3 axles is adjustable, linkage parameter and linkage orbit are adjustable; the problem of performing rotary processing (such as rotary swing welding, rotary spraying and rotary polishing) on a large workpiece which cannot rotate is solved; the mechanism has a small movement interference range, and when a plurality of parts on a large workpiece need to be subjected to rotary machining, a plurality of mechanisms can be arranged for simultaneously machining, so that the efficiency is improved; the 3-axis linkage rotating mechanism has good rigidity, and avoids a joint mechanism of the robot, so that a machining tool with larger weight can be carried; the structure of the device is simpler than that of an industrial robot, the instantaneous response is higher, the reliability is higher, and the cost is lower; the rotary machining device can also be arranged on different travelling mechanisms and matched with auxiliary positioning and locating mechanisms to realize rotary machining of different parts on a large-sized workpiece.
Drawings
FIG. 1 is a plan view of the present invention;
FIG. 2 is a schematic view of the position of the torch in engagement with the workpiece during processing.
In the figure, 1 is a mounting plate, 2 is a rotating shaft, 3 is a mounting support, 4 is a clamping mechanism, 5 is a welding gun, 6 is a vertical sliding table, 7 is a horizontal sliding table, 8 is a horizontal sliding table driving motor, 9 is a vertical sliding table driving motor, 10 is a rotary driving motor, 11 is a fixed shaft, 12 is a workpiece, 13 is a sliding seat, 14 is a horizontal lead screw, 15 is a horizontal sliding rail, 16 is a vertical lead screw, and 17 is a vertical sliding rail.
Detailed Description
In this embodiment, welding processing is exemplified, referring to fig. 1 and fig. 2, the three-axis linkage rotation executing mechanism includes a rotating mechanism and a clamping mechanism 4, a welding gun 5 is mounted on the rotating mechanism to form a structure capable of rotating around a workpiece 12, the rotating mechanism is mounted on the clamping mechanism 4, and the clamping mechanism 4 and the workpiece 12 are clamped and fixed. The welding gun welding device also comprises a swinging mechanism, wherein the swinging mechanism is fixedly connected with the rotating mechanism, and the welding gun 5 is arranged on the swinging mechanism to form a swinging structure; the swing mechanism comprises a vertical sliding table 6 and a horizontal sliding table 7, the vertical sliding table 6 and the horizontal sliding table 7 are respectively provided with a driving mechanism, the vertical sliding table 6 is fixedly connected with the rotating mechanism, and the horizontal sliding table 7 is arranged on the vertical sliding table 6 to form a structure capable of moving up and down; a sliding seat 13 which can move horizontally along the horizontal sliding table 7 is arranged on the horizontal sliding table 7, the welding gun 5 is arranged on the sliding seat 13, and the sliding seat 13 drives the welding gun 5 to horizontally approach or be far away from the welding part of the workpiece 12.
The vertical sliding table 6 is a screw rod sliding table, and a driving mechanism on the vertical sliding table is a vertical sliding table driving motor 9 which generally adopts a servo motor; vertical screw rods 16 and vertical slide rails 17 which are vertical and parallel are arranged on the vertical slide table 6, the vertical screw rods 16 are connected with a belt of a driving motor 8 of the vertical slide table, the horizontal slide table 7 is installed on the vertical screw rods 16 to form a vertical operation structure, and the horizontal slide table 7 is further sleeved on the vertical slide rails 17 to form a stable guide structure during vertical operation, so that the operation process of the horizontal slide table 7 is more stable. The horizontal sliding table 7 is driven by the motor to move, and the motor is simple in structure and high in moving precision.
The horizontal sliding table 7 is a screw rod sliding table, and a driving mechanism on the horizontal sliding table is a horizontal sliding table driving motor 8; horizontal lead screw 14 and horizontal slide rail 15 that are provided with level and parallel on horizontal slip table 8, horizontal lead screw 14 passes through the belt with horizontal slip table driving motor 8 and is connected, but slide 13 installs and forms horizontal operation structure on horizontal lead screw 14 to slide 13 still overlaps the stable guide structure who forms horizontal operation on horizontal slide rail 15, makes the operation process of slide 13 more steady. The motor drives the sliding seat 13 to move, so that the structure is simple and the moving precision is high.
The rotary mechanism comprises a rotary shaft 2 and a rotary driving motor 10, the rotary driving motor 10 is fixed on a mounting plate 1, the rotary shaft 2 is connected with the rotary driving motor 10 to form a rotatable structure, and the rotary shaft 2 and the welding surface of a workpiece 12 form a basically vertical structure; a mounting support 3 is fixed on the rotating shaft 2, and the vertical sliding table 6 is fixed on the mounting support 3 to form a structure capable of rotating synchronously with the rotating shaft 2, so that the structure for realizing the rotation of the welding gun 5 around the workpiece 12 is very simple and effective.
The clamping mechanism 4 is provided with a fixed shaft 11 which protrudes upwards, and the bottom end of the rotating shaft 2 is connected with the fixed shaft 11 through a bearing to form a rotatable structure.
When needing to adjust welder 5 and locating the region, the work of rotation driving motor 10, drive rotation axis 2 is rotatory, and rotation axis 2 drives erection support 3 rotatory, and erection support 3 takes vertical slip table 6 synchronous revolution, so can be rotatory the regional position of needs with welder 5. When a certain position in an area is welded, when the position required by welding cannot be welded due to improper angle of the welding gun 5, the horizontal sliding table driving motor 8 and the vertical sliding table driving motor 9 are started, the horizontal sliding table 7 moves in the vertical direction, the sliding seat 13 moves in the horizontal direction, the horizontal sliding table driving motor and the vertical sliding table driving motor cooperate to adjust the pointing angle of the welding gun 5, the welding gun continues to point to another position in the area, and welding can be continued until the welding is completed in the area and then rotates to another welding area. The vertical and horizontal linear motion of the welding gun and the rotary motion of the welding gun 5 are subjected to linkage control through the existing electric system, so that the welding gun 5 can swing while rotating, and the rotating speed, the swinging speed and the swinging track of the welding gun 5 can be adjusted according to actual requirements.
At present, the device is applied to a special circular lap welding machine, and can also be used for carrying a paint spray gun to be applied to spraying operation of a cylindrical workpiece, or carrying a grinding machine to carry out surface grinding or chamfering operation and the like on the cylindrical workpiece.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the invention, i.e. the present invention is intended to cover all equivalent variations and modifications within the scope of the present invention.
Claims (5)
1. The utility model provides a rotatory actuating mechanism of triaxial linkage, constructs including slewing mechanism and clamping, through installing the processing tool and forming the structure that can rotate around the work piece on rotary mechanism, rotary mechanism installs on clamping constructs, and clamping constructs and fixed its characterized in that with the work piece: the machining tool is arranged on the swinging mechanism to form a swinging structure; the swing mechanism comprises a vertical sliding table and a horizontal sliding table, the vertical sliding table and the horizontal sliding table are respectively provided with a driving mechanism, the vertical sliding table is fixedly connected with the rotating mechanism, and the horizontal sliding table is arranged on the vertical sliding table to form a structure capable of moving up and down; the horizontal sliding table is provided with a sliding seat which can move horizontally along the horizontal sliding table, the machining tool is arranged on the sliding seat, and the sliding seat drives the machining tool to horizontally approach or keep away from a machining part of a workpiece.
2. The three-axis linkage rotary actuator of claim 1, wherein: the vertical sliding table is a screw rod sliding table, and a driving mechanism on the vertical sliding table is a vertical sliding table driving motor; the vertical sliding table is provided with a vertical screw rod and a vertical sliding rail which are vertical and parallel, the vertical screw rod is connected with a driving motor of the vertical sliding table, the horizontal sliding table is installed on the vertical screw rod to form a vertical operation structure, and the horizontal sliding table is further sleeved on the vertical sliding rail to form a stable guide structure in vertical operation.
3. The three-axis linkage rotary actuator of claim 1, wherein: the horizontal sliding table is a screw rod sliding table, and a driving mechanism on the horizontal sliding table is a horizontal sliding table driving motor; the horizontal sliding table is provided with a horizontal screw rod and a horizontal sliding rail which are horizontal and parallel, the horizontal screw rod is connected with a driving motor of the horizontal sliding table through a belt, the sliding seat is installed on the horizontal screw rod to form a structure capable of horizontally running, and the sliding seat is further sleeved on the horizontal sliding rail to form a stable guide structure in horizontal running.
4. The three-axis linkage rotary actuator of claim 1, wherein: the rotary mechanism comprises a rotary shaft and a rotary driving motor, the rotary driving motor is fixed on a mounting plate, the rotary shaft is connected with the rotary driving motor to form a rotatable structure, and the rotary shaft and the processing surface of the workpiece form a structure which is basically vertical; and a mounting support is fixed on the rotating shaft, and the vertical sliding table is fixed on the mounting support to form a structure capable of synchronously rotating with the rotating shaft.
5. The three-axis linkage rotary actuator of claim 4, wherein: the clamping mechanism is internally provided with a fixed shaft which protrudes upwards, and the bottom end of the rotating shaft is connected with the fixed shaft through a bearing to form a rotatable structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921475194.5U CN210335279U (en) | 2019-09-05 | 2019-09-05 | Three-axis linkage rotary actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921475194.5U CN210335279U (en) | 2019-09-05 | 2019-09-05 | Three-axis linkage rotary actuator |
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| Publication Number | Publication Date |
|---|---|
| CN210335279U true CN210335279U (en) | 2020-04-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921475194.5U Active CN210335279U (en) | 2019-09-05 | 2019-09-05 | Three-axis linkage rotary actuator |
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| CN (1) | CN210335279U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113003202A (en) * | 2021-02-05 | 2021-06-22 | 成都铭毅智能科技有限公司 | 180-degree carrying mechanism |
-
2019
- 2019-09-05 CN CN201921475194.5U patent/CN210335279U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113003202A (en) * | 2021-02-05 | 2021-06-22 | 成都铭毅智能科技有限公司 | 180-degree carrying mechanism |
| CN113003202B (en) * | 2021-02-05 | 2022-10-21 | 成都铭毅智能科技有限公司 | 180-degree carrying mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Weiming Inventor after: Zhang Yunfeng Inventor after: Lu Jun Inventor after: Chen Chunqing Inventor before: Zhang Yunfeng Inventor before: Li Weiming Inventor before: Lu Jun Inventor before: Chen Chunqing |
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| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Jiangyin Inventor after: Li Weiming Inventor after: Zhang Yunfeng Inventor after: Lu Jun Inventor after: Chen Chunqing Inventor before: Li Weiming Inventor before: Zhang Yunfeng Inventor before: Lu Jun Inventor before: Chen Chunqing |
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| CB03 | Change of inventor or designer information |