WO2021036351A1 - Rotary automatic welding robot and welding method thereof - Google Patents

Rotary automatic welding robot and welding method thereof Download PDF

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Publication number
WO2021036351A1
WO2021036351A1 PCT/CN2020/090311 CN2020090311W WO2021036351A1 WO 2021036351 A1 WO2021036351 A1 WO 2021036351A1 CN 2020090311 W CN2020090311 W CN 2020090311W WO 2021036351 A1 WO2021036351 A1 WO 2021036351A1
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WIPO (PCT)
Prior art keywords
axis
frame
welding
guide rail
drive
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PCT/CN2020/090311
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French (fr)
Chinese (zh)
Inventor
张娟娟
唐德
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南京涵曦月自动化科技有限公司
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Priority to CN201910799534.8 priority Critical
Priority to CN201910799534.8A priority patent/CN110549048B/en
Application filed by 南京涵曦月自动化科技有限公司 filed Critical 南京涵曦月自动化科技有限公司
Publication of WO2021036351A1 publication Critical patent/WO2021036351A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means

Abstract

A rotary automatic welding robot, comprising a rotary base (2). An operation machine frame (4) is installed on the rotary base and provided with a Y-axis guide rail (41). An adjusting machine frame (5) is movably installed on the Y-axis guide rail and provided with a Z-axis guide rail (51). A welding frame (6) is movably installed on the Z-axis guide rail. A bearing platform (10) is fixedly installed on an upper surface of the rotary base. The rotary base comprises an upper carrying table (11) and a lower carrying table (12). The upper carrying table is installed on the lower carrying table by means of a supporting rotary shaft (14). A transmission cavity (15) is formed in an inner cavity of the upper carrying table. An annular rack (16) is provided on the inner wall of the transmission cavity. A transmission gear (17) is built in the transmission cavity. The transmission gear is meshed with the annular rack. A stereoscopic machining and adjusting mode is achieved by the whole rotary automatic welding robot, the machining range and machining precision are increased, and the machining quality is ensured. Also provided is a welding method of the rotary automatic welding robot.

Description

一种回转式自动焊接机器人及其焊接方法Rotary automatic welding robot and welding method thereof 技术领域Technical field
本发明涉及焊接工艺相关技术领域,具体是一种回转式自动焊接机器人及其焊接方法。 The invention relates to the technical field related to welding technology, in particular to a rotary automatic welding robot and a welding method thereof.
背景技术Background technique
目前,我国工业生产,需要可以根据客户的生产要求,能高效、快捷实现个性化定制、模块化组合的差异化的焊接机器人,满足不同形状、大小的全方位焊件的焊接要求。At present, my country's industrial production requires differentiated welding robots that can efficiently and quickly achieve personalized customization and modular combination according to customer production requirements to meet the welding requirements of all-round weldments of different shapes and sizes.
现有一些自动焊接机器人,因过于笨重庞大,结构复杂,而且不能进行上下、左右和前后的全方位自动定位焊接,焊枪不能绕焊接工件公转,工件必须与变位机配合使用,工件要牢固装配在变位机上,而且一个变位器只能装配一件工件,装配完成后即形成固定焊接点,造成焊接作业的可调节性不足。Some existing automatic welding robots are too cumbersome and large, with complex structures, and cannot perform all-round automatic positioning welding up and down, left and right, and front and rear. The welding gun cannot revolve around the welding workpiece. The workpiece must be used in conjunction with a positioner. The workpiece must be firmly assembled On the positioner, and one positioner can only assemble one workpiece, a fixed welding point is formed after the assembly is completed, resulting in insufficient adjustability of the welding operation.
技术问题technical problem
本发明的目的在于提供一种回转式自动焊接机器人及其焊接方法,以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a rotary automatic welding robot and a welding method thereof to solve the problems raised in the background art.
技术解决方案Technical solutions
一种回转式自动焊接机器人,包括回转基座,所述回转基座上安装有作业机架,所述作业机架上安装有Y轴导轨,所述Y轴导轨上呈活动式安装有调节机架,所述调节机架上安装有Z轴导轨,所述Z轴导轨上呈活动式安装有焊接架,所述回转基座的上表面固定安装有承载平台,所述承载平台上设置有若干道治具板,所述回转基座包括上载台和下载台,所述上载台通过支撑转轴安装在下载台上,所述作业机架的底部两端通过固定块安装在上载台的上表面,所述承载平台通过轴承安装在支撑转轴的顶部并且不随上载台运动,所述上载台内腔设置有传动腔,所述传动腔的内壁上设置有环形齿条,所述传动腔内置安装有传动齿轮,所述传动齿轮与环形齿条相啮合。A rotary automatic welding robot includes a rotary base, a work frame is installed on the rotary base, a Y-axis guide rail is installed on the work frame, and a regulator is mounted on the Y-axis guide rail in a movable manner A Z-axis guide rail is installed on the adjusting frame, a welding frame is movably installed on the Z-axis guide rail, a bearing platform is fixedly installed on the upper surface of the rotating base, and a plurality of bearing platforms are arranged on the bearing platform. A road fixture board, the rotary base includes an upper stage and a download stage, the upper stage is installed on the download stage through a supporting shaft, the bottom ends of the work rack are installed on the upper surface of the upper stage through fixed blocks, The load-bearing platform is mounted on the top of the supporting shaft through a bearing and does not move with the upper carrier. The inner cavity of the upper carrier is provided with a transmission cavity, the inner wall of the transmission cavity is provided with an annular rack, and the transmission cavity is installed with a transmission A gear, the transmission gear meshes with an annular rack.
作为本发明进一步的方案:所述下载台的内腔设置有驱动腔,所述驱动腔侧壁上内置安装有驱动轴,所述驱动轴伸入驱动腔内腔并且安装有驱动斜齿轮,所述传动齿轮的底部安装有传动轴,所述传动轴的底端安装有从动斜齿轮,所述驱动斜齿轮与从动斜齿轮相啮合,所述传动轴的动力输入端安装有驱动手柄。As a further solution of the present invention: the inner cavity of the download platform is provided with a drive cavity, a drive shaft is built-in on the side wall of the drive cavity, the drive shaft extends into the inner cavity of the drive cavity and a drive helical gear is installed, so A transmission shaft is installed at the bottom of the transmission gear, a driven helical gear is installed at the bottom end of the transmission shaft, the driving helical gear meshes with the driven helical gear, and a driving handle is installed at the power input end of the transmission shaft.
作为本发明进一步的方案:所述驱动手柄上安装有螺旋微调器。As a further solution of the present invention: a spiral fine adjuster is installed on the driving handle.
作为本发明进一步的方案:所述Y轴导轨上安装有Y轴滑块,所述Y轴导轨内置安装有Y轴螺杆,所述Y轴滑块内置螺孔并且通过螺孔穿设在Y轴螺杆上,所述Y轴滑块上安装有Y轴固定板,所述调节机架通过锁合螺栓安装在Y轴固定板上。As a further solution of the present invention, a Y-axis slide block is installed on the Y-axis guide rail, a Y-axis screw is installed in the Y-axis guide rail, and the Y-axis slide block has a built-in screw hole and penetrates the Y-axis through the screw hole. On the screw, a Y-axis fixing plate is installed on the Y-axis sliding block, and the adjusting frame is installed on the Y-axis fixing plate by a locking bolt.
作为本发明进一步的方案:所述作业机架上设置有Y轴电机,所述Y轴螺杆连接至Y轴电机的驱动端。As a further solution of the present invention, a Y-axis motor is provided on the work frame, and the Y-axis screw is connected to the driving end of the Y-axis motor.
作为本发明进一步的方案:所述Z轴导轨上安装有Z轴滑块,所述焊接架通过锁合螺栓安装在Z轴滑块上,所述Z轴滑块的底部设置有传动螺套,所述Z轴导轨内置安装有Z轴螺杆,所述传动螺套安装在Z轴螺杆上。As a further solution of the present invention, a Z-axis slide block is installed on the Z-axis guide rail, the welding frame is installed on the Z-axis slide block by a locking bolt, and a transmission screw sleeve is provided at the bottom of the Z-axis slide block, A Z-axis screw is installed in the Z-axis guide rail, and the transmission screw sleeve is installed on the Z-axis screw.
作为本发明进一步的方案:所述调节机架上安装有Z轴电机,所述Z轴螺杆连接至Z轴电机的驱动端。As a further solution of the present invention, a Z-axis motor is installed on the adjusting frame, and the Z-axis screw is connected to the driving end of the Z-axis motor.
作为本发明进一步的方案:所述焊接架上安装有固定基架,所述固定基架的顶端安装有支撑板,所述支撑板上通过活动轴安装有摆向机架,所述摆向机架上安装有焊接枪,所述支撑板上还安装有角度测量板,所述角度测量板上设置有弧形槽,所述摆向机架通过滚珠安装在弧形槽内。As a further solution of the present invention: a fixed base frame is installed on the welding frame, a support plate is mounted on the top of the fixed base frame, a swing frame is installed on the support plate through a movable shaft, and the swing machine A welding gun is installed on the frame, an angle measuring plate is also installed on the support plate, and an arc groove is arranged on the angle measuring plate, and the swing frame is installed in the arc groove through balls.
作为本发明再进一步的方案:所述固定基架内置有调节电机,所述调节电机的驱动端安装有电机轴,所述电机轴的顶端安装有调节盘,所述调节盘上安装有连接块,所述固定基架上安装有变向轮,所述连接块上连接有拉线,所述拉线通过变向轮变向后与焊接枪相连接。As a further solution of the present invention: the fixed base frame has a built-in adjustment motor, the drive end of the adjustment motor is equipped with a motor shaft, the top end of the motor shaft is installed with an adjustment disc, and a connection block is installed on the adjustment disc A direction changing wheel is installed on the fixed base frame, a pull wire is connected to the connecting block, and the pull wire is connected to the welding gun through the direction change wheel to change the direction.
本申请以双部件相对焊接为例,还公布一种回转式自动焊接机器人的焊接方法,This application takes the relative welding of two components as an example, and also discloses a welding method of a rotary automatic welding robot.
步骤一:承载平台为X-Y轴坐标,将焊接源A的坐标记为A(X1、Y1),将焊接源B的坐标记为B(X2、Y2);Step 1: The bearing platform is the X-Y axis coordinates, mark the coordinates of welding source A as A (X1, Y1), and mark the coordinates of welding source B as B (X2, Y2);
步骤二;由A(X1、Y1),B(X2、Y2)的坐标,计算出坐标A和B之间的夹角α1;Step 2: From the coordinates of A (X1, Y1) and B (X2, Y2), calculate the angle α1 between coordinates A and B;
步骤三:根据夹角α1,出算出焊接的入枪的投影角度α2;通过螺旋微调器调节驱动手柄,从而带动上载台转动,继而调节上载台的角度,对作业机架的角度进行调节;Step 3: According to the included angle α1, calculate the projection angle α2 of the welding gun; adjust the drive handle through the screw fine adjuster to drive the upper stage to rotate, and then adjust the angle of the upper stage to adjust the angle of the work frame;
步骤四,根据A(X1、Y1),B(X2、Y2)的坐标,计算出双方焊接点的Y轴坐标,从而对Y轴导轨进行调节,移动调节机架的位置;Step 4: According to the coordinates of A (X1, Y1) and B (X2, Y2), calculate the Y-axis coordinates of the welding points of both sides, so as to adjust the Y-axis guide rail and move the position of the frame;
步骤五,根据Y轴导轨的高度,计算出与焊接点的高度差,通过对Z轴导轨进行调节,移动调节焊接架的高度;Step 5: According to the height of the Y-axis guide rail, calculate the height difference with the welding point, and adjust the height of the welding frame by adjusting the Z-axis guide rail;
步骤六,以角度测量板为检测标准,调节焊接枪的焊接角度,达到精准焊接的效果。Step six, adjust the welding angle of the welding gun with the angle measuring board as the inspection standard to achieve the effect of precise welding.
有益效果Beneficial effect
一、本申请通过多级齿轮传动机构,带动作业机架转动,调节作业机架的相对与作业基准面的角度,再通过Y-Z轴方向的螺纹传动,在作业机架的作业平面内,对加工坐标进行调节,从而整体达到立体化加工调节的方式,不仅提高的可加工的范围,可以对机台的多个工位上的工件进行焊接处理,还是大大提高了加工的精确度,保证加工质量。1. This application uses a multi-stage gear transmission mechanism to drive the work frame to rotate, adjust the angle of the work frame relative to the work reference plane, and then use the threaded transmission in the YZ axis direction to process the work frame in the work plane of the work frame. Coordinates are adjusted to achieve a three-dimensional processing adjustment method as a whole, which not only improves the processing range, but also can weld the workpieces on multiple stations of the machine, which greatly improves the accuracy of processing and ensures the quality of processing. .
二、本申请在焊接架上还增设有调节机构,通过曲柄连杆传动和定滑轮机构相配合带动支撑板以活动轴为轴心进行摆动,从而调节焊接枪的角度,即调节焊接时入枪的位置,进一步保证焊接精度。2. In this application, an adjustment mechanism is added to the welding frame. The support plate is driven to swing with the movable shaft as the axis through the cooperation of the crank connecting rod transmission and the fixed pulley mechanism, so as to adjust the angle of the welding gun, that is, adjust the gun when welding. The position to further ensure welding accuracy.
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本申请。It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.
附图说明Description of the drawings
此处的附图被并入说明书中并构成本说明书的一部分,以示出符合本申请的实施例,并与说明书一起用于解释本申请的原理。同时,这些附图和文字描述并不是为了通过任何方式限制本申请构思的范围,而是通过参考特定实施例为本领域技术人员说明本申请的概念。The drawings here are incorporated into the specification and constitute a part of the specification to show embodiments consistent with the application, and together with the specification are used to explain the principle of the application. At the same time, these drawings and text description are not intended to limit the scope of the concept of the present application in any way, but to explain the concept of the present application for those skilled in the art by referring to specific embodiments.
图1为本发明的俯视角结构示意图。Fig. 1 is a schematic diagram of the top view angle structure of the present invention.
图2为本发明的正视角结构示意图。Fig. 2 is a schematic view of the structure of the present invention from a front view.
图3为本发明中Y轴导轨的结构示意图。Fig. 3 is a schematic diagram of the structure of the Y-axis guide rail in the present invention.
图4为本发明中Z轴导轨的结构示意图。Fig. 4 is a schematic diagram of the structure of the Z-axis guide rail in the present invention.
图5为本发明中焊接架的结构示意图。Fig. 5 is a schematic diagram of the structure of the welding frame in the present invention.
图中:1-回转基座、10-承载平台、11-上载台、12-下载台、13-固定块、14-支撑转轴、15-传动腔、16-环形齿条、17-传动齿轮、18-驱动腔、19-驱动斜齿轮、20-驱动手柄、21-驱动轴、22-从动斜齿轮、24-螺旋微调器、3-治具板、4-作业机架、41-Y轴导轨、42-Y轴滑块、43-Y轴固定板、44-Y轴电机、45-Y轴螺杆、5-调节机架、51-Z轴导轨、52-Z轴滑块、53-传动螺套、54-Z轴螺杆、55-Z轴电机、6-焊接架、61-固定基架、62-支撑板、63-摆向机架、64-焊接枪、65-角度测量板、66-弧形槽、67-滚珠、68-电机轴、69-调节盘、71-连接块、72-变向轮、73-拉线。In the picture: 1-slewing base, 10-carrying platform, 11-uploading platform, 12-downloading platform, 13-fixed block, 14-support shaft, 15-transmission cavity, 16-ring rack, 17-transmission gear, 18-drive cavity, 19-drive helical gear, 20-drive handle, 21-drive shaft, 22-driven helical gear, 24-screw trimmer, 3-fixture plate, 4-work frame, 41-Y axis Guide rail, 42-Y axis slider, 43-Y axis fixed plate, 44-Y axis motor, 45-Y axis screw, 5-adjusting frame, 51-Z axis guide rail, 52-Z axis slider, 53-transmission Screw sleeve, 54-Z axis screw, 55-Z axis motor, 6-welding frame, 61-fixed base frame, 62-support plate, 63-swing frame, 64-welding gun, 65-angle measuring board, 66 -Arc groove, 67-ball, 68-motor shaft, 69-adjusting disc, 71-connecting block, 72-change wheel, 73-pull wire.
本发明的实施方式Embodiments of the present invention
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,其示例表示在附图中。下面的描述涉及附图时,除非另有表示,不同附图中的相同数字表示相同或同种要素。The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or same elements.
显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
实施例一:Example one:
请参阅图1和图2,一种回转式自动焊接机器人及其焊接方法,包括回转基座1,所述回转基座1上安装有作业机架4,所述作业机架4上安装有Y轴导轨41,所述Y轴导轨41上呈活动式安装有调节机架5,所述调节机架5上安装有Z轴导轨51,所述Z轴导轨51上呈活动式安装有焊接架6,所述回转基座1的上表面固定安装有承载平台10,所述承载平台10上设置有若干道治具板3。Please refer to Figures 1 and 2, a rotary automatic welding robot and its welding method, including a rotary base 1, the rotary base 1 is installed with a work frame 4, the work frame 4 is mounted with Y A shaft guide rail 41, the Y-axis guide rail 41 is movably mounted with an adjustment frame 5, the adjustment frame 5 is installed with a Z-axis guide rail 51, and the Z-axis guide rail 51 is movably mounted with a welding frame 6 A bearing platform 10 is fixedly installed on the upper surface of the rotating base 1, and a plurality of jig boards 3 are provided on the bearing platform 10.
本申请中,回转基座1为焊接作业的基准面,作业机架4为焊接作业的支持架,Y轴导轨41对Y轴坐标进行调节,Z轴导轨51对Z轴坐标进行调节,焊接架6进行焊接作业。治具板3呈可拆卸式安装,用于放置待焊接工件,这种可拆卸式结构能够有效增加作业自由度,与本申请的可调节是结构相配合,使得作业自由度更高。In this application, the rotary base 1 is the reference plane for welding operations, the work frame 4 is the support frame for welding operations, the Y-axis guide 41 adjusts the Y-axis coordinates, the Z-axis guide 51 adjusts the Z-axis coordinates, and the welding frame 6 Perform welding operations. The jig plate 3 is detachably installed for placing the workpiece to be welded. This detachable structure can effectively increase the degree of freedom of operation, and is compatible with the adjustable structure of the present application, which makes the degree of freedom of operation higher.
所述回转基座1包括上载台11和下载台12,所述上载台11通过支撑转轴14安装在下载台12上,所述作业机架4的底部两端通过固定块13安装在上载台11的上表面,所述承载平台10通过轴承安装在支撑转轴14的顶部并且不随上载台11运动。下载台12为固定基座,上载台11可以旋转调节,承载平台10保持固定,从而便于焊接的稳定性。The rotary base 1 includes an upper stage 11 and a download stage 12. The upper stage 11 is installed on the download stage 12 through a supporting shaft 14, and the bottom ends of the work rack 4 are installed on the upper stage 11 through fixed blocks 13 The loading platform 10 is mounted on the top of the supporting shaft 14 through bearings and does not move with the loading platform 11 on the upper surface. The downloading platform 12 is a fixed base, the loading platform 11 can be rotated and adjusted, and the supporting platform 10 is kept fixed, thereby facilitating the stability of welding.
所述上载台11内腔设置有传动腔15,所述传动腔15的内壁上设置有环形齿条16,所述传动腔15内置安装有传动齿轮17,所述传动齿轮17与环形齿条16相啮合,所述下载台12的内腔设置有驱动腔18,所述驱动腔18侧壁上内置安装有驱动轴21,所述驱动轴21伸入驱动腔18内腔并且安装有驱动斜齿轮19,所述传动齿轮17的底部安装有传动轴21,所述传动轴21的底端安装有从动斜齿轮22,所述驱动斜齿轮19与从动斜齿轮22相啮合,所述传动轴21的动力输入端安装有驱动手柄20。The inner cavity of the loading platform 11 is provided with a transmission cavity 15, the inner wall of the transmission cavity 15 is provided with an annular rack 16, and the transmission cavity 15 is installed with a transmission gear 17, the transmission gear 17 and the annular rack 16 In meshing, the inner cavity of the download platform 12 is provided with a drive cavity 18, and a drive shaft 21 is installed on the side wall of the drive cavity 18, and the drive shaft 21 extends into the inner cavity of the drive cavity 18 and is equipped with a drive helical gear 19. A transmission shaft 21 is installed at the bottom of the transmission gear 17, and a driven helical gear 22 is installed at the bottom end of the transmission shaft 21. The driving helical gear 19 meshes with the driven helical gear 22, and the transmission shaft A drive handle 20 is installed at the power input end of 21.
作业时,通过驱动手柄20带动驱动斜齿轮19运动,通过齿纹啮合传动,带动上载台11运动,即调节作业机架4相对于承载平台10的作业角度。During operation, the drive handle 20 drives the drive helical gear 19 to move, and the toothed meshing transmission drives the upper stage 11 to move, that is, to adjust the operating angle of the operating frame 4 relative to the loading platform 10.
优选的,所述驱动手柄20上安装有螺旋微调器24,螺旋微调器24类似千分尺结构,用于提高驱动手柄20的调节精度,便于人员把握上载台11的旋转角度,控制好作业精度,保证加工质量。Preferably, a spiral fine adjuster 24 is installed on the drive handle 20. The spiral fine adjuster 24 has a structure similar to a micrometer, and is used to improve the adjustment accuracy of the drive handle 20, so that personnel can grasp the rotation angle of the loading platform 11, control the work accuracy, and ensure Processing quality.
请参阅图3,所述Y轴导轨41上安装有Y轴滑块42,所述Y轴导轨41内置安装有Y轴螺杆45,所述Y轴滑块42内置螺孔并且通过螺孔穿设在Y轴螺杆45上,所述Y轴滑块42上安装有Y轴固定板43,所述调节机架5通过锁合螺栓安装在Y轴固定板43上。所述作业机架4上设置有Y轴电机44,所述Y轴螺杆45连接至Y轴电机44的驱动端。3, a Y-axis slider 42 is installed on the Y-axis guide rail 41, a Y-axis screw 45 is installed in the Y-axis guide rail 41, and the Y-axis slider 42 has a built-in screw hole and is pierced through the screw hole. On the Y-axis screw 45, a Y-axis fixing plate 43 is installed on the Y-axis sliding block 42, and the adjusting frame 5 is installed on the Y-axis fixing plate 43 by locking bolts. The working frame 4 is provided with a Y-axis motor 44, and the Y-axis screw 45 is connected to the driving end of the Y-axis motor 44.
请参阅图4,所述Z轴导轨51上安装有Z轴滑块52,所述焊接架6通过锁合螺栓安装在Z轴滑块52上,所述Z轴滑块52的底部设置有传动螺套53,所述Z轴导轨51内置安装有Z轴螺杆54,所述传动螺套53安装在Z轴螺杆54上。所述调节机架5上安装有Z轴电机55,所述Z轴螺杆54连接至Z轴电机55的驱动端。4, a Z-axis slider 52 is installed on the Z-axis guide rail 51, and the welding frame 6 is installed on the Z-axis slider 52 by locking bolts. The bottom of the Z-axis slider 52 is provided with a transmission A screw sleeve 53, a Z-axis screw 54 is installed in the Z-axis guide rail 51, and the transmission screw sleeve 53 is installed on the Z-axis screw 54. A Z-axis motor 55 is installed on the adjusting frame 5, and the Z-axis screw 54 is connected to the driving end of the Z-axis motor 55.
再通过螺纹传动机构,分别在Y-Z轴方向对加工位置进行调节,提高加工的精度,增加加工的适应范围。Then through the threaded transmission mechanism, the processing position is adjusted in the Y-Z axis direction respectively to improve the processing accuracy and increase the processing adaptability.
本申请通过多级齿轮传动机构,带动作业机架4转动,调节作业机架4的相对与作业基准面的角度,再通过Y-Z轴方向的螺纹传动,在作业机架4的作业平面内,对加工坐标进行调节,从而整体达到立体化加工调节的方式,不仅提高的可加工的范围,可以对机台的多个工位上的工件进行焊接处理,还是大大提高了加工的精确度,保证加工质量。This application uses a multi-stage gear transmission mechanism to drive the work frame 4 to rotate, adjust the angle of the work frame 4 relative to the work reference plane, and then through the threaded transmission in the YZ axis direction, in the work plane of the work frame 4, The processing coordinates are adjusted to achieve a three-dimensional processing adjustment method as a whole, which not only improves the processing range, but also can weld the workpieces on multiple stations of the machine, which greatly improves the processing accuracy and ensures the processing quality.
实施例二:Embodiment two:
请参阅图5,本实施例作为实施例一进一步的优化,在其基础上,为了进一步提高焊接加工的精度,本申请在焊接架6上还增设有调节机构。Please refer to FIG. 5, this embodiment is further optimized as the first embodiment. On the basis of this, in order to further improve the accuracy of the welding process, the welding frame 6 is additionally provided with an adjustment mechanism in the present application.
所述焊接架6上安装有固定基架61,所述固定基架61的顶端安装有支撑板62,所述支撑板62上通过活动轴安装有摆向机架63,所述摆向机架63上安装有焊接枪64,所述支撑板62上还安装有角度测量板65,所述角度测量板65上设置有弧形槽66,所述摆向机架63通过滚珠67安装在弧形槽66内。A fixed base frame 61 is installed on the welding frame 6, a support plate 62 is mounted on the top end of the fixed base frame 61, a swing frame 63 is installed on the support plate 62 through a movable shaft, and the swing frame A welding gun 64 is installed on the 63, an angle measuring plate 65 is also installed on the support plate 62, the angle measuring plate 65 is provided with an arc groove 66, and the swing frame 63 is installed on the arc through balls 67槽66内.
所述固定基架61内置有调节电机,所述调节电机的驱动端安装有电机轴68,所述电机轴68的顶端安装有调节盘69,所述调节盘69上安装有连接块71,所述固定基架61上安装有变向轮72,所述连接块71上连接有拉线73,所述拉线73通过变向轮72变向后与焊接枪64相连接。The fixed base 61 has a built-in adjustment motor, the drive end of the adjustment motor is installed with a motor shaft 68, the top end of the motor shaft 68 is installed with an adjustment disc 69, the adjustment disc 69 is installed with a connecting block 71, so A direction changing wheel 72 is installed on the fixed base frame 61, and a pull wire 73 is connected to the connecting block 71, and the pull wire 73 is connected to the welding gun 64 through the direction changing wheel 72 and connected to the welding gun 64.
作业时,通过调节电机带动调节盘69运动,通过调节盘69带动拉线73运动,通过拉线73带动支撑板62以活动轴为轴心进行摆动,从而调节焊接枪64的角度,即调节焊接时入枪的位置,进一步保证焊接精度。During operation, the adjusting motor drives the adjusting disc 69 to move, the adjusting disc 69 drives the pulling wire 73 to move, and the pulling wire 73 drives the support plate 62 to swing with the movable shaft as the axis, thereby adjusting the angle of the welding gun 64, that is, adjusting the welding time. The position of the gun further ensures welding accuracy.
优选的,如考量调节电机自身产生的震动会影响调节时的精度,本申请也可以同步采用螺旋微调器对电机轴68的转向进行调节。Preferably, if it is considered that the vibration generated by the adjusting motor itself will affect the accuracy of the adjustment, the spiral fine adjuster can also be used to adjust the rotation of the motor shaft 68 simultaneously in this application.
本申请以双部件相对焊接为例,公布一种回转式自动焊接机器人的焊接方法,用以更清楚的阐述本申请。This application takes the relative welding of two components as an example, and discloses a welding method of a rotary automatic welding robot to explain the application more clearly.
步骤一:承载平台10为X-Y轴坐标,将焊接源A的坐标记为A(X1、Y1),将焊接源B的坐标记为B(X2、Y2);Step 1: The bearing platform 10 is the X-Y axis coordinates, mark the coordinates of the welding source A as A (X1, Y1), and mark the coordinates of the welding source B as B (X2, Y2);
步骤二;由A(X1、Y1),B(X2、Y2)的坐标,计算出坐标A和B之间的夹角α1;Step 2: From the coordinates of A (X1, Y1) and B (X2, Y2), calculate the angle α1 between coordinates A and B;
步骤三:根据夹角α1,出算出焊接的入枪的投影角度α2;通过螺旋微调器24调节驱动手柄20,从而带动上载台11转动,继而调节上载台11的角度,对作业机架4的角度进行调节;Step 3: According to the included angle α1, calculate the projection angle α2 of the welding gun; adjust the drive handle 20 through the screw fine adjuster 24 to drive the upper stage 11 to rotate, and then adjust the angle of the upper stage 11 to the work frame 4 Angle adjustment;
步骤四,根据A(X1、Y1),B(X2、Y2)的坐标,计算出双方焊接点的Y轴坐标,从而对Y轴导轨41进行调节,移动调节机架5的位置;Step 4: According to the coordinates of A (X1, Y1) and B (X2, Y2), calculate the Y-axis coordinates of the welding points of both sides, so as to adjust the Y-axis guide 41 and move the position of the frame 5;
步骤五,根据Y轴导轨41的高度,计算出与焊接点的高度差,通过对Z轴导轨51进行调节,移动调节焊接架6的高度;Step 5: Calculate the height difference from the welding point according to the height of the Y-axis guide rail 41, and adjust the height of the welding frame 6 by moving the Z-axis guide rail 51;
步骤六,以角度测量板65为检测标准,调节焊接枪64的焊接角度,达到精准焊接的效果。Step six, adjust the welding angle of the welding gun 64 with the angle measuring plate 65 as the detection standard to achieve the effect of precise welding.
对于本领域技术人员而言,显然本发明不限于上述示范性实施例的细节,而且在不背离本发明的精神或基本特征的情况下,能够以其他的具体形式实现本发明。因此,无论从哪一点来看,均应将实施例看作是示范性的,而且是非限制性的,本发明的范围由所附权利要求而不是上述说明限定,因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。 For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.
此外,应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施例中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only includes an independent technical solution. This narration in the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole The technical solutions in the various embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

  1. 一种回转式自动焊接机器人,包括回转基座(1),所述回转基座(1)上安装有作业机架(4),所述作业机架(4)上安装有Y轴导轨(41),所述Y轴导轨(41)上呈活动式安装有调节机架(5),所述调节机架(5)上安装有Z轴导轨(51),所述Z轴导轨(51)上呈活动式安装有焊接架(6),所述回转基座(1)的上表面固定安装有承载平台(10),所述承载平台(10)上设置有若干道治具板(3),其特征在于,所述回转基座(1)包括上载台(11)和下载台(12),所述上载台(11)通过支撑转轴(14)安装在下载台(12)上,所述作业机架(4)的底部两端通过固定块(13)安装在上载台(11)的上表面,所述承载平台(10)通过轴承安装在支撑转轴(14)的顶部并且不随上载台(11)运动,所述上载台(11)内腔设置有传动腔(15),所述传动腔(15)的内壁上设置有环形齿条(16),所述传动腔(15)内置安装有传动齿轮(17),所述传动齿轮(17)与环形齿条(16)相啮合。A rotary automatic welding robot includes a rotary base (1), a working frame (4) is installed on the rotary base (1), and a Y-axis guide rail (41) is installed on the working frame (4). ), the Y-axis guide rail (41) is movably mounted with an adjustment frame (5), the adjustment frame (5) is equipped with a Z-axis guide rail (51), and the Z-axis guide rail (51) is mounted on the A welding frame (6) is movably installed, a bearing platform (10) is fixedly installed on the upper surface of the slewing base (1), and a number of fixture plates (3) are provided on the bearing platform (10), The rotary base (1) includes an upper stage (11) and a download stage (12), the upper stage (11) is installed on the download stage (12) through a supporting shaft (14), and the work The bottom ends of the frame (4) are installed on the upper surface of the loading platform (11) through fixed blocks (13). The loading platform (10) is mounted on the top of the supporting shaft (14) through bearings and does not follow the loading platform (11). ) Movement, the inner cavity of the loading platform (11) is provided with a transmission cavity (15), the inner wall of the transmission cavity (15) is provided with an annular rack (16), and the transmission cavity (15) is installed with a transmission A gear (17), the transmission gear (17) meshes with an annular rack (16).
  2. 根据权利要求1所述的回转式自动焊接机器人,其特征在于,所述下载台(12)的内腔设置有驱动腔(18),所述驱动腔(18)侧壁上内置安装有驱动轴(21),所述驱动轴(21)伸入驱动腔(18)内腔并且安装有驱动斜齿轮(19),所述传动齿轮(17)的底部安装有传动轴(21),所述传动轴(21)的底端安装有从动斜齿轮(22),所述驱动斜齿轮(19)与从动斜齿轮(22)相啮合,所述传动轴(21)的动力输入端安装有驱动手柄(20)。The rotary automatic welding robot according to claim 1, characterized in that the inner cavity of the download platform (12) is provided with a drive cavity (18), and a drive shaft is installed on the side wall of the drive cavity (18). (21), the drive shaft (21) extends into the inner cavity of the drive cavity (18) and is equipped with a drive helical gear (19), the bottom of the drive gear (17) is equipped with a drive shaft (21), the transmission A driven helical gear (22) is installed at the bottom end of the shaft (21), the drive helical gear (19) meshes with the driven helical gear (22), and the power input end of the transmission shaft (21) is installed with a drive Handle (20).
  3. 根据权利要求2所述的回转式自动焊接机器人,其特征在于,所述驱动手柄(20)上安装有螺旋微调器(24)。The rotary automatic welding robot according to claim 2, characterized in that a spiral fine adjuster (24) is installed on the driving handle (20).
  4. 根据权利要求1所述的回转式自动焊接机器人,其特征在于,所述Y轴导轨(41)上安装有Y轴滑块(42),所述Y轴导轨(41)内置安装有Y轴螺杆(45),所述Y轴滑块(42)内置螺孔并且通过螺孔穿设在Y轴螺杆(45)上,所述Y轴滑块(42)上安装有Y轴固定板(43),所述调节机架(5)通过锁合螺栓安装在Y轴固定板(43)上。The rotary automatic welding robot according to claim 1, wherein a Y-axis slide block (42) is installed on the Y-axis guide rail (41), and a Y-axis screw is installed in the Y-axis guide rail (41). (45), the Y-axis slider (42) has a built-in screw hole and is threaded on the Y-axis screw (45) through the screw hole, and a Y-axis fixed plate (43) is installed on the Y-axis slider (42) , The adjusting frame (5) is installed on the Y-axis fixing plate (43) by locking bolts.
  5. 根据权利要求4所述的回转式自动焊接机器人,其特征在于,所述作业机架(4)上设置有Y轴电机(44),所述Y轴螺杆(45)连接至Y轴电机(44)的驱动端。The rotary automatic welding robot according to claim 4, wherein a Y-axis motor (44) is provided on the working frame (4), and the Y-axis screw (45) is connected to the Y-axis motor (44). ) At the drive end.
  6. 根据权利要求1所述的回转式自动焊接机器人,其特征在于,所述Z轴导轨(51)上安装有Z轴滑块(52),所述焊接架(6)通过锁合螺栓安装在Z轴滑块(52)上,所述Z轴滑块(52)的底部设置有传动螺套(53),所述Z轴导轨(51)内置安装有Z轴螺杆(54),所述传动螺套(53)安装在Z轴螺杆(54)上。The rotary automatic welding robot according to claim 1, wherein a Z-axis sliding block (52) is installed on the Z-axis guide rail (51), and the welding frame (6) is installed on the Z-axis through a locking bolt. On the axis slider (52), a transmission screw sleeve (53) is provided at the bottom of the Z axis slider (52), the Z axis guide rail (51) is installed with a Z axis screw (54), and the transmission screw The sleeve (53) is installed on the Z-axis screw (54).
  7. 根据权利要求6所述的回转式自动焊接机器人,其特征在于,所述调节机架(5)上安装有Z轴电机(55),所述Z轴螺杆(54)连接至Z轴电机(55)的驱动端。The rotary automatic welding robot according to claim 6, characterized in that a Z-axis motor (55) is installed on the adjusting frame (5), and the Z-axis screw (54) is connected to the Z-axis motor (55). ) At the drive end.
  8. 根据权利要求1所述的回转式自动焊接机器人,其特征在于,所述焊接架(6)上安装有固定基架(61),所述固定基架(61)的顶端安装有支撑板(62),所述支撑板(62)上通过活动轴安装有摆向机架(63),所述摆向机架(63)上安装有焊接枪(64),所述支撑板(62)上还安装有角度测量板(65),所述角度测量板(65)上设置有弧形槽(66),所述摆向机架(63)通过滚珠(67)安装在弧形槽(66)内。The rotary automatic welding robot according to claim 1, wherein a fixed base frame (61) is installed on the welding frame (6), and a support plate (62) is installed on the top end of the fixed base frame (61). ), a swing frame (63) is installed on the support plate (62) through a movable shaft, a welding gun (64) is installed on the swing frame (63), and the support plate (62) is also An angle measuring plate (65) is installed, the angle measuring plate (65) is provided with an arc groove (66), and the swing frame (63) is installed in the arc groove (66) through balls (67) .
  9. 根据权利要求8所述的回转式自动焊接机器人,其特征在于,所述固定基架(61)内置有调节电机,所述调节电机的驱动端安装有电机轴(68),所述电机轴(68)的顶端安装有调节盘(69),所述调节盘(69)上安装有连接块(71),所述固定基架(61)上安装有变向轮(72),所述连接块(71)上连接有拉线(73),所述拉线(73)通过变向轮(72)变向后与焊接枪(64)相连接。The rotary automatic welding robot according to claim 8, wherein the fixed base frame (61) is equipped with an adjusting motor, and a motor shaft (68) is installed at the driving end of the adjusting motor, and the motor shaft ( 68) is equipped with an adjusting disc (69) on the top end, a connecting block (71) is installed on the adjusting disc (69), a change wheel (72) is installed on the fixed base frame (61), and the connecting block A pull wire (73) is connected to the (71), and the pull wire (73) is connected to the welding gun (64) through the direction changing wheel (72).
  10. 根据权利要求1-9任一所述的回转式自动焊接机器人的焊接方法,其特征在于,包括以下步骤:The welding method of a rotary automatic welding robot according to any one of claims 1-9, characterized in that it comprises the following steps:
    步骤一:承载平台(10)为X-Y轴坐标,将焊接源A的坐标记为A(X1、Y1),将焊接源B的坐标记为B(X2、Y2);Step 1: The bearing platform (10) is the X-Y axis coordinates, mark the coordinates of welding source A as A (X1, Y1), and mark the coordinates of welding source B as B (X2, Y2);
    步骤二;由A(X1、Y1),B(X2、Y2)的坐标,计算出坐标A和B之间的夹角α1;Step 2: From the coordinates of A (X1, Y1) and B (X2, Y2), calculate the angle α1 between coordinates A and B;
    步骤三:根据夹角α1,出算出焊接的入枪的投影角度α2;通过螺旋微调器(24)调节驱动手柄(20),从而带动上载台(11)转动,继而调节上载台(11)的角度,对作业机架(4)的角度进行调节;Step 3: According to the included angle α1, calculate the projection angle α2 of the welding gun; adjust the drive handle (20) through the screw fine adjuster (24) to drive the upper stage (11) to rotate, and then adjust the upper stage (11) Angle, adjust the angle of the work frame (4);
    步骤四,根据A(X1、Y1),B(X2、Y2)的坐标,计算出双方焊接点的Y轴坐标,从而对Y轴导轨(41)进行调节,移动调节机架(5)的位置;Step 4: According to the coordinates of A (X1, Y1) and B (X2, Y2), calculate the Y-axis coordinates of the welding points on both sides, so as to adjust the Y-axis guide rail (41), and move and adjust the position of the frame (5) ;
    步骤五,根据Y轴导轨(41)的高度,计算出与焊接点的高度差,通过对Z轴导轨(51)进行调节,移动调节焊接架(6)的高度;Step 5: According to the height of the Y-axis guide rail (41), calculate the height difference with the welding point, and adjust the height of the welding frame (6) by adjusting the Z-axis guide rail (51);
    步骤六,以角度测量板(65)为检测标准,调节焊接枪(64)的焊接角度,达到精准焊接的效果。Step six, adjust the welding angle of the welding gun (64) with the angle measuring plate (65) as the inspection standard to achieve the effect of precise welding.
PCT/CN2020/090311 2019-08-28 2020-05-14 Rotary automatic welding robot and welding method thereof WO2021036351A1 (en)

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CN110549048B (en) * 2019-08-28 2020-04-21 南京涵曦月自动化科技有限公司 Rotary automatic welding robot and welding method thereof
CN110994323B (en) * 2020-01-02 2020-09-15 江苏怡通控制系统有限公司 Automatic welding device for wire and cable wire port

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