WO2020024647A1 - 一种u型双轴焊接变位机 - Google Patents

一种u型双轴焊接变位机 Download PDF

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Publication number
WO2020024647A1
WO2020024647A1 PCT/CN2019/086539 CN2019086539W WO2020024647A1 WO 2020024647 A1 WO2020024647 A1 WO 2020024647A1 CN 2019086539 W CN2019086539 W CN 2019086539W WO 2020024647 A1 WO2020024647 A1 WO 2020024647A1
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Prior art keywords
hole
reducer
rotary
flange
base
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PCT/CN2019/086539
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English (en)
French (fr)
Inventor
张效峰
吴波
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南京埃斯顿机器人工程有限公司
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Publication of WO2020024647A1 publication Critical patent/WO2020024647A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps

Definitions

  • the invention relates to the technical field of welding machinery, and in particular to a U-shaped biaxial welding positioner.
  • a device used to drag the workpiece to be welded to move the weld to be welded to an ideal position for welding operations called a welding positioner.
  • Commonly used welding positioners are divided into single-axis, double-axis, three-axis, and five-axis positioners.
  • the two-axis U-shaped welding positioner is a kind of auxiliary equipment often equipped in robot arc welding stations.
  • the main features are: 1. Used as an additional axis of the robot, that is, as the J7 axis and J8 axis of the robot, it is more convenient to change the attitude required for workpiece welding to improve welding efficiency; 2.
  • the dual-axis U-shaped welding positioner The center hole of the rotary shaft must have functions such as passing cables and air pipes to achieve communication between the tooling equipment on the positioner and the robot and the positioner; 3.
  • the welding positioner must have a current collector with good conductivity; 4.
  • Welding Positioners need more secure protective structures.
  • the current collector device of the existing biaxial welding positioner generally uses a spring to support the conductive block to compress it on the current collector plate. This structure is not convenient to observe the wear of the conductive block in time, and the conductive block cannot be replaced in time, which affects the welding quality. .
  • the existing double-shaft welding positioner lacks safety protection measures, such as no limit setting of the turning shaft and no protective cover for the conductive device, thereby increasing the safety risk of the operator.
  • the lack of safety protection measures in the existing dual-axis welding positioners increases the operator's safety risk.
  • the present invention provides a U-shaped biaxial welding positioner.
  • a U-shaped double-shaft welding positioner which includes a base, a turntable, a horizontally-positioned reversing servo motor and a reversing RV reducer driven by the same, a vertically-set revolving servo motor and its Driven slewing hollow RV reducer, first connection flange, second connection flange, slewing flange and threading pipe;
  • the base is provided with a first cavity for passing cables and air pipes, and the center of the swivel seat The center is provided with a central through hole, and a second cavity for passing a cable and an air pipe is provided in the turntable.
  • the central through hole is in communication with the second cavity, and the second cavity is in communication with the first cavity.
  • the RV reducer is coaxially mounted.
  • the flip RV reducer is fixedly installed on the base.
  • One end of the turntable is connected to the output shaft of the flip RV reducer through a first connecting flange.
  • the other end of the turntable is rotatable through a second connecting flange. It is set in the rotating bearing of the base, and the turning servo motor rotates to turn the turntable.
  • the turning servo motor is set in parallel with the turning hollow RV reducer.
  • the turning hollow RV reducer is fixedly installed in the center through hole of the turning base.
  • the threading pipe communicates with the second cavity
  • the output shaft of the rotary hollow RV reducer is fixedly connected to the rotary flange
  • the rotary servo motor rotates the rotary flange
  • the turning flange is provided with a current collecting device capable of observing the wear of the conductive plate
  • the base is provided with a limiting device for limiting the turning angle of the turning seat.
  • the slewing flange of the present invention is directly connected to the output shaft of the slewing hollow RV reducer by screws, the housing of the slewing hollow RV reducer is directly connected to the turntable by screws, and one end of the slewing ring is fixedly connected by a connecting flange.
  • the other end of the turntable is rotated in a bearing provided on the base through a connecting flange.
  • the direct connection method can ensure the centerline of the output shaft of the turning hollow RV reducer and the overturning RV reducer.
  • the centerline of the output shaft is vertical, thereby ensuring that when the flip servo motor rotates to drive the turntable to flip, the flange surface of the rotary flange is always parallel to the center line of the output shaft of the flip RV reducer to ensure that the rotary servo motor drives the rotary flange to rotate At this time, the flange surface of the slewing flange is always perpendicular to the center line of the output shaft of the slewing hollow RV reducer, which greatly improves the slewing accuracy.
  • the electric cable and the air pipe can be accommodated in the turn base and the base, which can not only realize the positioner.
  • the communication function between the tooling equipment and the robot and the positioner also plays a role in protecting electrical cables and air pipes, and can make the positioner look neat and beautiful.
  • the arrangement of the threading tube can protect the reducer from being worn.
  • the present invention can improve welding stability and reliability by providing a current collecting device that is easy to observe the abrasion of the conductive block. By setting a limit device, the risk of injury to the operator from the welding equipment can be reduced.
  • the limit device is a limit block provided on the base, and the turntable is provided with a first stop portion and a second stop portion, and the first stop portion is stopped at the limit position when the turntable is rotated in the forward direction.
  • the second stopper is stopped on the limit block when the turn base rotates in the reverse direction.
  • the limiting device has a simple structure and is reliable to use.
  • the current collecting device includes a current collecting plate, a conductive block, a guide rod, a screw, an insulating block, a spring, and a bus bar; the insulating block is fixedly installed on the turntable, and a stepped through hole is provided at the center thereof;
  • the guide rod includes Radially enlarged head and the column connected to the head.
  • the center of the head is provided with a threaded hole.
  • the bottom surface of the column is provided with a V-shaped groove on the circumferential surface.
  • the head of the guide rod is provided in the large hole of the stepped through hole. , Its cylinder slidably passes through the small hole of the stepped through-hole, and the guide rod casing is provided with a spring.
  • One end of the spring is against the bottom surface of the stepped through-hole, and the other end is against the stepped surface of the head; It is fixed on the lower side of the rotary flange, and the screws pass through the conductive block and the bus bar and are fastened in the threaded holes in the head of the guide rod.
  • the conductive block, the bus bar, and the guide rod are connected to each other.
  • the upper surface of the conductive block is on the spring. Under the elastic support, it always fits the lower surface of the current collector plate.
  • the other end of the bus bar is electrically connected to the flexible cable through a conductive connection member.
  • the other end of the flexible cable is electrically connected to a conductive plate provided on the insulating seat of the base, and the conductive plate is electrically connected to the ground wire led out from one end of the welding power source.
  • the rotary flange, current collector plate, conductive block, bus bar, and guide rod can always be closely connected, and an insulating block is provided to isolate it from the pedestal.
  • the current collecting device is effectively transmitted to the ground of the welding power source, and forms an electrical circuit with the welding power source.
  • V-shaped grooves are provided on the circumferential surface of the bottom end of the guide rod body.
  • the output shaft of the reversing servo motor is fixedly set with a first transmission gear, and the first transmission gear is meshed with the input gear set of the reversing RV reducer;
  • the input shaft is fixedly set with a fifth gear, and the fourth gear is meshed with the fifth gear for transmission connection.
  • the center through hole of the transposition seat is a stepped hole, which is a first through hole, a second through hole, and a third through hole in order from top to bottom; the input end of the hollow RV reducer is installed in the first through hole.
  • the fifth gear of the hollow RV reducer and the fourth transmission gear of the rotary servo motor are installed in the second through hole, and the output end of the rotary servo motor is installed in the third through hole and on the side wall of the third through hole.
  • a fourth through hole through which a cable and an air pipe pass is provided; a first flange mounting portion and a second flange mounting portion are respectively provided at both ends of the turntable, and the first flange mounting portion is used for mounting the first connection flange, The second flange mounting portion is used to install a second connection flange.
  • the second flange mounting portion is provided with a fifth through hole through which the cable and the air pipe pass.
  • the third through hole, the fourth through hole, and the fifth through hole are mutually connected.
  • a through cavity forms a second cavity for passing the cable and trachea.
  • FIG. 1 is a schematic diagram showing the overall configuration of a positioner according to Embodiment 1 of the present invention.
  • Fig. 2 is a schematic diagram showing a structure in a D-D direction in Fig. 1.
  • FIG. 3 is a schematic diagram showing a structure of a turntable in a positioner according to Embodiment 1 of the present invention.
  • FIG. 4 is a schematic diagram showing a configuration of a power collection device in a positioner according to Embodiment 1 of the present invention.
  • FIG. 1 the direction shown in FIG. 1 is used as a reference, and the upper side in the figure is referred to as “up”, and vice versa.
  • a U-shaped double-shaft welding positioner includes a base 10, a turntable 20, a reversing servo motor 30, a reversing RV reducer 40, a revolving servo motor 50, a revolving hollow RV reducer 60, The first connection flange 70, the second connection flange 80, the slewing flange 90, the transition flange 100, the threading pipe 200, and the current collecting device 300.
  • the base 10 is provided with a first mounting portion 101 and a second mounting portion 102, the first mounting portion is provided with a first mounting through hole 101], the second mounting portion is provided with a second mounting through hole 1021, and the first mounting through hole 1011 and The center lines of the second mounting through-holes 102 are coincident and are arranged along the horizontal; the base 10 is also provided with a first cavity 103 for passing cables and trachea and an outlet hole 1031 communicating with the first cavity.
  • a limiting block 104 is fixed on the inner side of the second mounting portion 102 by screws.
  • a stepped central through hole 201 is provided at the center of the turntable 20, and the center line of the central through hole 201 intersects perpendicularly with the center lines of the first mounting through hole 1011 and the second mounting through hole 1021.
  • the central through-hole 201 is divided into a first through-hole 2011, a second through-hole 2012, and a third through-hole 2013 in order from top to bottom.
  • the side wall of the third through-hole is provided with a fourth through-hole 2014 through which a cable and a trachea pass.
  • the third through hole 2013 and the fourth through hole 2014 pass through; the two ends of the transposition 20 are provided with a cylindrical first flange mounting portion 202 and a second flange mounting portion 203, and the first flange mounting portion 202 and The center portion of the second flange mounting portion 203 is axially provided with a first flange mounting hole 2021 and a second flange mounting hole 2015 (ie, a fifth through hole).
  • the second flange mounting hole 2015 and the fourth through hole 2014 Through, the first flange mounting hole 2021 and the second flange mounting hole 2015 are blind holes.
  • the third through hole 2013, the fourth through hole 2014, and the fifth through hole 2015 constitute a second cavity 204 for passing a cable and a trachea, and the second cavity 204 communicates with the first cavity 103.
  • a first stop portion 204 and a second stop portion 205 are symmetrically provided on the outer peripheral surface of the second flange mounting portion 203 with the center line of the center through hole 201 as a symmetry axis, and the first stop portion 204 and the center through hole 201
  • the included angle of the center line of + is + 135 °
  • the included angle of the second stop portion 205 and the center line of the central through hole 201 is -135 °.
  • the output end of the flip servo motor 30 is fixedly connected to the adapter flange 100.
  • the adapter flange 100 is fixed to the outside of the first mounting portion 101 of the base by screws.
  • the output shaft is fixedly set with the first transmission gear 31, and the first transmission
  • the gear 31 is fixed to the shaft end of the output shaft of the reversing servo motor 30 by a screw.
  • a motor cover 32 is attached to the outside of the reversing servo motor 30.
  • the flip RV reducer 40 is coaxially provided with the flip servo motor 30.
  • the housing of the flip RV reducer 40 is fixed to the inside of the first mounting portion 101 of the base by screws, and the end housing of the input end is engaged with the first of the base. Installed in the through hole 1011.
  • An input gear set 401 is provided at the input end of the overturning RV reducer, and the gear set 401 is in meshing transmission connection with the first transmission gear 31 of the overturning servo motor.
  • the first connection flange 70 is fixed on the output shaft of the reversing RV reducer by screws, and rotates synchronously with the output shaft of the reversing RV reducer.
  • a flange is provided on the other side that is not connected to the reversing RV reducer.
  • the second connection flange 80 is provided in the second mounting through hole 1021 of the base, and a portion extending from the second mounting through hole is provided with a flange.
  • the second connection flange 80 and the second mounting through hole 1021 are provided.
  • the bearing and the second connection flange 80 are frictionally connected to the second mounting through hole 1021.
  • the first flange mounting portion 202 of the turntable 20 is fixed to the first connection flange 70 by screws.
  • the flange of the first connection flange 70 is engaged in the first flange mounting hole 2021 of the first flange mounting portion.
  • the second flange mounting portion 203 of the turntable 20 is fixed to the second connection flange 80 by screws, and the flange of the second connection flange 80 is engaged with the second flange mounting hole 2015 of the second flange mounting portion.
  • the rotary servo motor 50 is fixed on the turntable 20 by screws, and the end of the housing of the output end is engaged in the third through hole 2013 of the turntable.
  • the output shaft of the rotary servo motor 50 rotatably extends into the second through hole 2012 of the turntable.
  • the end of the output shaft of the rotary servo motor 50 is provided with a fourth gear 51 through a screw fixing sleeve, and the fourth gear 51 is accommodated in the second Inside the through hole 2012.
  • a motor cover 52 is provided outside the rotary servo motor 50.
  • the rotary hollow RV reducer 60 is fixed on the turntable 20 by screws and its input end is located in the first through hole 2011 of the turntable.
  • the input shaft of the hollow-type RV reducer 60 is fixedly fitted with a fifth gear 61, and the fifth gear 61 is received in the second through hole 2012 of the turntable, and is meshed with the fourth gear 51 of the turntable.
  • the threading tube 200 is provided in the central cavity of the rotary hollow RV reducer 60 by screws, and the inner cavity of the threading tube 200 is in communication with the second cavity 204 of the rotary seat.
  • the rotary flange 90 is fixed to the output shaft of the rotary hollow RV reducer 60 by screws, and the center line of the rotary flange 90 coincides with the axis of the output shaft of the rotary hollow RV reducer 60.
  • the current collecting device 300 includes a current collecting plate 301, a conductive block 302, a guide rod 303, a screw 304, an insulating block 305, a spring 306, and a bus bar 307.
  • the insulating block 305 is fixedly mounted on the turntable 20 by screws, and a stepped through hole 3051 is provided at a central portion thereof.
  • the guide rod 303 includes a radially enlarged head 3031 and a cylinder 3032 connected to the head. The central part of the head is provided with a threaded hole 3033.
  • a V-shaped groove 3034 is provided on the circumferential surface of the bottom end of the cylinder.
  • the guide shaft body is provided with a spring 306.
  • One end of the spring 306 abuts against the stepped through hole 3051.
  • the bottom surface and the other end abut against the stepped surface of the head 3031 of the guide rod.
  • the screw 304 passes through the conductive block 302 and the bus bar 307 in sequence and is fastened in the threaded hole 3033 on the head of the guide rod, and the conductive block 302, the bus bar 307 and the guide rod 303 are connected in a close connection.
  • the upper surface of the conductive block 302 always adheres to the lower surface of the current collector plate 301, and the upper surface of the current collector plate 301 always adheres to the lower side of the rotary flange 90.
  • the other end of the bus bar 307 is electrically connected to the flexible cable through a conductive connection, the other end of the flexible cable is electrically connected to a conductive plate provided on the base insulating seat, and the conductive plate is electrically connected to the ground wire led out from one end of the welding power source.
  • the current collecting plate 301, the conductive block 302, the guide rod 303, and the bus bar 307 are all made of a metal material with good electrical conductivity. In the embodiment, it is made of copper.
  • the insulating block 305 is made of an electrically insulating material.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Arc Welding In General (AREA)

Abstract

一种U型双轴焊接变位机，包括底座(10)、转座(20)、翻转伺服电机(30)及其所驱动的翻转RV减速器(40)、回转伺服电机(50)及其所驱动的回转中空型RV减速器(60)、第一连接法兰(70)、第二连接法兰(80)、回转法兰(90)及穿线管(200)；翻转RV减速器(40)固定安装在底座(10)上，转座(20)的一端与翻转RV减速器(40)的输出轴连接，转座(20)的另一端可转动设于底座(10)的转动轴承内，翻转伺服电机(30)旋转带动转座(20)翻转；回转中空型RV减速器(60)固定安装在转座(20)内，穿线管(200)设于回转中空型RV减速器(60)的中心空腔内，回转中空型RV减速器(60)的输出轴与回转法兰(90)固定连接，回转伺服电机(50)旋转带动回转法兰(90)旋转；所述回转法兰(90)上设有集电装置(300)，所述底座(10)上设有限位装置。该U型双轴焊接变位机回转精度高、可靠性好、安全性高。

Description

一种U型双轴焊接变位机 技术领域
本发明涉及焊接机械技术领域，具体涉及一种U型双轴焊接变位机。
背景技术
用来拖动待焊工件，使其待焊焊缝运动至理想位置进行施焊作业的设备，称焊接变位机。常用的焊接变位机分为单轴、双轴、三轴和五轴变位机几大类，其中双轴U型焊接变位机是机器人弧焊工作站中经常配备的一种辅助设备，其主要特征是：1、作为机器人的附加轴使用，即作为机器人的J7轴和J8轴，更加便捷的变换工件焊接所需要的姿态，以提高焊接效率；2、双轴U型焊接变位机的回转轴中心孔必须有穿电缆和气管等功能，以实现变位机上的工装设备与机器人和变位机间的通讯；3、焊接变位机必须要有导电良好的集电装置；4、焊接变位机需要有更加安全的防护结构。
现有高精度双轴变位机的回转轴结构大多为非中空型，使用非中空RV减速机直接驱动，穿线复杂；部分采用非中空RV减速机加联接件的形式实现中空结构，但该结构设计复杂，传动精度难以保证。在弧焊工作站中的变位机设备精度要求等同与机器人精度，才能保证变位机上的工件在翻转和回转等运动中各位置姿态的精度。
另外，现有双轴焊接变位机的集电装置一般采用弹簧支持导电块压紧在集电板上，该结构不便于及时观察导电块的磨损情况，且不能及时更换导电块，影响焊接质量。
现有双轴焊接变位机缺少安全防护措施，如翻转轴没有限位设置，导电装置没有加防护罩等，从而增加操作人员安全风险。现有双轴焊接变位机中缺少安全防护措施，从而增加操作人员安全风险。
发明内容
为解决上述技术问题，本发明提供了一种U型双轴焊接变位机。
本发明采取的技术方案是：一种U型双轴焊接变位机，包括底座、转座、水平设置的翻转伺服电机及其所驱动的翻转RV减速器、垂直设置的回转伺服电机及其所驱动的回转中空型RV减速器、第一连接法兰、第二连接法兰、回转法兰及穿线管；所述底座内设有用于通过线缆及气管的第一空腔，转座的中心部设有中心通孔，转座内设有用于通过线缆及气管的第二空腔，中心通孔与第二空腔相通，第二空腔与第一空腔相通；翻转伺服电机与翻转RV减速器同轴设置，翻转RV减速器固定安装在底座上，转座的一端经第一连接法兰与翻转RV减速器的输出轴连接，转座的另一端经第二连接法兰可转动设于底座的转动轴承内，翻转伺服电机旋转带动转座翻转；回转伺服电机与回转中空型RV减速器平行设置，回转中空型RV减速器固定安装在转座的中心通孔内，穿线管通过螺钉设于回转中空型RV减速器的中心空腔内，穿线管与第二空腔相通，回转中空型RV减速器的输出轴与回转法兰固定连接，回转伺服电机旋转带动回转法兰旋转；所述回转法兰上设有可观察导电板磨损情况的集电装置，所述底座上设有用于限制转座翻转角度的限位装置。
本发明的回转法兰通过螺钉直接连接在回转中空型RV减速器的输出轴上，回转中 空型RV减速器的壳体通过螺钉直接连接在转座上，转座的一端通过连接法兰固定连接在翻转RV减速器的输出轴上，转座的另一端通过连接法兰转动设于底座的轴承中，采用直接连接的方式可以保证回转中空型RV减速器输出轴的中心线与翻转RV减速器输出轴的中心线处于垂直状态，进而保证翻转伺服电机旋转带动转座翻转时，回转法兰的法兰面始终与翻转RV减速器输出轴的中心线平行，保证回转伺服电机带动回转法兰旋转时，回转法兰的法兰面始终与回转中空型RV减速器输出轴的中心线垂直，极大地提高了回转精度。
本发明通过设置中空型RV减速器，转座的第一通孔及第二空腔，底座的第一空腔，可使电气电缆及气管容纳在转座和底座内部，不仅可实现变位机上的工装设备与机器人和变位机间的通讯功能，还起到保护电器电缆及气管的作用，且可使变位机外观整洁美观。穿线管的设置可保护减速器使其内腔不被磨损。
本发明通过设置易于观察导电块的磨损情况的集电装置，可以提高焊接稳定性及可靠性。通过设置限位装置，可以降低焊接设备对操作人员产生的伤害风险。
进一步地，所述限位装置为设于底座上的限位块，转座设有第一挡止部及第二挡止部，转座正向转动时第一挡止部挡止在限位块上，转座反向转动时第二挡止部挡止在限位块上。该限位装置结构简单，使用可靠。
进一步地，所述集电装置包括集电板、导电块、导杆、螺钉、绝缘块、弹簧及汇流条；绝缘块固定安装在转座上，其中心部设有阶梯通孔；导杆包括径向扩大的头部及连接头部的柱身，头部的中心部设有螺纹孔，柱身底端的圆周面上开设有V形槽，导杆头部设于阶梯通孔的大孔内，其柱身可滑动地穿过阶梯通孔的小孔，导杆柱身外套设有弹簧，弹簧的一端抵靠阶梯通孔的底面，另一端抵靠头部的台阶面；集电板贴合在回转法兰的下侧面，螺钉依次穿过导电块、汇流条紧固在导杆头部的螺纹孔中，导电块、汇流条、导杆贴合连接，导电块的上表面在弹簧的弹力支持下始终贴合集电板的下表面。汇流条的另一端通过导电连接件与柔性电缆电连接，柔性电缆的另一端与设于底座绝缘座上的导电板电连接，导电板与焊接电源一端引出的地线电连接。通过弹簧与螺钉的协同作用可使回转法兰、集电板、导电块、汇流条、导杆始终贴合连接，并通过设置绝缘块使其与转座绝缘隔断，回转法兰所带电荷经集电装置有效地传输到焊接电源的地线上，与焊接电源组成一个电回路。导杆柱身底端的圆周面上开设V形槽，当导电块或集电板磨损减薄后，弹簧将导杆向上顶，导杆V型槽露出的部分越来越小，当V型槽完全看不见时及时更换导电块或集电板，避免焊接不良件的产生，提高了变位机的可靠性。
进一步地，所述翻转伺服电机的输出轴固定套装第一传动齿轮，第一传动齿轮与翻转RV减速器输入齿轮组啮合传动；回转伺服电机输出轴固定套装第四齿轮，中空型RV减速器的输入轴固定套装第五齿轮，第四齿轮与第五齿轮啮合传动连接。
进一步地，所述转座的中心通孔为阶梯孔，自上到下依次为第一通孔、第二通孔及第三通孔；中空型RV减速器的输入端安装在第一通孔内，中空型RV减速器的第五齿轮及回转伺服电机的第四传动齿轮安装在第二通孔内，回转伺服电机的输出端安装在第三通孔内，第三通孔的侧壁上设有线缆及气管通过的第四通孔；转座的两端分别设有第一法兰安装部及第二法兰安装部，第一法兰安装部用于安装第一连接法兰，第二法兰安装部用于安装第二连接法兰，第二法兰安装部内设有线缆及气管通过的第五通孔，第三通孔、第四通孔、第五通孔相互贯通组成用于通过线缆及气管的第二空腔。转座的设计可使整个变位机 的安装结构更为精简，安装方便，且外形尺寸小。
附图说明
图1是表示本发明实施方式1的变位机的整体结构示意图。
图2是表示图1的D-D方向的结构示意图。
图3是表示本发明实施方式1的变位机中的转座的结构示意图。
图4是表示本发明实施方式1的变位机中的集电装置的结构示意图。
具体实施方式
在以下的说明中，以图1所示的方向为基准，将图中的上侧称为“上”，反之为下。
以下，参照附图，对本发明的一种优选的实施方式的变位机进行说明。
实施方式1
参见图1及图2，一种U型双轴焊接变位机，包括底座10、转座20、翻转伺服电机30、翻转RV减速器40、回转伺服电机50、回转中空型RV减速器60、第一连接法兰70、第二连接法兰80、回转法兰90、转接法兰100、穿线管200及集电装置300。
底座10设有第一安装部101及第二安装部102，第一安装部设有第一安装通孔101]，第二安装部设有第二安装通孔1021，第一安装通孔1011与第二安装通孔102]的中心线重合且沿水平设置；底座10内还设有用于通过线缆及气管的第一空腔103及与第一空腔相连通的出线孔1031。第二安装部102的内侧通过螺钉固定设有限位块104。
参见图3，转座20的中心部设有阶梯状中心通孔201，中心通孔201的中心线与第一安装通孔1011及第二安装通孔1021的中心线垂直相交。中心通孔201自上到下依次分为第一通孔2011、第二通孔2012及第三通孔2013，第三通孔的侧壁上设有线缆及气管通过的第四通孔2014，第三通孔2013与第四通孔2014贯通；转座20的两端分别设有圆柱状的第一法兰安装部202及第二法兰安装部203，第一法兰安装部202及第二法兰安装部203的中心部轴向设有第一法兰安装孔2021及第二法兰安装孔2015(即第五通孔)，第二法兰安装孔2015与第四通孔2014贯通，第一法兰安装孔2021及第二法兰安装孔2015为盲孔。第三通孔2013、第四通孔2014、第五通孔2015组成用于通过线缆及气管的第二空腔204，第二空腔204与第一空腔103相通。第二法兰安装部203的外周面上以中心通孔201的中心线为对称轴对称设有第一挡止部204及第二挡止部205，第一挡止部204与中心通孔201的中心线的夹角为+135°，第二挡止部205与中心通孔201的中心线的夹角为-135°。
翻转伺服电机30的输出端与转接法兰100固定连接，转接法兰100通过螺钉固定在底座的第一安装部101的外侧，其输出轴固定套装第一传动齿轮31，且第一传动齿轮31通过螺钉固定在翻转伺服电机30的输出轴的轴端。翻转伺服电机30的外部安装有电机罩32。
翻转RV减速器40与翻转伺服电机30同轴设置，翻转RV减速器40的壳体通过螺钉固定在底座的第一安装部101的内侧，其输入端的端部壳体卡合在底座的第一安装通孔1011内。翻转RV减速器的输入端设有输入齿轮组401，齿轮组401与翻转伺服电机的第一传动齿轮31啮合传动连接。
第一连接法兰70通过螺钉固定在翻转RV减速器的输出轴上，随翻转RV减速器的输出轴同步转动，其不与翻转RV减速器连接的另一侧设有凸缘。
第二连接法兰80设于底座的第二安装通孔1021内，其延伸出第二安装通孔的部分设有凸缘，第二连接法兰80与第二安装通孔1021之间设有轴承，第二连接法兰80与第二安装通孔1021摩擦滚动连接。
转座20的第一法兰安装部202通过螺钉同定在第一连接法兰70上，第一连接法兰70的凸缘卡合在第一法兰安装部的第一法兰安装孔2021内；转座20的第二法兰安装部203通过螺钉固定在第二连接法兰80上，第二连接法兰80的凸缘卡合在第二法兰安装部的第二法兰安装孔2015内。转座20正向转动时其第一挡止部204挡止在底座的限位块104上，转座20反向转动时其第二挡止部205挡止在限位块104上。
回转伺服电机50通过螺钉固定在转座20上，其输出端的壳体端部卡合在转座的第三通孔2013内。回转伺服电机50的输出轴可转动地延伸至转座的第二通孔2012内，回转伺服电机50的输出轴的末端通过螺钉固定套设有第四齿轮51，第四齿轮51容纳在第二通孔2012内。回转伺服电机50的外部设有电机罩52。
回转中空型RV减速器60通过螺钉固定在转座20上且其输入端位于转座的第一通孔2011内。中空型RV减速器60的输入轴固定套装第五齿轮61，第五齿轮61容纳在转座的第二通孔2012内，与转座的第四齿轮51啮合传动连接。穿线管200通过螺钉设于回转中空型RV减速器60的中心空腔内，穿线管200的内腔与转座的第二空腔204相通。
回转法兰90通过螺钉固定在回转中空型RV减速器60的输出轴上，回转法兰90的中心线与回转中空型RV减速器60的输出轴的轴线重合。
参见图4及图2，集电装置300包括集电板301、导电块302、导杆303、螺钉304、绝缘块305、弹簧306及汇流条307。绝缘块305通过螺钉固定安装在转座20上，其中心部设有阶梯通孔3051。导杆303包括径向扩大的头部3031及连接头部的柱身3032，头部的中心部设有螺纹孔3033，柱身底端的圆周面上开设有V形槽3034，导杆303设于绝缘块的阶梯通孔3051的大孔内，其柱身3032可滑动地穿过阶梯通孔3051的小孔，导杆柱身外套设有弹簧306，弹簧306的一端抵靠阶梯通孔3051的底面，另一端抵靠导杆的头部3031的台阶面。螺钉304依次穿过导电块302、汇流条307紧固在导杆头部的螺纹孔3033中，导电块302、汇流条307、导杆303贴合连接。在弹簧306的弹力支持下，导电块302的上表面始终贴合集电板301的下表面，集电板301的上表面始终贴合回转法兰90的下侧面。
汇流条307的另一端通过导电连接件与柔性电缆电连接，柔性电缆的另一端与设于底座绝缘座上的导电板电连接，导电板与焊接电源一端引出的地线电连接。
集电板301、导电块302、导杆303、汇流条307均有导电性能良好的金属材料制成，实施例中由铜制成。绝缘块305由电绝缘材料制成。
本中请中未说明的部分皆为现有技术或可以通过现有技术实现。

Claims (6)

  1. 一种U型双轴焊接变位机，其特征在于，包括底座、转座、水平设置的翻转伺服电机及其所驱动的翻转RV减速器、垂直设置的回转伺服电机及其所驱动的回转中空型RV减速器、第一连接法兰、第二连接法兰、回转法兰及穿线管；所述底座内设有用于通过线缆及气管的第一空腔，转座的中心部设有中心通孔，转座内设有用于通过线缆及气管的第二空腔，中心通孔与第二空腔相通，第二空腔与第一空腔相通；翻转伺服电机与翻转RV减速器同轴设置，翻转RV减速器固定安装在底座上，转座的一端经第一连接法兰与翻转RV减速器的输出轴连接，转座的另一端经第二连接法兰可转动设于底座的转动轴承内，翻转伺服电机旋转带动转座翻转；回转伺服电机与回转中空型RV减速器平行设置，回转中空型RV减速器固定安装在转座的中心通孔内，穿线管通过螺钉设于回转中空型RV减速器的中心空腔内，穿线管与第二空腔相通，回转中空型RV减速器的输出轴与回转法兰固定连接，回转伺服电机旋转带动回转法兰旋转；所述回转法兰上设有可观察导电板磨损情况的集电装置，所述底座上设有用于限制转座翻转角度的限位装置。
  2. 如权利要求1所述的焊接变位机，其特征在于，所述限位装置为设于底座上的限位块，转座设有第一挡止部及第二挡止部，转座正向转动时第一挡止部挡止在限位块上，转座反向转动时第二挡止部挡止在限位块上。
  3. 如权利要求1所述的焊接变位机，其特征在于，所述集电装置包括集电板、导电块、导杆、螺钉、绝缘块、弹簧及汇流条；绝缘块固定安装在转座上，其中心部设有阶梯通孔；导杆包括径向扩大的头部及连接头部的柱身，头部的中心部设有螺纹孔，柱身底端的圆周面上开设有V形槽，导杆头部设于阶梯通孔的大孔内，其柱身可滑动地穿过阶梯通孔的小孔，导杆柱身外套设有弹簧，弹簧的一端抵靠阶梯通孔的底面，另一端抵靠头部的台阶面；集电板贴合在回转法兰的下侧面，螺钉依次穿过导电块、汇流条紧固在导杆头部的螺纹孔中，导电块、汇流条、导杆贴合连接，导电块的上表面在弹簧的弹力支持下始终贴合集电板的下表面。
  4. 如权利要求3所述的焊接变位机，其特征在于，所述集电装置的外部设有保护罩，保护罩固定在底座上，集电装置容纳在保护罩中。
  5. 如权利要求1所述的焊接变位机，其特征在于，所述翻转伺服电机的输出轴固定套装第一传动齿轮，第一传动齿轮与翻转RV减速器输入齿轮组啮合传动；回转伺服电机输出轴固定套装第四齿轮，中空型RV减速器的输入轴固定套装第五齿轮，第四齿轮与第五齿轮啮合传动连接。
  6. 如权利要求5所述的焊接变位机，其特征在于，所述转座的中心通孔为阶梯孔，自上到下依次为第一通孔、第二通孔及第三通孔；中空型RV减速器的输入端安装在第一通孔内，中空型RV减速器的第五齿轮及回转伺服电机的第四传动齿轮安装在第二通孔内，回转伺服电机的输出端安装在第三通孔内，第三通孔的侧壁上设有线缆及气管通过的第四通孔；转座的两端分别设有第一法兰安装部及第二法兰安装部，第一法兰安装部用于安装第一连接法兰，第二法兰安装部用于安装第二连接法兰，第二法兰安装部内设有线缆及气管通过的第五通孔，第三通孔、第四通孔、第五通孔相互贯通组成用于通过线缆及气管的第二空腔。
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CN108772662A (zh) * 2018-07-30 2018-11-09 南京埃斯顿机器人工程有限公司 一种u型双轴焊接变位机
CN208787862U (zh) * 2018-07-30 2019-04-26 南京埃斯顿机器人工程有限公司 一种u型双轴焊接变位机

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