CN213105241U - Amplitude-variable portal welding robot - Google Patents

Abstract

The utility model relates to the technical field of automatic welding devices, and discloses an amplitude-variable portal type welding robot, which comprises a sliding mounting rack arranged on a bottom rail in a sliding manner through a guide wheel with an X-axis driving device, wherein the bottom rail is arranged along the X direction; the sliding installation rack is rotatably provided with an installation upright post through a hinge shaft, and the central axis of the hinge shaft is vertical to the direction of the bottom track; the top of the mounting upright post is connected with a mounting cross beam through a slewing device, the mounting cross beam and the mounting upright post are mutually vertical, and the mounting cross beam can axially rotate on the mounting upright post under the driving of the slewing device; the installation beam is provided with a six-axis manipulator with a welding gun and a welding wire supply device through a cross sliding table structure with a driving unit, and the six-axis manipulator can move along the longitudinal Z direction and the transverse Y direction perpendicular to the X direction on the cross sliding table structure in two directions.

Description

Amplitude-variable portal welding robot

Technical Field

The utility model relates to an automatic change welding set technical field, especially relate to a become width of cloth portal frame formula welding robot.

Background

As the robot technology has become mature, the welding robot is gradually being widely used in various fields of industrial manufacturing.

Because the welding robot has the functions of multi-axis linkage and program intelligent control, the welding robot has high action repetition precision, stable product quality and high production efficiency, and is suitable for being applied to flow lines, such as industries with programmed and standardized characteristics, such as automobile manufacturing, medical appliances, chemical production, food production, packaging, logistics and the like.

In the processing of hydraulic metal structural parts, such as arc doors, door slots, headstock gears and the like, the manual arc welding mode is mainly adopted for welding at present. The manual arc welding operation has high labor intensity, unstable welding quality and low production efficiency, so that the intelligent robot welding technology is applied to the manufacture of the products, and the quality and efficiency problems can be effectively solved by replacing the manual arc welding.

For example, in the prior art, the invention patent document with the publication number of CN108436350A and the publication date of 24.08.2018 entitled "an automatic welding manipulator system" discloses an automatic welding manipulator system, and aims to solve the problems of complex structure and low production efficiency of a welding manipulator in the prior art; the left side and the right side of the frame body are provided with welding manipulator parts with the same structure, the middle of the frame body is provided with a transfer manipulator assembly, the right welding manipulator comprises a first welding assembly and a second welding assembly which are arranged in parallel and have the same structure, and the first welding assembly comprises a connecting frame, a lifting part, a rotating part and a grabbing part.

But because there are characteristics such as the structure is complicated, the solder joint is many, the direction of welding transform is many, the space is narrow in the welding process at hydraulic metal structure spare to and the production organizational scheme of small batch, multiple type usually, conventional welding robot popularization and application still has certain obstacle, mainly has:

1. the structure is complex, the welding direction changes greatly, and the probability of singularity occurrence during the operation of the robot is high;

2. the workpiece size change range is large, and the function of the conventional welding robot cannot meet the characteristic of multiple changes of the product size;

3. the robot with single function is produced and used in small batches, and the cost is too high;

special programming is needed for different products, the requirement on operators is too high, and the difficulty is high. A multipurpose robot with wider application range and capable of being flexibly adjusted needs to be researched to meet the requirement of one machine for multiple purposes.

Disclosure of Invention

In order to overcome the problem and not enough that exist among the above-mentioned prior art, the utility model aims at providing a combine three-dimensional moving gantry formula adjustment mechanism and six conventional welding robot, overcome that there is singular trouble, adaptability is poor, use cost scheduling problem's the variable amplitude gantry formula welding robot in the complicated component of conventional robot welding.

The utility model discloses a this kind of become width of cloth portal formula welding robot, its characterized in that: the X-axis driving device comprises a sliding mounting frame which is arranged on a bottom rail in a sliding mode through a guide wheel with an X-axis driving device, wherein the bottom rail is arranged along the X direction, namely, the sliding mounting frame can move on the rail along the X direction; the sliding installation frame is rotatably provided with an installation upright post through a hinge shaft, the central axis of the hinge shaft is perpendicular to the direction of the bottom track, namely the inclination angle of the installation upright post is adjustable, and the installation upright post can correspondingly drive the height and angle of equipment on the installation upright post to be adjusted so as to achieve a narrower working space and form a multi-degree-of-freedom movable structure; the top of the mounting upright post is connected with a mounting cross beam through a slewing gear, the mounting cross beam and the mounting upright post are mutually vertical, and the mounting cross beam can axially rotate on the mounting upright post under the driving of the slewing gear, namely, a relatively horizontal working surface is provided for equipment on the mounting cross beam, the slewing gear can adjust the angle of a mounting surface in real time, the inclination angle change caused by the angle adjustment of the mounting upright post can be offset, and the quick and integral angle adjustment can be provided for a six-axis manipulator; the installation crossbeam is last to be provided with the six-axis manipulator that has welder and welding wire feeding device through the cross slip table structure that has drive unit, the six-axis manipulator is in the cross slip table can be structural along vertical Z direction and perpendicular to the horizontal Y direction two of X direction is to the activity, promptly, this kind of structure has two five degrees of freedom regulation structures to angular adjustment in providing a three-dimensional space for the six-axis manipulator, can macroscopical, on a large scale adjustment whole angle, and the six-axis manipulator then can only be responsible for the regulation of precision in welding process can.

Preferably, the bottom track is the double track that sets up side by side, and the correspondence the installation stand be two, correspond and set up on two tracks, and the installation crossbeam then sets up between two installation stands through the slewer at both ends, and the stability and the bearing capacity of double track are better, can realize more powerful processing.

Preferably, the installation crossbeam is provided with the horizontal slide rail of a horizontal Y direction respectively along its axial direction's both sides, and on two horizontal slide rails, can slide respectively along vertical Z direction and be provided with a vertical slide rail, all can slide respectively on the vertical slide rail and be provided with one the six-axis manipulator, horizontal slide rail and vertical slide rail constitute promptly cross slip table structure, two manipulator designs promptly, and the track independently can be simultaneously with the two-sided processing of angle.

Or, the installation crossbeam is provided with the horizontal slide rail of a horizontal Y direction along its axial direction, on the horizontal slide rail, in the both sides of installation crossbeam or homonymy, slidable side by side along vertical Z direction be provided with two vertical slide rails, all can be slided respectively on the vertical slide rail and be provided with one six-axis manipulator, horizontal slide rail and vertical slide rail constitute promptly cross sliding table structure is two manipulator designs equally, but common rail design single adjustment doubling simultaneous processing.

Furthermore, vertical slide rail and horizontal slide rail are the slip rack, vertical slide rail through have with the slip rack meshing's direct-connected servo motor sets up on the slip rack of horizontal slide rail, correspondingly, six manipulators also through have with the slip rack meshing's direct-connected servo motor sets up on the slip rack of vertical slide rail, rack and pinion transmission is rapid and moment is great to certain card stopping ability still has.

Preferably, be provided with the hinge platform on the sliding installation frame, the installation stand bottom is through the rotatable setting of hinge on the sliding installation frame, installation stand and sliding installation frame are connected with a telescopic link unit through the articulated, and under telescopic activity drive of telescopic link unit promptly, the relative position contained angle between installation stand and the sliding installation frame is adjustable, and the crossbeam height and the inclination at installation stand top are driven in the corresponding also.

The slewing device includes and installs at the slewing drive unit in the installation stand top outside through the bearing frame, and installs installation stand top, be used for rotating the setting the slewing bearing of installation crossbeam is established with fixed cover installation crossbeam end, with slewing drive unit's the running gear meshing along with the change gear, promptly slewing drive unit drives along with change gear drive installation crossbeam along its axial rotation adjustment on the installation stand through the slewing bearing at both ends, can correspond the six manipulator angles of adjustment on it.

Preferably, the main electric welding machine of the welding gun is arranged on the sliding installation frame and is connected to the welding gun along the installation upright post and the installation cross beam through a flat cable.

Furthermore, the guide wheels are clamping type guide wheels symmetrically arranged on two sides of the track.

The robot is characterized by further comprising a vision sensor, a pressure sensor and a light irradiation instrument which are arranged on the six-axis manipulator, a power distribution cabinet and a central industrial personal computer, wherein a power distribution cabinet power supply line and a central industrial personal computer control line are connected with each power unit of the robot, the vision sensor, the pressure sensor and the light irradiation instrument through flat cable cables.

Compared with the prior art, the utility model discloses this kind of technical scheme combines three-coordinate moving gantry formula adjustment mechanism and six conventional welding robot, and portal installation stand becomes width of cloth for can verting, and the installation crossbeam is rotatory, and extension robot welding activity orbit with weld angularly adjustable range, this robot have anticollision and visual identification system, satisfy multiple type, the needs that complicated component multi-angle was executed and is welded, intelligent welding, liberation labour, of high quality, efficient. Compared with manual welding and robot welding, the welding seam forming is better, the quality is more stable, uninterrupted operation can be realized, and the efficiency is higher; and the three-axis movable portal structure meets the welding requirement of an oversized super-long piece or the simultaneous welding of a plurality of pieces. The X axis can be arbitrarily extended according to needs, the Y axis and the Z axis can be freely moved in a larger range, the working range of the six-axis robot is expanded, a variable-spoke portal frame and a rotatable mounting cross beam are adopted, the adaptability of a welding station of the robot is improved, when the six-axis robot welds an excessively complex component, the movement track of a manipulator easily enters the position of a singular point to generate a fault, and the transposition functions of the portal frame and the mounting cross beam are favorable for programming, the singular point on the track is prevented from generating in advance, meanwhile, the adaptability of the robot to the shape and the size of a workpiece is further improved, the automatic obstacle avoidance function can be realized through an external mechanical vision device, the self-protection capability of the robot is improved, the welding line and the three-dimensional laser detection function are automatically searched through visual recognition, the intelligence level of the robot is improved, and the guide plate is manually placed, the welding line is, the online programming difficulty and workload are reduced, the quality of the welding seam is detected online through a three-dimensional laser detection technology, the workload and strength of manual detection are reduced, and the detection precision and efficiency are improved.

Drawings

The foregoing and following detailed description of the invention will be apparent when read in conjunction with the following drawings, in which:

FIG. 1 is a schematic side view of the overall structure of the present invention;

FIG. 2 is a front view of the overall installation structure of the present invention;

FIG. 3 is a schematic side view of an angle adjusting structure of the mounting posts of the present invention;

FIG. 4 is a schematic structural view of a turning device suitable for use in the present invention;

fig. 5 is a schematic structural view of a guide wheel suitable for the present invention;

in the drawings:

1. a bottom rail; 2. a guide wheel; 3. a sliding mount; 4. a hinge shaft; 5. mounting the upright post; 6. mounting a cross beam; 7. a welding gun; 8. a welding wire supply device; 9. a six-axis manipulator; 10. an X-axis drive device; 11. a transverse slide rail; 12. a longitudinal slide rail; 13. a direct connection servo motor; 14. a telescopic rod unit; 15. a bearing seat; 16. a swing drive unit; 17. a rotating gear; 18. a follow-up gear; 19. a main machine of the electric welding machine; 20. a power distribution cabinet; 21. and a central industrial personal computer.

Detailed Description

The technical solution for achieving the objectives of the present invention will be further described by using several specific examples, and it should be noted that the technical solution claimed in the present invention includes, but is not limited to, the following examples.

Example 1

As a most basic embodiment of the present invention, as shown in fig. 1, a variable amplitude portal welding robot is disclosed, which comprises a sliding mounting rack 3 slidably disposed on a bottom rail through a guide wheel 2 with an X-axis driving device 10, wherein the bottom rail is disposed along the X direction, i.e., the sliding mounting rack 3 can realize the movement along the X direction on the rail; the sliding installation frame 3 is rotatably provided with an installation upright post 5 through a hinge shaft 4, the central axis of the hinge shaft 4 is perpendicular to the direction of the bottom track, namely the inclination angle of the installation upright post 5 is adjustable, and the installation upright post can correspondingly drive the height and angle of equipment on the installation upright post to be adjusted so as to achieve a narrow working space and form a multi-degree-of-freedom movable structure; the top of the mounting upright post 5 is connected with a mounting cross beam 6 through a slewing gear, the mounting cross beam 6 is perpendicular to the mounting upright post 5, the mounting cross beam 6 is driven by the slewing gear to axially rotate on the mounting upright post 5, namely, a relatively horizontal working surface is provided for equipment on the mounting cross beam 6, the slewing gear can adjust the angle of a mounting surface in real time, namely, the inclination angle change brought by the angle adjustment of the mounting upright post 5 can be offset, and the quick and integral angle adjustment can be provided for the six-axis manipulator 9; the installation crossbeam 6 is last to be provided with six-axis manipulator 9 that have welder 7 and welding wire feeding device 8 through the cross slip table structure that has drive unit, six-axis manipulator 9 is in the cross slip table can be structural along vertical Z direction and perpendicular to the horizontal Y direction bi-directional activity of X direction, promptly, this kind of structure has two five degrees of freedom regulation structures to angular adjustment in providing a three-dimensional space for six-axis manipulator 9, can macroscopical, on a large scale adjustment overall angle, and six-axis manipulator 9 then can only be responsible for the regulation of precision in welding process.

Example 2

As a preferred embodiment of the present invention, on the basis of the above technical solution of example 1, preferably, as shown in fig. 2, the bottom rail is a double-rail arranged side by side, and correspondingly, the two mounting posts 5 are two, and correspondingly arranged on the two rails, and the mounting beam 6 is arranged between the two mounting posts 5 through the revolving device at the two ends, so that the stability and the bearing capacity of the double rails are better, and more powerful processing can be realized.

Preferably, the installation crossbeam 6 is provided with a horizontal slide rail 11 of horizontal Y direction respectively along its axial direction's both sides, and on two horizontal slide rails 11, can slide respectively along vertical Z direction and be provided with a vertical slide rail 12, all can slide respectively on the vertical slide rail 12 and be provided with one six-axis manipulator 9, horizontal slide rail 11 constitutes with vertical slide rail 12 promptly the cross slip table structure, two manipulator designs promptly, and the track independently can be simultaneously with the two-sided processing of angle.

Or, as shown in fig. 2, the installation beam 6 is provided with a transverse slide rail 11 in the transverse Y direction along the axial direction thereof, two longitudinal slide rails 12 are slidably provided side by side on the transverse slide rail 11, on both sides or the same side of the installation beam 6, along the longitudinal Z direction, one six-axis manipulator 9, namely, the transverse slide rail 11 and the longitudinal slide rail 12 constitute the cross sliding table structure, which is also designed by two manipulators, and the common rail design can be adjusted and processed simultaneously at a single time.

Further, the longitudinal slide rail 12 and the transverse slide rail 11 are both sliding racks, the longitudinal slide rail 12 is arranged on the sliding rack of the transverse slide rail 11 through a direct connection servo motor 13 with a driving gear meshed with the sliding rack, correspondingly, the six-axis manipulator 9 is also arranged on the sliding rack of the longitudinal slide rail 12 through a direct connection servo motor 13 with a driving gear meshed with the sliding rack, the gear and rack transmission is rapid, the moment is large, and the six-axis manipulator also has certain clamping and stopping capacity.

Preferably, as shown in fig. 2 and 3, a hinge table is disposed on the sliding mounting frame 3, the bottom of the mounting upright 5 is rotatably disposed on the sliding mounting frame 3 through a hinge shaft 4, the mounting upright 5 and the sliding mounting frame 3 are connected with a telescopic rod unit 14 through a hinge, that is, under the driving of the telescopic rod unit 14, the relative position included angle between the mounting upright 5 and the sliding mounting frame 3 is adjustable, and correspondingly, the height and the inclination angle of the cross beam at the top of the mounting upright 5 are also driven to change.

As shown in fig. 4, the turning device includes a turning driving unit 16 installed on the outer side of the top of the installation column 5 through a bearing seat 15, a turning bearing installed on the top of the installation column 5 and used for rotatably installing the installation beam 6, and a following gear 18 fixedly sleeved on the end of the installation beam 6 and meshed with a turning gear 17 of the turning driving unit 16, that is, the turning driving unit 16 drives the following gear 18 through the turning gear 17 to drive the installation beam 6 to rotate and adjust along the axial direction of the installation column 5 through the turning bearings at both ends, that is, the angle of the six-axis manipulator 9 on the installation column can be correspondingly adjusted.

Preferably, the welding machine main unit 19 of the welding gun 7 is arranged on the sliding mounting frame 3 and is connected to the welding gun 7 along the mounting upright 5 and the mounting cross beam 6 through a flat cable.

Further, as shown in fig. 5, the guide wheels 2 are clamping type guide wheels 2 symmetrically arranged on two sides of the track

According to the technical scheme, a six-axis linkage welding manipulator technical scheme is adopted, manual hand-held welding handles are replaced by multi-axis linkage operation of the manipulator, a robot control system and an image recognition system are utilized, and a welding position is automatically found by manually placing a guide plate and automatically recognizing the position of a welding seam of a structural part in a three-dimensional visual manner; aiming at welding of an oversized workpiece, a welding robot is arranged on a set of portal frames capable of realizing three-dimensional coordinate adjustment, and the moving range of the robot in a three-dimensional space is expanded by utilizing the movement of the portal frames; to the robot welding complicated part, the soldered connection power track is too complicated, odd point trouble problem easily appears, designs the portal frame into can changeing the structural style around the pivot axle 4, transfers the installation crossbeam 6 height, further increases the robot home range, will install crossbeam 6 simultaneously and design into the structure that can wind the back shaft rotation, makes the robot increase a degree of freedom to adapt to the welding of complicated regional welding seam, reduce the robot and appear the probability of motion odd point for satisfying complicated regional welding seam face of weld.

Claims (10)

1. The utility model provides a become width of cloth portal formula welding robot which characterized in that: comprises a sliding mounting rack (3) which is arranged on a bottom rail in a sliding way through a guide wheel (2) with an X-axis driving device (10), wherein the bottom rail is arranged along the X direction; the sliding mounting rack (3) is rotatably provided with a mounting upright post (5) through a hinge shaft (4), and the central axis of the hinge shaft (4) is vertical to the bottom track direction; the top of the mounting upright post (5) is connected with a mounting cross beam (6) through a slewing gear, the mounting cross beam (6) and the mounting upright post (5) are mutually vertical, and the mounting cross beam (6) can axially rotate on the mounting upright post (5) under the driving of the slewing gear; the welding device is characterized in that a six-axis manipulator (9) with a welding gun (7) and a welding wire supply device (8) is arranged on the mounting cross beam (6) through a cross sliding table structure with a driving unit, and the six-axis manipulator (9) can move along the longitudinal Z direction and the transverse Y direction perpendicular to the X direction on the cross sliding table structure in two directions.

2. The luffing gantry welding robot of claim 1, wherein: the bottom rail is a double-rail arranged side by side, the number of the corresponding mounting upright posts (5) is two, the mounting upright posts are correspondingly arranged on the two rails, and the mounting cross beam (6) is arranged between the two mounting upright posts (5) through the rotating devices at the two ends.

3. The luffing gantry welding robot of claim 1, wherein: installation crossbeam (6) are provided with transverse slide rail (11) of a horizontal Y direction respectively along its axial direction's both sides, and on two transverse slide rail (11), slidable respectively is provided with a vertical slide rail (12) along vertical Z direction, all slidable respectively is provided with one on vertical slide rail (12) six-axis manipulator (9), transverse slide rail (11) constitute with vertical slide rail (12) promptly cross sliding table structure.

4. The luffing gantry welding robot of claim 1, wherein: installation crossbeam (6) are provided with transverse slide rail (11) of a horizontal Y direction along its axial direction, on transverse slide rail (11), in the both sides of installation crossbeam (6) or homonymy, slidable side by side along vertical Z direction is provided with two vertical slide rail (12), all slidable respectively on vertical slide rail (12) is provided with one six manipulators (9), and transverse slide rail (11) constitute with vertical slide rail (12) promptly cross slip table structure.

5. The luffing gantry welding robot of claim 3 or 4, wherein: the six-axis manipulator is characterized in that the longitudinal sliding rail (12) and the transverse sliding rail (11) are both sliding racks, the longitudinal sliding rail (12) is arranged on the sliding racks of the transverse sliding rail (11) through a direct connection servo motor (13) with a driving gear meshed with the sliding racks, correspondingly, and the six-axis manipulator (9) is also arranged on the sliding racks of the longitudinal sliding rail (12) through a direct connection servo motor (13) with a driving gear meshed with the sliding racks.

6. The luffing gantry welding robot according to claim 1 or 2, wherein: the novel mounting structure is characterized in that a hinge table is arranged on the sliding mounting frame (3), the bottom of the mounting upright post (5) is rotatably arranged on the sliding mounting frame (3) through a hinge shaft (4), and the mounting upright post (5) and the sliding mounting frame (3) are connected with a telescopic rod unit (14) through hinges.

7. The luffing gantry welding robot according to claim 1 or 2, wherein: the slewing device comprises a slewing drive unit (16) installed on the outer side of the top of an installation upright post (5) through a bearing seat (15), and a slewing bearing and a follow-up gear (18) which are installed on the top of the installation upright post (5) and used for rotating and setting the slewing bearing of the installation cross beam (6) and are fixedly sleeved on the end of the installation cross beam (6) and meshed with a rotating gear (17) of the slewing drive unit (16).

8. The luffing gantry welding robot according to claim 1 or 2, wherein: the electric welding machine main body (19) of the welding gun (7) is arranged on the sliding installation frame (3) and is connected to the welding gun (7) along the installation upright post (5) and the installation cross beam (6) through a flat cable.

9. The luffing gantry welding robot according to claim 1 or 2, wherein: the guide wheels (2) are clamping type guide wheels (2) symmetrically arranged on two sides of the track.

10. The luffing gantry welding robot according to claim 1 or 2, wherein: the robot is characterized by further comprising a vision sensor, a pressure sensor and a light irradiation instrument which are arranged on the six-axis manipulator (9), a power distribution cabinet (20) and a central industrial personal computer (21), wherein power supply circuits of the power distribution cabinet (20) and control circuits of the central industrial personal computer (21) are connected with power units, the vision sensor, the pressure sensor and the light irradiation instrument of the robot through flat cable cables.

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