WO2020147151A1 - 一种旋转电弧传感器 - Google Patents

一种旋转电弧传感器 Download PDF

Info

Publication number
WO2020147151A1
WO2020147151A1 PCT/CN2019/073817 CN2019073817W WO2020147151A1 WO 2020147151 A1 WO2020147151 A1 WO 2020147151A1 CN 2019073817 W CN2019073817 W CN 2019073817W WO 2020147151 A1 WO2020147151 A1 WO 2020147151A1
Authority
WO
WIPO (PCT)
Prior art keywords
flange
connecting rod
arc sensor
mounting plate
rotating arc
Prior art date
Application number
PCT/CN2019/073817
Other languages
English (en)
French (fr)
Inventor
闫国庆
闫宗一
Original Assignee
闫国庆
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 闫国庆 filed Critical 闫国庆
Priority to SG11202105003PA priority Critical patent/SG11202105003PA/en
Priority to KR1020217014879A priority patent/KR102497343B1/ko
Priority to RU2021114294A priority patent/RU2762899C1/ru
Priority to AU2019422569A priority patent/AU2019422569B2/en
Priority to US17/288,004 priority patent/US11618095B2/en
Priority to CA3118541A priority patent/CA3118541C/en
Publication of WO2020147151A1 publication Critical patent/WO2020147151A1/zh

Links

Images

Classifications

    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/022—Welding by making use of electrode vibrations
    • 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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0241—Attachments between the welding or cutting element and the carriage
    • 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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/30—Vibrating holders for electrodes
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories

Definitions

  • the embodiment of the present invention relates to the technical field of automatic welding, in particular to a rotating arc sensor.
  • welding sensors can be divided into two categories: additional sensors and arc sensors according to the sensing method.
  • arc sensors have their own unique advantages.
  • the most actively researched tracking technology is mainly divided into two forms, such as double-wire parallel arc sensor, swing scanning arc sensor and rotating arc sensor. Due to the complicated structure and technology, the implementation of the double-wire parallel arc sensor is difficult to achieve. It is very limited. Because the swing frequency of the robot is generally below 10Hz, the tracking effect of the swing scanning arc sensor is affected to a certain extent, and it does not have a tracking effect in high-speed welding and large arc welding.
  • the application of the existing rotary scanning arc sensor is mainly to drive the welding torch to make a conical motion.
  • the tracking effect is good, but the structure is complicated, the volume is large, the vibration is large, and the adjustment is inconvenient, which limits the application in practice.
  • the existing solution technology is The conical movement of the conductive rod of the scanning arc sensor is the direction, although the accessibility is good, but the welding torch needs to be built in the arc sensor, which causes the problem of inconvenience to the maintenance and replacement of the welding torch.
  • the embodiment of the present invention provides a rotating arc sensor to solve the problem of inconvenient maintenance and replacement of the butt welding gun caused by the welding gun being built into the arc sensor in the prior art.
  • a rotating arc sensor includes a motor, a connecting rod for driving a welding gun to move in a circular motion, a sliding assembly for supporting the weight of the connecting rod and free movement of one end of the connecting rod, and another connecting rod for driving the connecting rod.
  • An eccentric oscillating member that moves in a circular motion at one end.
  • the center of the rotating shaft of the motor is provided with a hollow cavity that can communicate with both ends of the motor.
  • the sliding assembly is arranged at the top of the motor.
  • One end of the connecting rod extends out of the top of the motor through the hollow cavity and is connected to the sliding assembly.
  • the eccentric swinging member includes a first flange and a second flange.
  • the first flange is sleeved on the rotating shaft of the motor and rotates in the same body as the rotating shaft.
  • the second flange is arranged on the first flange and the center of the second flange deviates
  • the other end of the connecting rod extends into the second flange and is connected with the inner wall of the second flange through the bearing assembly, and the other end of the connecting rod is provided with a connecting assembly for connecting with the welding gun.
  • the embodiment of the present invention is also characterized in that the sliding assembly includes two sets of sliding blocks, two sets of sliding rails, a first mounting plate and a second mounting plate, and the two sets of sliding blocks are arranged in a cross-shaped arrangement on the first mounting plate.
  • the sliding assembly includes two sets of sliding blocks, two sets of sliding rails, a first mounting plate and a second mounting plate, and the two sets of sliding blocks are arranged in a cross-shaped arrangement on the first mounting plate.
  • two sets of slide rails are arranged in a cross-shaped arrangement on the upper surface of the second mounting disk and the top end of the motor and cooperate with the two sets of sliders.
  • the first mounting disk and One end of the connecting rod is connected, and the first mounting plate and the second mounting plate are arranged up and down.
  • the embodiment of the present invention is also characterized in that the center of the second mounting plate is provided with a circular hole, and a distance between the circular hole and the connecting rod is preset to allow the connecting rod to move freely.
  • the embodiment of the present invention is also characterized in that the slider is provided with a "C"-shaped opening, and both sides of the sliding rail are provided with grooves for allowing the two ends of the "C"-shaped opening to extend.
  • the embodiment of the present invention is also characterized in that the second flange is adjustablely arranged on the first flange.
  • the embodiment of the present invention is also characterized in that the surface of the first flange for contact with the second flange is provided with a groove area, and one end of the second flange is arranged in the groove area and can be located in the groove area.
  • the groove area slides along the wall surface of the groove area.
  • the embodiment of the present invention is also characterized in that the groove area is provided with a circular threaded hole for fixing the second flange in cooperation with a bolt, and one end of the second flange is provided with a circular threaded hole corresponding to the circular threaded hole. Waist hole.
  • the embodiment of the present invention is also characterized in that the surface of the first flange for contact with the second flange is also provided with an eccentricity scale, and one end of the second flange is provided with a scale for indicating the current eccentricity ⁇ .
  • the embodiment of the present invention is also characterized in that the bearing assembly includes a bearing and a bearing sleeve, the inner ring of the bearing is sleeved on the other end of the connecting rod, the outer ring of the bearing and the inner wall of the bearing sleeve are in interference fit, and the bearing sleeve The outer wall and the inner wall of the second flange have an interference fit.
  • the embodiment of the present invention is also characterized in that one end of the rotating shaft is provided with a magnetic ring, and the magnetic ring and the rotating shaft rotate in the same body, and an encoder for reading the rotation data of the magnetic ring is provided in the motor.
  • the rotating arc sensor provided by the embodiment of the present invention ensures that the welding torch moves accurately, and the welding torch is detachably arranged outside the arc sensor, thereby achieving the effect of convenient maintenance and replacement of the welding torch.
  • the second flange is adjustably arranged on the first flange, the effect that the diameter of the annular path of the welding gun can be adjusted in response to different welding requirements is also realized.
  • FIG. 1 is a schematic cross-sectional structure diagram of a rotating arc sensor according to Embodiment 1 of the present invention
  • Embodiment 2 is a three-dimensional exploded schematic diagram of the rotating arc sensor provided by Embodiment 1 of the present invention
  • FIG. 3 is a schematic diagram of the three-dimensional structure of the sliding assembly of the rotating arc sensor according to Embodiment 1 of the present invention.
  • FIG. 4 is an exploded schematic diagram of the eccentric swing member of the rotating arc sensor according to Embodiment 1 of the present invention.
  • 3-sliding assembly 31-sliding block; 32-slide rail; 33-first mounting plate; 34-second mounting plate; 341-round hole;
  • the rotating arc sensor provided in this embodiment includes a motor 1, a connecting rod for driving the torch 7 to move in a circular motion, and a connecting rod 2 for supporting the weight of the connecting rod 2 and supporting the connecting rod 2.
  • One end of the sliding assembly 3 is free to move on the same horizontal plane, and the eccentric swing member 4 is used to drive the other end of the connecting rod 2 to move circularly.
  • the center of the rotating shaft 11 of the motor 1 is provided with a hollow cavity 111 that can communicate with both ends of the motor 1, and one end of the rotating shaft 11 is provided with a magnetic ring 12, and the magnetic ring 12 and the rotating shaft 11 rotate in the same body.
  • the encoder 13 which takes the rotation data of the magnetic ring 12 and is connected to the controller of the arc sensor, the sliding assembly 3 is arranged at the top of the motor 1, and one end of the connecting rod 2 extends out of the top of the motor 1 through the hollow cavity 111 and is connected to the sliding assembly 3 connection,
  • the eccentric swing member 4 includes a first flange 41 and a second flange 42, the first flange 41 is sleeved on the rotating shaft of the motor 1 and rotates with the rotating shaft, and the second flange 42 is arranged on the first flange 41
  • the center of the upper and second flange 42 deviates from the center of the first flange 41, and the other end of the connecting rod 2 extends into the second flange 42 and is connected to the inner wall of the second flange 42 through a bearing assembly.
  • the bearing assembly includes a bearing 5
  • the inner ring of the bearing 5 is sleeved on the other end of the connecting rod 2 without clearance, and the outer ring of the bearing 5 is in interference fit with the inner wall of the bearing sleeve 6, and the inner wall of the bearing sleeve 6 is provided with
  • the stop ring 61, the outer wall of the bearing sleeve 6 and the inner wall of the second flange 42 have an interference fit.
  • the other end of the connecting rod 2 is provided with a connecting assembly for connecting with the welding gun 7.
  • the connecting assembly includes a connecting flange 21 and a clamp
  • the two ends of the holding member 22 and the connecting flange 21 are respectively connected to the other end of the connecting rod 2 and one end of the clamping member 22, and the welding gun 7 is arranged at the other end of the clamping member 22.
  • the robot arm clamps the motor 1 through the clamping device 8 and drives the rotating arc sensor of this embodiment to move along the weld.
  • the rotating shaft 11 of the motor 1 drives the first flange 41 of the eccentric swing member 4 to rotate. Since the center of the second flange 42 deviates from the center of the first flange 41, the second flange 42 drives the other end of the connecting rod 2 and the welding torch 7 to oscillate.
  • the sliding assembly 3 supports the connecting rod 2 and the welding torch 7. Weight and support the free movement of the connecting rod 2. It is realized that on the basis of ensuring the accurate trajectory of the welding torch 7, the welding torch 7 is detachably arranged outside the arc sensor, which facilitates the maintenance and replacement of the welding torch 7.
  • the sliding assembly 3 includes two sets of sliders 31, two sets of slide rails 32, a first mounting plate 33 and a second mounting plate 34, and the two sets of sliders 31 are arranged in a cross-shaped arrangement on the first mounting plate 33.
  • the lower surface of the second mounting plate 34, two sets of sliding rails 32 are arranged in a cross-shaped arrangement on the top surface of the second mounting plate 34 and the top of the motor 1, and cooperate with the two sets of sliders 31.
  • a mounting plate 33 is connected to one end of the connecting rod 2.
  • the first mounting plate 33 and the second mounting plate 34 are arranged up and down.
  • the center of the second mounting plate 34 is provided with a circular hole 341, which is connected to the connecting rod 2. There is a preset interval between which the connecting rod 2 can move freely.
  • the slider 31 and the sliding rail 32 are both existing standard parts, that is, the slider 31 is provided with a "C” shaped opening, and both sides of the sliding rail 32 are provided with two ends for extending the "C" shaped opening. Into the groove.
  • a protective cover 14 is provided on the top of the motor 1.
  • the second flange 42 is adjustably arranged on the first flange 41.
  • the surface of the first flange 41 for contacting the second flange 42 is provided with a groove area 411, and one end of the second flange 42 is arranged in the groove area 411 and can be edged in the groove area 411.
  • the wall surface of the groove area 411 slides.
  • the groove area 411 is provided with a circular threaded hole 412 for fixing the second flange 42 with bolts, and one end of the second flange 42 is provided with a waist hole 421 corresponding to the circular threaded hole 412.
  • the second flange 42 adjusts the eccentricity through the movement gap between the waist hole 421 and the bolt.
  • the surface of the first flange 41 for contact with the second flange 42 is also provided with an eccentricity scale, and one end of the second flange 42 is provided with a scribe line for indicating the current eccentricity, To achieve the effect of further precise adjustment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Resistance Welding (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Manipulator (AREA)

Abstract

一种旋转电弧传感器，所述旋转电弧传感器包括电机（1）、用于带动焊枪（7）环形运动的连接杆（2）、用于支撑连接杆（2）的重量并支持连接杆（2）的一端自由运动的滑动组件（3）、用于带动连接杆（2）的另一端环形运动的偏心摆动件（4），电机（1）的转轴（11）的中心设有能够连通电机（1）两端的空心腔（111），滑动组件（3）设置在电机（1）的顶端，连接杆（2）的一端通过所述空心腔（111）伸出电机（1）的顶端并和滑动组件（3）连接，偏心摆动件（4）包括第一法兰（41）和第二法兰（42），连接杆（2）的另一端伸入第二法兰（42）内并通过轴承组件和第二法兰（42）内壁连接。本申请在能够确保焊枪（7）运动轨迹精确的基础上，将焊枪（7）可拆卸地设置在电弧传感器的外部，实现了对焊枪（7）维修、更换便捷的效果。

Description

一种旋转电弧传感器 技术领域
本发明实施例涉及自动焊接技术领域，具体涉及一种旋转电弧传感器。
背景技术
自动化焊接技术采用焊接传感器进行焊缝跟踪是焊接自动化的关键之一，焊接传感器按传感方式可分为附加式传感器和电弧传感器两大类，其中，电弧传感器相比有其独特的优势，也是目前研究最为活跃的一种跟踪技术，主要分为双丝并列电弧传感器、摆动扫描式电弧传感器和旋转电弧传感器等形式，双丝并列电弧传感器由于结构工艺复杂，实现上有一定困难，其应用受到很大限制，摆动扫描式电弧传感器由于机械人摆动频率一般在10Hz以下，其跟踪效果受到一定影响，在高速焊接和大弧度焊接时起不到跟踪作用。
现有旋转扫描式电弧传感器的应用主要是电机驱动焊枪做圆锥运动，跟踪效果好但存在结构复杂，体积大，振动较大，调节不方便，限制了实践中的应用，现有的解决技术是将扫描式电弧传感器的导电杆做圆锥运动为方向，虽然可达性好，但需要将焊枪内置在电弧传感器内，造成对焊枪维修、更换不便的问题。
发明内容
为此，本发明实施例提供一种旋转电弧传感器，以解决现有技术中由于焊枪内置在电弧传感器内而导致的对焊枪维修、更换不便的问题。
为了实现上述目的，本发明实施例提供如下技术方案：
一种旋转电弧传感器，所述旋转电弧传感器包括电机、用于带动焊枪环形运动的连接杆、用于支撑连接杆的重量并支持连接杆的一端自由运动的滑动组件、用于带动连接杆的另一端环形运动的偏心摆动件，电机的转轴的中心设有能够连通电机两端的空心腔，滑动组件设置在电机的顶端，连接杆的一端通过所述空心腔伸出电机的顶端并和滑动组件连接，偏心摆动件包括第一法兰和第二法兰，第一法兰套在电机的转轴上并和转轴同体旋转，第二法兰设置在第一法兰上且第二法兰的圆心偏离第一法兰的圆心，连接杆的另一端伸入第二法兰内并通过轴承组件和第二法兰内壁连接，连接杆的另一端设有用于和焊枪连接的连接组件。
本发明实施例的特征还在于，所述滑动组件包括两组滑块、两组滑轨、第一安装盘和第二安装盘，两组滑块分别以“十”字形排列设置在第一安装盘和第二安装盘的下表面，两组滑轨分别以“十”字形排列设置在第二安装盘和所述电机的顶端的上表面并与两组滑块相互配合，第一安装盘和所述连接杆的一端连接，第一安装盘和第二安装盘上下排列。
本发明实施例的特征还在于，所述第二安装盘的中心设有圆孔，圆孔与所述连接杆之间预设有可使连接杆自由运动的间距。
本发明实施例的特征还在于，所述滑块设有“C”字形开口，所述滑轨的两侧设有用于使“C”字形开口的两端伸入的凹槽。
本发明实施例的特征还在于，所述第二法兰可调节的设置在第一法兰上。
本发明实施例的特征还在于，所述第一法兰的用于和第二法兰接触的表面上设有凹槽区，所述第二法兰的一端设置在凹槽区内并可在凹槽区内沿凹槽区的壁面滑动。
本发明实施例的特征还在于，所述凹槽区内设有用于和螺栓配合固定第二法兰的圆形螺纹孔，所述第二法兰的一端设有用于和圆形螺纹孔对应的腰孔。
本发明实施例的特征还在于，所述第一法兰的用于和第二法兰接触的表面上还设有偏心量刻度尺，所述第二法兰的一端设有用于指示当前 偏心量的刻线。
本发明实施例的特征还在于，所述轴承组件包括轴承和轴承套，轴承的内环套在所述连接杆的另一端上，轴承的外环和轴承套的内壁过盈配合，轴承套的外壁和第二法兰的内壁过盈配合。
本发明实施例的特征还在于，所述转轴的一端设有磁环，磁环和转轴同体旋转，所述电机内设有用于读取磁环旋转数据的编码器。
本发明实施例具有如下优点：
本发明实施例提供的一种旋转电弧传感器在确保焊枪运动轨迹精确的基础上，将焊枪可拆卸地设置在电弧传感器的外部，实现了对焊枪维修、更换便捷的效果。另外，由于第二法兰可调节地设置在第一法兰上，还实现了面对不同焊接要求的情况，可针对性调节焊枪的环形路径的直径大小的效果。
附图说明
图1为本发明实施例1提供的旋转电弧传感器的剖视结构示意图；
图2为本发明实施例1提供的旋转电弧传感器的立体分解示意图；
图3为本发明实施例1提供的旋转电弧传感器的滑动组件的立体结构示意图；
图4为本发明实施例1提供的旋转电弧传感器的偏心摆动件的分解示意图；
图中：1-电机；11-转轴；111-空心腔；12-磁环；13-编码器；14-保护罩；
2-连接杆；21-连接法兰；22-夹持件；
3-滑动组件；31-滑块；32-滑轨；33-第一安装盘；34-第二安装盘；341-圆孔；
4-偏心摆动件；41-第一法兰；411-凹槽区；412-圆形螺纹孔；42-第二法兰；421-腰孔；
5-轴承；6-轴承套；61-卡环；7-焊枪；8-夹持装置。
具体实施方式
以下实施例用于说明本发明，但不用来限制本发明的范围。
实施例1
如图1至图4所示，为本实施例提供的一种旋转电弧传感器，包括电机1、用于带动焊枪7环形运动的连接杆2、用于支撑连接杆2的重量并支持连接杆2的一端在同一水平面上自由运动的滑动组件3、用于带动连接杆2的另一端环形运动的偏心摆动件4。具体地，电机1的转轴11的中心设有能够连通电机1两端的空心腔111，转轴11的一端设有磁环12，磁环12和转轴11同体旋转，所述电机1内设有用于读取磁环12旋转数据并和电弧传感器的控制器连接的编码器13，滑动组件3设置在电机1的顶端，连接杆2的一端通过所述空心腔111伸出电机1的顶端并和滑动组件3连接，偏心摆动件4包括第一法兰41和第二法兰42，第一法兰41套在电机1的转轴上并和转轴同体旋转，第二法兰42设置在第一法兰41上且第二法兰42的圆心偏离第一法兰41的圆心，连接杆2的另一端伸入第二法兰42内并通过轴承组件和第二法兰42内壁连接，轴承组件包括轴承5和轴承套6，轴承5的内环无间隙套在所述连接杆2的另一端上，轴承5的外环和轴承套6的内壁过盈配合，轴承套6的内壁设有用于对轴承5限位的卡环61，轴承套6的外壁和第二法兰42的内壁过盈配合，连接杆2的另一端设有用于和焊枪7连接的连接组件，连接组件包括连接法兰21和夹持件22，连接法兰21的两端分别与连接杆2的另一端和夹持件22的一端连接，焊枪7设置在夹持件22的另一端。
自动焊接时，机器人手臂通过夹持装置8将电机1夹住并带动本实施例的旋转电弧传感器沿焊缝移动，同时，电机1的转轴11带动偏心摆动件4的第一法兰41回转运动，由于第二法兰42的圆心偏离第一法兰41的圆心，所以第二法兰42带动连接杆2的另一端及焊枪7环形摆动，同时，滑动组件3支撑连接杆2和焊枪7的重量并支持连接杆2的自由 运动。实现了在确保焊枪7运动轨迹精确的基础上，将焊枪7可拆卸地设置在电弧传感器的外部，便捷了对焊枪7的维修和更换。
优选地，滑动组件3包括两组滑块31、两组滑轨32、第一安装盘33和第二安装盘34，两组滑块31分别以“十”字形排列设置在第一安装盘33和第二安装盘34的下表面，两组滑轨32分别以“十”字形排列设置在第二安装盘34和所述电机1的顶端的上表面并与两组滑块31相互配合，第一安装盘33和所述连接杆2的一端连接，第一安装盘33和第二安装盘34上下排列，第二安装盘34的中心设有圆孔341，圆孔341与所述连接杆2之间预设有可使连接杆2自由运动的间距。当偏心摆动件4对连接杆2的另一端施加环形运动的扭力时，连接杆2的一端随之在同一平面的X和Y的方向同时自由运动，“十”字形排列设置的滑块和滑轨实现了连接杆2的一端根据偏心摆动件4对其受力的影响自由运动的效果。
进一步优选地，滑块31和滑轨32均为现有的标准件，即滑块31设有“C”字形开口，滑轨32的两侧设有用于使“C”字形开口的两端伸入的凹槽。
更进一步优选地，为了确保清洁和保护滑动组件3和电机1的部件，在电机1的顶部设置保护罩14。
优选地，第二法兰42可调节的设置在第一法兰41上。第一法兰41的用于和第二法兰42接触的表面上设有凹槽区411，所述第二法兰42的一端设置在凹槽区411内并可在凹槽区411内沿凹槽区411的壁面滑动。凹槽区411内设有用于和螺栓配合固定第二法兰42的圆形螺纹孔412，所述第二法兰42的一端设有用于和圆形螺纹孔412对应的腰孔421。第二法兰42通过腰孔421和螺栓的活动间隙从而调节偏心量。
进一步优选地，第一法兰41的用于和第二法兰42接触的表面上还设有偏心量刻度尺，所述第二法兰42的一端设有用于指示当前偏心量的刻线，实现了进一步精确调节的效果。
虽然，上文中已经用一般性说明及具体实施例对本发明作了详尽的 描述，但在本发明基础上，可以对之做一些修改或改进，这对本领域技术人员而言是显而易见的。因此，在不偏离本发明精神的基础上所做的这些修改或改进，均属于本发明要求保护的范围。

Claims (10)

  1. 一种旋转电弧传感器，其特征在于，所述旋转电弧传感器包括电机(1)、用于带动焊枪环形运动的连接杆(2)、用于支撑连接杆(2)的重量并支持连接杆(2)的一端自由运动的滑动组件(3)、用于带动连接杆(2)的另一端环形运动的偏心摆动件(4)，电机(1)的转轴(11)的中心设有能够连通电机(1)两端的空心腔(111)，滑动组件(3)设置在电机(1)的顶端，连接杆(2)的一端通过空心腔(111)伸出电机(1)的顶端并和滑动组件(3)连接，偏心摆动件(4)包括第一法兰(41)和第二法兰(42)，第一法兰(41)套在电机(1)的转轴上并和转轴同体旋转，第二法兰(42)设置在第一法兰(41)上且第二法兰(42)的圆心偏离第一法兰(41)的圆心，连接杆(2)的另一端伸入第二法兰(42)内并通过轴承组件和第二法兰(42)内壁连接，连接杆(2)的另一端设有用于和焊枪连接的连接组件。
  2. 根据权利要求1所述的旋转电弧传感器，其特征在于，所述滑动组件(3)包括两组滑块(31)、两组滑轨(32)、第一安装盘(33)和第二安装盘(34)，两组滑块(31)分别以“十”字形排列设置在第一安装盘(33)和第二安装盘(34)的下表面，两组滑轨(32)分别以“十”字形排列设置在第二安装盘(34)和所述电机(1)的顶端的上表面并与两组滑块(31)相互配合，第一安装盘(33)和所述连接杆(2)的一端连接，第一安装盘(33)和第二安装盘(34)上下排列。
  3. 根据权利要求2所述的旋转电弧传感器，其特征在于，所述第二安装盘(34)的中心设有圆孔(341)，圆孔(341)与所述连接杆(2)之间预设有可使连接杆(2)自由运动的间距。
  4. 根据权利要求2所述的旋转电弧传感器，其特征在于，所述滑块(31)设有“C”字形开口，所述滑轨(32)的两侧设有用于使“C”字形开口的两端伸入的凹槽。
  5. 根据权利要求1所述的旋转电弧传感器，其特征在于，所述第二 法兰(42)可调节的设置在第一法兰(41)上。
  6. 根据权利要求5所述的旋转电弧传感器，其特征在于，所述第一法兰(41)的用于和第二法兰(42)接触的表面上设有凹槽区(411)，所述第二法兰(42)的一端设置在凹槽区(411)内并可在凹槽区(411)内沿凹槽区(411)的壁面滑动。
  7. 根据权利要求6所述的旋转电弧传感器，其特征在于，所述凹槽区(411)内设有用于和螺栓配合固定第二法兰(42)的圆形螺纹孔(412)，所述第二法兰(42)的一端设有用于和圆形螺纹孔(412)对应的腰孔(421)。
  8. 根据权利要求6所述的旋转电弧传感器，其特征在于，所述第一法兰(41)的用于和第二法兰(42)接触的表面上还设有偏心量刻度尺，所述第二法兰(42)的一端设有用于指示当前偏心量的刻线。
  9. 根据权利要求1所述的旋转电弧传感器，其特征在于，所述轴承组件包括轴承(5)和轴承套(6)，轴承(5)的内环套在所述连接杆(2)的另一端上，轴承(5)的外环和轴承套(6)的内壁过盈配合，轴承套(6)的外壁和第二法兰(42)的内壁过盈配合。
  10. 根据权利要求1所述的旋转电弧传感器，其特征在于，所述转轴(11)的一端设有磁环(12)，磁环(12)和转轴(11)同体旋转，所述电机(1)内设有用于读取磁环(12)旋转数据的编码器(13)。
PCT/CN2019/073817 2019-01-18 2019-01-30 一种旋转电弧传感器 WO2020147151A1 (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
SG11202105003PA SG11202105003PA (en) 2019-01-18 2019-01-30 Rotating arc sensor
KR1020217014879A KR102497343B1 (ko) 2019-01-18 2019-01-30 회전 아크 센서
RU2021114294A RU2762899C1 (ru) 2019-01-18 2019-01-30 Вращающийся датчик дуги
AU2019422569A AU2019422569B2 (en) 2019-01-18 2019-01-30 Rotating arc sensor
US17/288,004 US11618095B2 (en) 2019-01-18 2019-01-30 Rotating arc sensor
CA3118541A CA3118541C (en) 2019-01-18 2019-01-30 A rotating arc welding induction assembly

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910056147.5 2019-01-18
CN201910056147.5A CN109570701B (zh) 2019-01-18 2019-01-18 一种旋转电弧传感器

Publications (1)

Publication Number Publication Date
WO2020147151A1 true WO2020147151A1 (zh) 2020-07-23

Family

ID=65917500

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/073817 WO2020147151A1 (zh) 2019-01-18 2019-01-30 一种旋转电弧传感器

Country Status (15)

Country Link
US (1) US11618095B2 (zh)
EP (1) EP3682995B1 (zh)
JP (1) JP3221382U (zh)
KR (1) KR102497343B1 (zh)
CN (1) CN109570701B (zh)
AU (1) AU2019422569B2 (zh)
CA (1) CA3118541C (zh)
DK (1) DK3682995T3 (zh)
ES (1) ES2882213T3 (zh)
HU (1) HUE055202T2 (zh)
PL (1) PL3682995T3 (zh)
RS (1) RS62436B1 (zh)
RU (1) RU2762899C1 (zh)
SG (1) SG11202105003PA (zh)
WO (1) WO2020147151A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109570701B (zh) * 2019-01-18 2024-06-25 闫国庆 一种旋转电弧传感器
CN113237655B (zh) * 2021-04-16 2021-11-16 安徽理工大学 Rv减速器出厂质量综合性能定量检测实验台及其检测方法
CN114799439B (zh) * 2022-06-07 2023-06-20 浙江机电职业技术学院 一种电弧增材用辅助焊丝振动装置
CN115360665B (zh) * 2022-08-09 2024-02-23 国网四川省电力公司内江供电公司 一种配电网输电线路负荷段融冰装置及方法
CN117943767B (zh) * 2024-03-22 2024-06-18 广东博盈特焊技术股份有限公司 一种圆弧式焊枪摆动器装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4072301A (en) * 1973-08-08 1978-02-07 Stewart-Warner Corporation Tracing head and drive
US4704513A (en) * 1985-04-30 1987-11-03 Nippon Kokan Kabushiki Kaisha Groove tracing control method for high-speed rotating arc fillet welding
CN201009042Y (zh) * 2006-10-08 2008-01-23 新疆艾特科技开发有限公司 T型管自动焊接机
CN101274386A (zh) * 2007-03-28 2008-10-01 株式会社神户制钢所 单面焊接装置及单面焊接方法
CN203156207U (zh) * 2013-03-29 2013-08-28 华南理工大学 一种旋转电弧熔化极气体保护焊焊枪
CN106112209A (zh) * 2016-08-02 2016-11-16 无锡研奥电子科技有限公司 旋转电弧传感器壳体
CN106141377A (zh) * 2016-08-02 2016-11-23 无锡研奥电子科技有限公司 旋转电弧传感器的信号采集装置
CN107414257A (zh) * 2017-08-09 2017-12-01 南昌大学 一种水冷式tig焊旋转电弧传感器
JP3221382U (ja) * 2019-01-18 2019-05-23 ▲イェン▼国慶ＹＡＮ， Ｇｕｏｑｉｎｇ 回転アークセンサ

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3396263A (en) * 1965-12-16 1968-08-06 Harnischfeger Corp Oscillating arc welding gun
US4047656A (en) * 1976-03-03 1977-09-13 Mac Machine & Metal Works Inc. Orbital motion welding head
SU623677A1 (ru) * 1977-04-07 1978-09-15 Предприятие П/Я А-1714 Датчик горени дуги посто нного тока
US4538046A (en) * 1980-11-17 1985-08-27 Gasparas Kazlauskas Precise positioning for a welding electrode which follows a three dimensional weld path
SU1074675A1 (ru) * 1983-01-17 1984-02-23 Томский Ордена Октябрьской Революции И Ордена Трудового Красного Знамени Политехнический Институт Им.С.М.Кирова Датчик коротких замыканий дугового промежутка
JPS61279491A (ja) * 1985-05-31 1986-12-10 株式会社安川電機 視覚機器付産業用ロボット
EP0319577A4 (en) * 1987-04-24 1990-01-08 Nippon Kokan Kk HIGH SPEED ROTATING ARC WELDING MACHINE.
JP2525285B2 (ja) 1990-11-15 1996-08-14 日本鋼管株式会社 高速回転ア―ク溶接装置のト―チ回転装置
US6498321B1 (en) * 2001-04-09 2002-12-24 Lincoln Global, Inc. System and method for controlling an electric arc welder
CN203495452U (zh) * 2013-09-11 2014-03-26 台州普宝自动化设备有限公司 自动焊接机机头
US10543551B2 (en) * 2013-09-16 2020-01-28 Illinois Tool Works Inc. Synchronized rotating arc welding method and system
TWI612278B (zh) * 2015-11-18 2018-01-21 國立清華大學 環狀磁性編碼器、環狀磁性編碼器產生裝置、轉軸偏移檢測方法及其人機介面裝置
CN106041261A (zh) * 2016-08-02 2016-10-26 无锡研奥电子科技有限公司 具有防尘作用的旋转电弧传感器
CN106077903A (zh) * 2016-08-02 2016-11-09 无锡研奥电子科技有限公司 一种旋转电弧传感器
CN106180990B (zh) * 2016-08-05 2018-05-08 太原理工大学 一种无级可调的偏心旋转熔化极气体保护焊枪
CN207326150U (zh) * 2017-10-31 2018-05-08 浙江科鑫重工有限公司 大直径焊管焊缝跟踪装置
CN209424721U (zh) * 2019-01-18 2019-09-24 闫国庆 一种旋转电弧传感器

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4072301A (en) * 1973-08-08 1978-02-07 Stewart-Warner Corporation Tracing head and drive
US4704513A (en) * 1985-04-30 1987-11-03 Nippon Kokan Kabushiki Kaisha Groove tracing control method for high-speed rotating arc fillet welding
CN201009042Y (zh) * 2006-10-08 2008-01-23 新疆艾特科技开发有限公司 T型管自动焊接机
CN101274386A (zh) * 2007-03-28 2008-10-01 株式会社神户制钢所 单面焊接装置及单面焊接方法
CN203156207U (zh) * 2013-03-29 2013-08-28 华南理工大学 一种旋转电弧熔化极气体保护焊焊枪
CN106112209A (zh) * 2016-08-02 2016-11-16 无锡研奥电子科技有限公司 旋转电弧传感器壳体
CN106141377A (zh) * 2016-08-02 2016-11-23 无锡研奥电子科技有限公司 旋转电弧传感器的信号采集装置
CN107414257A (zh) * 2017-08-09 2017-12-01 南昌大学 一种水冷式tig焊旋转电弧传感器
JP3221382U (ja) * 2019-01-18 2019-05-23 ▲イェン▼国慶ＹＡＮ， Ｇｕｏｑｉｎｇ 回転アークセンサ

Also Published As

Publication number Publication date
CA3118541C (en) 2023-07-18
HUE055202T2 (hu) 2021-11-29
KR102497343B1 (ko) 2023-02-07
AU2019422569B2 (en) 2022-10-20
JP3221382U (ja) 2019-05-23
CA3118541A1 (en) 2020-07-23
US11618095B2 (en) 2023-04-04
AU2019422569A1 (en) 2021-05-20
EP3682995B1 (en) 2021-07-14
ES2882213T3 (es) 2021-12-01
EP3682995A1 (en) 2020-07-22
DK3682995T3 (da) 2021-08-16
US20210379684A1 (en) 2021-12-09
CN109570701B (zh) 2024-06-25
KR20210072097A (ko) 2021-06-16
CN109570701A (zh) 2019-04-05
RU2762899C1 (ru) 2021-12-23
RS62436B1 (sr) 2021-11-30
PL3682995T3 (pl) 2021-12-06
SG11202105003PA (en) 2021-06-29

Similar Documents

Publication Publication Date Title
WO2020147151A1 (zh) 一种旋转电弧传感器
CN108436343B (zh) 一种用于智能制造自动化生产线的多功能工业机器人
JPH01501298A (ja) 磁気軸受を有する工作物運搬スピンドル組立体，及び極めて高精度な工作機械のためのような組立体を提供する装置
CN105798497A (zh) 一种全方位工业自动化焊接机器人
CN108312010B (zh) 一种三自由度串联柔性磨抛法兰装置
JP5943099B1 (ja) 真円度測定装置
CN107009228B (zh) 曲轴随动磨削在线测量仪
CN109465708A (zh) 一种工具磨床
JP2001174252A (ja) 眼鏡の玉型形状測定装置
CN209006903U (zh) 用于夹持激光抛光试样的可旋转夹具
WO2018188384A1 (zh) 激光选区熔化装置及3d打印机
CN201156003Y (zh) 激光粉末焊接动平衡调整装置
JPS60184491A (ja) 多軸式の位置決め兼回転機械
KR102163794B1 (ko) 자동용접캐리지의 용접헤드
CN110125469B (zh) 一种加工大尺寸构件的便携式镗铣床
JP2016148685A (ja) 真円度測定装置
CN106624396B (zh) 一种焊接保护气导气管调节装置及其应用
CN214702081U (zh) 曲轴主轴颈检测装置
CN115042098B (zh) 一种通用型柔性轴承内圈加工装夹装置以及加工设备
CN108907864A (zh) 一种产品翻转装置
CN212945971U (zh) 自动焊接机器人的电弧长度控制机构
CN210254709U (zh) 旋转打标设备
CN108582497B (zh) 一种三摆角超声加工装置及其加工方法
CN208162788U (zh) 一种齿轮加工设备用夹具支撑装置
JPH0340472Y2 (zh)

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19910446

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 3118541

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 20217014879

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019422569

Country of ref document: AU

Date of ref document: 20190130

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19910446

Country of ref document: EP

Kind code of ref document: A1