CN216264047U

CN216264047U - Robot curve wire feeding device

Info

Publication number: CN216264047U
Application number: CN202122808698.8U
Authority: CN
Inventors: 秦方瑞; 韦毓鹏; 马涛
Original assignee: Anhui Stark Robot Co ltd
Current assignee: Anhui Stark Robot Co ltd
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2022-04-12
Anticipated expiration: 2031-11-16

Abstract

The utility model discloses a robot curve wire feeding device, and belongs to the technical field of laser welding. The wire feeding mechanism comprises a wire feeding disc and a wire feeder which are connected with each other through a welding wire, and the wire feeder is connected with the rotating mechanism through the wire feeding pipe; the rotating mechanism comprises a box body, a linkage motor, a synchronous belt wheel and a clamp, the box body is detachably mounted on the mechanical arm, and the linkage motor is mounted on a top plate of the box body; the synchronous belt wheel comprises a first synchronous belt wheel and a second synchronous belt wheel, the first synchronous belt wheel is connected with the driving end of the linkage motor, and the first synchronous belt wheel is connected with the second synchronous belt wheel through a synchronous belt; the clamp is arranged on the second synchronous belt wheel and used for clamping the wire feeding pipe. The device can effectively control the position and the angle of the wire outlet, such as rotating wire outlet, tangential wire outlet and the like, thereby being beneficial to meeting the requirement of a robot on curve welding.

Description

Robot curve wire feeding device

Technical Field

The utility model belongs to the technical field of laser welding, and particularly relates to a robot curve wire feeding device.

Background

On one hand, the welding requires skilled operation skills, rich practical experience and stable welding level; on the other hand, welding is a work with poor working conditions, much smoke, large heat radiation and high danger. Therefore, the industrial manipulator replaces manual welding of workers, so that the labor intensity of the workers can be reduced, the labor condition of the workers can be improved, the requirement on the technical difficulty of the operation of the workers can be lowered, and meanwhile, the welding quality and the bar welding efficiency can be ensured.

However, due to the limitation of the application range of the robot, the conventional structure of the existing robot can only weld a straight weld seam during the wire-feeding welding process. And aiming at the curved welding seam, the wire feeding direction is fixed and the curved wire filling cannot be finished, so that the curved welding of the robot is finished.

Through search, the Chinese patent application numbers are: 201420147371.8, filing date: 3, month 28 in 2014, the name of the utility model creation is: a plane welding manipulator. The welding manipulator of this application includes the frame, be fixed with horizontal Z axle slip table on the rack table face, Z axle slip table passes through Z axle slider and Y axle slip table sliding connection, Y axle slip table passes through Y axle slider and X axle slip table sliding connection, Z axle slider can be followed Z axle slip table and removed at Z axle direction, and Y axle slider can remove at Y axle direction along Y axle slip table, Z axle slip table connection drive Z axle slip quick gliding Z axle servo motor, Y axle slip table connection drive Y axle slider gliding Y axle servo motor, X axle slip table is connected with X axle servo motor, because welding manipulator can be through fixing a position at XYZ axle, increases the rotary motion of two directions simultaneously for the device can accomplish curve welding. However, the device of this application is complex in structure and relatively high in manufacturing cost, and when the manipulator is used for curve welding, the operation of adjusting and controlling the welding angle is complicated, and the stability of the device is still to be improved.

SUMMERY OF THE UTILITY MODEL

1. Problems to be solved

The utility model aims to overcome the defect that curve welding is difficult to realize when the existing robot is used for welding, and provides a robot curve wire feeding device. By adopting the technical scheme of the utility model, the problems can be effectively solved, and the curve welding is realized by controlling the wire feeding angle; meanwhile, the device has the advantages of simple structure, easy manufacture, stable wire output in the welding process and good welding effect.

2. Technical scheme

In order to solve the problems, the technical scheme adopted by the utility model is as follows:

the utility model discloses a robot curve wire feeding device, which comprises a wire feeding mechanism, a mechanical arm, a wire feeding pipe and a rotating mechanism, wherein the wire feeding mechanism comprises a wire feeding disc and a wire feeder, the wire feeding disc is connected with the wire feeder through a welding wire, and the wire feeder is connected with the rotating mechanism through the wire feeding pipe; the rotating mechanism comprises a box body, a linkage motor, a synchronous belt wheel and a clamp, the box body is detachably mounted on the mechanical arm, and the linkage motor is mounted on a top plate of the box body; the synchronous belt wheel comprises a first synchronous belt wheel and a second synchronous belt wheel, the first synchronous belt wheel is connected with the driving end of the linkage motor, and the first synchronous belt wheel is connected with the second synchronous belt wheel through a synchronous belt; the clamp is arranged on the second synchronous belt wheel and used for clamping the wire feeding pipe.

Furthermore, the rotating mechanism further comprises a crossed roller bearing, the crossed roller bearing is installed at the bottom of the top plate, and a second synchronous belt wheel is installed on the outer ring of the crossed roller bearing.

Furthermore, the wire feeding device also comprises a rotating flange and a wire feeding guide pipe, wherein the rotating flange is arranged on the crossed roller bearing and is fixedly connected with the second synchronous belt wheel, and the wire feeding guide pipe is connected with the tail end of the wire feeding pipe and is arranged on the clamp.

Furthermore, the rotary flange device further comprises a horizontal plate and an inclined plate, wherein the top of the horizontal plate is installed on the edge of the rotary flange, the end part, far away from the rotary flange, of the horizontal plate is fixedly connected with the inclined plate, and the other end of the inclined plate is fixedly connected with the clamp.

Furthermore, the rotating mechanism further comprises a connecting plate, the bottom end of the connecting plate is fixedly connected with the top plate, and the top of the connecting plate is detachably connected with the mechanical arm through a connecting support.

Furthermore, the two sides of the connecting plate are respectively provided with a first reinforcing rib and a second reinforcing rib, the first reinforcing rib and the second reinforcing rib are both processed into right-angled triangle structures, and the two right-angled sides are respectively connected with the connecting plate and the top plate.

Furthermore, a third reinforcing rib is arranged at a right angle formed by the connecting plate and the connecting support, the third reinforcing rib is processed into a right-angled triangle structure, and two right-angled sides of the third reinforcing rib are respectively connected with the connecting plate and the connecting support.

Furthermore, the first reinforcing rib and the second reinforcing rib respectively comprise two reinforcing ribs which are respectively symmetrically arranged at two ends of the connecting plate.

The wire feeding device further comprises a rack and a servo controller, wherein the wire feeding disc and the wire feeder are arranged on the rack through a bracket, and the mechanical arm is arranged on the rack; the servo controller is arranged on the mechanical arm and is electrically connected with the linkage motor.

Furthermore, two groups of rollers are arranged in the wire feeder, each group of rollers comprises a driving roller and a driven roller, and the driving roller is connected with the driving end of the motor.

3. Advantageous effects

Compared with the prior art, the utility model has the beneficial effects that:

(1) the utility model relates to a robot curve wire feeding device, which comprises a wire feeding mechanism, a mechanical arm, a wire feeding pipe and a rotating mechanism, wherein the rotating mechanism comprises a box body, a linkage motor, a synchronous belt wheel and a clamp, the integral structure of the rotating mechanism is optimally designed, particularly the rotating mechanism is arranged, the synchronous belt wheel is driven to rotate by driving the linkage motor to rotate, so that the clamp is controlled to rotate, the wire feeding pipe (namely welding wires) is driven to do curve motion, the curve wire feeding is effectively finished, the robot curve welding is further realized, and the welding quality is effectively ensured.

(2) According to the robot curve wire feeding device, the synchronizing wheel comprises the first synchronizing wheel and the second synchronizing wheel, the first synchronizing wheel is mounted at the driving end of the linkage motor and is connected with the second synchronizing wheel in a driving mode through the synchronizing belt, the second synchronizing wheel is provided with the rotating flange, the clamp is mounted on the rotating flange, flexible rotation is facilitated, the robot can be guaranteed to stably complete curve welding, and the welding effect and the welding quality are effectively guaranteed. In addition, the utility model can realize the welding of different curve sizes or shapes by replacing the rotary flanges with different sizes, thereby being beneficial to expanding the application range of curve welding.

(3) According to the robot curve wire feeding device, the tail part of the wire feeding pipe is also connected with the wire feeding guide pipe in an installing mode, the wire feeding guide pipe is clamped on the clamp, and the wire feeding guide pipe can be bent into different shapes according to actual requirements, so that the wire discharging direction of a welding wire is adjusted, the welding wire meets the requirement of tangential wire discharging during welding, and the welding quality can be further improved. Meanwhile, the clamp is also provided with a horizontal plate connected with the edge end part of the rotating flange, the end part of the horizontal plate is also connected with an inclined plate, and the horizontal plate is connected with the clamp in an installing way by arranging the inclined plate, so that the clamp is beneficial to controlling the installing position and the angle of the clamp, and the clamp is simple in structure and easy to manufacture.

(4) According to the robot curve wire feeding device, the reinforcing ribs are further arranged after the connecting plate and the top plate of the rotating mechanism are installed, and the distribution, the number and the structure of the reinforcing ribs are optimized, so that the structural installation strength and the stability of each part are guaranteed, the robot is effectively guaranteed to smoothly perform curve welding, and the welding effect is favorably guaranteed. In addition, still can dismantle the servo driver of installing in connecting plate upper end for control welding operation go on and stop, control is simple and convenient, is favorable to improving welding precision, and the welding uniformity is better.

(5) According to the robot curve wire feeding device, the wire feeding disc and the wire feeder are arranged on the rack, the welding wire is connected with the rotating mechanism through the wire feeding pipe, the long-distance wire feeding can be realized, the welding wire is arranged in the wire feeding pipe, the cleanness of the welding wire in the conveying process is ensured, and the cleanliness of a workshop can be improved. Meanwhile, the wire feeder comprises two groups of rollers, each group of rollers comprises a driving roller and a driven roller, and when the welding wires are extracted and transmitted, the wire feeding is stable.

Drawings

FIG. 1 is a schematic perspective view of a curved wire feeding device of a robot (not shown with a wire feeding tube) according to the present invention;

FIG. 2 is a schematic front view of the wire feeder of the present invention;

FIG. 3 is a schematic perspective view of a rotary mechanism of the present invention;

fig. 4 is a schematic front view of the rotating mechanism of the present invention;

fig. 5 is a schematic partial cross-sectional structure view of the rotating mechanism of the present invention.

In the figure:

1. a frame;

2. a wire feeder; 201. a support; 202. a wire feeding disc; 203. a driving roller; 204. a driven roller;

3. a mechanical arm;

4. a rotation mechanism; 401. connecting a bracket; 402. a connecting plate; 403. a linkage motor; 404. a first reinforcing rib; 405. a second reinforcing rib; 406. a third reinforcing rib; 407. a top plate; 408. a box body; 409. a first timing pulley; 410. a second timing pulley; 411. a crossed roller bearing; 412. rotating the flange; 413. a horizontal plate; 414. an inclined plate; 415. a clamp;

5. a servo controller; 6. welding wires; 7. a wire feeding pipe; 8. a wire feed conduit.

Detailed Description

The utility model is further described with reference to specific examples.

Example 1

As shown in fig. 1-5, the robot curved wire feeding device of the present embodiment includes a frame 1, a wire feeding mechanism 2, a mechanical arm 3, a wire feeding tube 7, a rotating mechanism 4, and a servo driver 5. The wire feeding mechanism 2 comprises a support 201, a wire feeding disc 202 and a wire feeder, wherein the support 201 is of a frame structure, the support and the bottom of the mechanical arm 3 are detachably mounted at the top of the rack 1, the wire feeding disc 202 and the wire feeder are mounted inside the support 201 respectively, and the wire feeding disc 202 is used for winding a welding wire 6. The wire outlet of the wire feeder is connected with the wire feeding pipe 7, the welding wire 6 can be protected by the arrangement of the wire feeding pipe 7, the welding wire 6 is guaranteed to be kept clean in the conveying process, the cleanliness of a processing workshop can be improved, and the welding wire 6 is guaranteed to be smoothly conveyed to the rotating mechanism 4 under the condition of long-distance conveying. The wire feeding pipe 7 is arranged on the rotating mechanism 4, the rotating mechanism 4 and the servo driver 5 are both arranged on the mechanical arm 3, and the servo driver 5 is used for controlling the rotating mechanism 4 to rotate.

Specifically, as shown in fig. 2, two sets of rollers are arranged in the wire feeder, each set of rollers includes a driving roller 203 and a driven roller 204, the driving roller 203 is connected with the driving end of the motor, and when the wire feeder feeds the wire, the motor is controlled to rotate to drive the driving roller 203 to rotate, and the driven roller 204 rotates accordingly, so that the welding wire 6 is transmitted forwards under the rotation of the driving roller 203 and the driven roller 204. According to the utility model, the wire feeder is arranged near the wire feeding disc 202, and the two groups of rollers are respectively arranged at the wire inlet and the wire outlet of the wire feeder, so that the welding wire 6 can be stably extracted and fed stably.

As shown in fig. 3 to 5, the rotating mechanism 4 includes a box 408, a linkage motor 403, a synchronous pulley, a rotating flange 412 and a clamp 415, the box 408 is detachably mounted on the robot arm 3, and the linkage motor 403 is mounted on a top plate 407 of the box 408. The synchronous belt wheel comprises a first synchronous belt wheel 409 and a second synchronous belt wheel 410, the first synchronous belt wheel 409 is connected with the driving end of the linkage motor 403, and the first synchronous belt wheel 409 is connected with the second synchronous belt wheel 410 through a synchronous belt. The clamp 415 is connected with the second synchronous pulley 410 in an installing mode, when the second synchronous pulley 410 rotates, the clamp 415 and the wire feeding pipe 7 rotate, and smooth curve welding is guaranteed.

Preferably, as shown in fig. 4 and 5, the rotating mechanism 4 further includes a cross roller bearing 411 and a rotating flange 412, wherein the cross roller bearing 411 is installed at the bottom of the top plate 407, and the outer ring thereof is installed with a second synchronous pulley 410. The rotating flange 412 is installed on the cross roller bearing 411, and the top of the rotating flange is fixedly connected with the second synchronous pulley 410, and the edge end of the rotating flange is connected with a clamp 415. The fixture 415 is mounted on the rotary flange 412, so that the fixture is convenient to flexibly rotate, the robot can be guaranteed to stably complete curve welding, the welding effect and the welding quality are effectively guaranteed, welding of different curve sizes or shapes can be achieved by replacing rotary flanges 412 of different sizes, and the application range of curve welding can be expanded.

In addition, the device of the present invention further comprises a horizontal plate 413 and an inclined plate 414, the top of the horizontal plate 413 is mounted at the edge end of the rotating flange 412, the end of the horizontal plate 413 away from the rotating flange 412 is fixedly connected with the inclined plate 414, the other end of the inclined plate 414 is fixedly connected with the clamp 415, and by providing the inclined plate 414, the mounting connection between the horizontal plate 413 and the clamp 415 is realized, which is beneficial to controlling the mounting position and angle of the clamp 415. Meanwhile, the tail part of the wire feeding pipe 7 is connected with the wire feeding guide pipe 8 in an installing mode, the wire feeding guide pipe 8 is clamped on the clamp 415, and the wire feeding guide pipe 8 can be bent into different shapes according to actual needs, so that the wire discharging direction of the welding wire 6 is adjusted, the requirement that the welding wire 6 tangentially discharges wires is met during welding, and the welding quality can be further improved.

According to the utility model, the whole structure is optimally designed, particularly the rotating mechanism 4 is arranged, the synchronous belt wheel is driven to rotate by the rotation of the driving linkage motor 403, so that the clamp 415 is controlled to rotate, the wire feeding pipe 7 (namely the welding wire 6) is driven to perform curvilinear motion, and the curvilinear wire feeding is effectively completed.

Example 2

The main structure of the robot curved wire feeding device of this embodiment is basically the same as that of embodiment 1, and the main difference is that: the rotating mechanism 4 further comprises a connecting plate 402, the bottom end of the connecting plate 402 is fixedly connected with a top plate 407, and the top end of the connecting plate 402 is detachably connected with the mechanical arm 3 through a connecting bracket 401. Through the setting of connecting plate 402, be favorable to installing rotary mechanism 4 on arm 3, and servo driver 5 demountable installation is on connecting plate 402, the controller of robot and servo driver 5 carry out optical signal's interactive communication, then feed back required data signal to servo driver 5, control linkage motor 403 rotates to be convenient for control welding operation go on and stop, convenient operation still is favorable to improving welding precision.

Meanwhile, a first reinforcing rib 404 and a second reinforcing rib 405 are arranged on two sides of the connecting plate 402, the first reinforcing rib 404 and the second reinforcing rib 405 are processed into right-angled triangle structures, and two right-angled sides are connected with the connecting plate 402 and the top plate 407 respectively. Preferably, as shown in fig. 3 and 4, the first reinforcing rib 404 and the second reinforcing rib 405 are respectively and symmetrically disposed at two ends of the connecting plate 402. A third reinforcing rib 406 is further arranged at a right angle formed by the connecting plate 402 and the connecting bracket 401, the third reinforcing rib 406 is also processed into a right-angled triangle structure, and two right-angled sides of the third reinforcing rib are respectively connected with the connecting plate 402 and the connecting bracket 401. Through at connecting plate 402 and box 408 top 407, connecting plate 402 all is equipped with the strengthening rib with linking bridge 401's junction to carry out optimal design to the number of strengthening rib, distribution and concrete structure, thereby effectively guaranteed the intensity and the stability that each part is connected, be favorable to guaranteeing that the welding goes on smoothly, improve welding quality and efficiency, the welding uniformity is better.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the utility model, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the utility model.

Claims

1. The utility model provides a curved wire drive feed unit of robot which characterized in that: the wire feeding mechanism comprises a wire feeding mechanism (2), a mechanical arm (3), a wire feeding pipe (7) and a rotating mechanism (4), wherein the wire feeding mechanism (2) comprises a wire feeding disc (202) and a wire feeder, the wire feeding disc (202) is connected with the wire feeder through a welding wire (6), and the wire feeder is connected with the rotating mechanism (4) through the wire feeding pipe (7); the rotating mechanism (4) comprises a box body (408), a linkage motor (403), a synchronous pulley and a clamp (415), the box body (408) is detachably mounted on the mechanical arm (3), and the linkage motor (403) is mounted on a top plate (407) of the box body (408); the synchronous belt wheel comprises a first synchronous belt wheel (409) and a second synchronous belt wheel (410), the first synchronous belt wheel (409) is connected with the driving end of the linkage motor (403), and the first synchronous belt wheel (409) is connected with the second synchronous belt wheel (410) through a synchronous belt; the clamp (415) is arranged on the second synchronous belt wheel (410) and used for clamping the wire feeding pipe (7).

2. A robotic curvilinear wire feeder as claimed in claim 1, wherein: the rotating mechanism (4) further comprises a crossed roller bearing (411), the crossed roller bearing (411) is installed at the bottom of the top plate (407), and a second synchronous belt wheel (410) is installed on the outer ring of the crossed roller bearing.

3. A robotic curvilinear wire feeder as claimed in claim 2, wherein: the wire feeding device is characterized by further comprising a rotating flange (412) and a wire feeding guide pipe (8), wherein the rotating flange (412) is installed on the crossed roller bearing (411) and fixedly connected with a second synchronous belt wheel (410), and the wire feeding guide pipe (8) is connected with the tail end of the wire feeding pipe (7) and installed on the clamp (415).

4. A robotic curvilinear wire feeder as claimed in claim 3, wherein: the fixture is characterized by further comprising a horizontal plate (413) and an inclined plate (414), wherein the top of the horizontal plate (413) is mounted at the edge of the rotating flange (412), the end, far away from the rotating flange (412), of the horizontal plate is fixedly connected with the inclined plate (414), and the other end of the inclined plate (414) is fixedly connected with the fixture (415).

5. A robotic curvilinear wire feeder according to any one of claims 1-4, wherein: the rotating mechanism (4) further comprises a connecting plate (402), the bottom end of the connecting plate (402) is fixedly connected with a top plate (407), and the top of the connecting plate is detachably connected with the mechanical arm (3) through a connecting support (401).

6. A robotic curvilinear wire feeder as claimed in claim 5, wherein: the connecting plate is characterized in that a first reinforcing rib (404) and a second reinforcing rib (405) are arranged on two sides of the connecting plate (402), the first reinforcing rib (404) and the second reinforcing rib (405) are processed into right-angled triangle structures, and two right-angled edges are connected with the connecting plate (402) and the top plate (407) respectively.

7. A robotic curvilinear wire feeder as claimed in claim 5, wherein: and a third reinforcing rib (406) is arranged at a right angle formed by the connecting plate (402) and the connecting bracket (401), the third reinforcing rib (406) is processed into a right-angled triangle structure, and two right-angled sides of the third reinforcing rib are respectively connected with the connecting plate (402) and the connecting bracket (401).

8. The robotic curvilinear wire feeder of claim 6, wherein: the first reinforcing rib (404) and the second reinforcing rib (405) are respectively and symmetrically arranged at two ends of the connecting plate (402).

9. The robotic curvilinear wire feeder of claim 6, wherein: the wire feeding device is characterized by further comprising a rack (1) and a servo controller (5), wherein the wire feeding disc (202) and the wire feeder are mounted on the rack (1) through a support (201), and the mechanical arm (3) is mounted on the rack (1); and the servo controller (5) is arranged on the mechanical arm (3) and is electrically connected with the linkage motor (403).

10. A robotic curvilinear wire feeder as claimed in claim 9, wherein: two groups of rollers are arranged in the wire feeder, each group of rollers comprises a driving roller (203) and a driven roller (204), and the driving roller (203) is connected with the driving end of the motor.