CN105499892A - Dual-rocker four-axis welding position changing machine and using method thereof - Google Patents
Dual-rocker four-axis welding position changing machine and using method thereof Download PDFInfo
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- CN105499892A CN105499892A CN201511008575.9A CN201511008575A CN105499892A CN 105499892 A CN105499892 A CN 105499892A CN 201511008575 A CN201511008575 A CN 201511008575A CN 105499892 A CN105499892 A CN 105499892A
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- hydraulic cylinder
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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
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- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a dual-rocker four-shaft welding position changing machine and a using method thereof. The lower ends of two upper rockers are hinged to a rack, the upper portions of the upper rockers are hinged to an upper hydraulic cylinder, and the upper rockers can be driven by the upper hydraulic cylinder to rotate around upper rocker main shafts; the lower ends of two lower rockers are hinged to the rack, the upper portions of the lower rockers are hinged to a lower hydraulic cylinder, and the lower rockers can be driven by the hydraulic cylinder to rotate around lower rocker main shafts; the upper ends of the two upper rockers are hinged to the bottom of a rotating machine head, and the upper ends of the two lower rockers are hinged to the bottom of the rotating machine head; and a rotational chuck is arranged at the top of the rotating machine head. According to the dual-rocker four-shaft welding position changing machine and the using method, the working principle of a four-connecting-rod mechanism is adopted, an upper rocker mechanism and a lower rocker mechanism are controlled by the corresponding hydraulic cylinders to rotate, the rotating machine head is driven to achieve position changing with any height and angle, rotation of workpieces at any position can be further achieved through the rotating machine head, adjustment is flexible, and welding of the workpieces can be greatly facilitated; and through linkage of a control system and a welding robot, automatic position changing in the workpiece welding process can be achieved.
Description
Technical field
The present invention relates to a kind of positioner, particularly relate to a kind of double rocking lever four axle positioner and using method thereof.
Background technology
At present conventional positioner majority can only realize simple rotation or rotary movement, can not realize, at the adjustment of space arbitrary height and rotary movement, therefore cannot meeting the weld job requirement of complex-shaped large-scale workpiece, making troubles to weld job.
Summary of the invention
The invention provides a kind of double rocking lever four axle positioner, adopt quadric chain operation principle, upper endplay device and lower endplay device are controlled to rotate by corresponding hydraulic cylinder respectively, driven rotary head realizes the displacement of arbitrary height and angle, rotating head also can realize workpiece rotation at an arbitrary position, its adjustment flexibly, greatly can facilitate the weld job of each angle of workpiece; Linked by control system and welding robot, also can realize the automatic displacement in workpiece welding process; Invention also provides the using method of this positioner.
In order to achieve the above object, the present invention realizes by the following technical solutions:
A kind of double rocking lever four axle positioner, comprise frame, upper endplay device, lower endplay device, upper hydraulic cylinder, lower hydraulic cylinder and rotating head, be arranged in parallel in described upper endplay device 2 upper rocking bars, the lower end of 2 upper rocking bars is hinged in frame by upper rocking bar main shaft, the top of upper rocking bar is hinged with the upper hydraulic cylinder be fixed in frame by hydraulic supporting strut, and can under upper hydraulic cylinder drives around on rocking bar main axis; Be arranged in parallel in lower endplay device 2 lower rocking bars, the lower end of 2 lower rocking bars is hinged in frame by lower rocking bar main shaft, the top of lower rocking bar is hinged with the lower hydraulic cylinder be fixed in frame by hydraulic supporting strut, and can around lower rocking bar main axis under lower hydraulic cylinder drives; The upper end of 2 upper rocking bars is by upper rocking bar connecting axle and rotating head bottom-hinged, and the upper end of 2 lower rocking bars is by lower rocking bar connecting axle and rotating head bottom-hinged; Rotating chuck is established at rotating head top.
Also be provided with linkage between described upper rocking bar connecting axle and lower rocking bar connecting axle, linkage is made up of the connecting rod that 2 be arranged in parallel, and the two ends of 2 connecting rods are fixed on upper rocking bar connecting axle and lower rocking bar connecting axle respectively by axle sleeve.
Described rotating head is made up of housing, floating bearing, gear, chuck and servomotor, the bearing outer ring of floating bearing is fixed in housing, bearing inner race and the meshed transmission gear being located at its side, gear is by servomotor driven rotary, and chuck is fixed on bearing inner race outer end and can rotates with bearing inner race.
Described upper hydraulic cylinder, lower hydraulic cylinder and servomotor be connection control system respectively.
A using method for double rocking lever four axle positioner, comprises the steps:
1), during original state, chuck is in low level vertical state, facilitates card engaging workpiece; Be installed on by workpiece after on chuck, start servomotor, driven by servomotor gear rotates and drives the inner ring of floating bearing to rotate, and is fixed on workpiece on chuck with bearing inner race synchronous axial system; Now can carry out the weld job of relative stations;
2) when workpiece needs upset displacement, lower hydraulic cylinder push rod stretches out, and makes the liftings simultaneously of 2 lower rocking bars and raises bottom driven rotary head, drives upper rocking bar can realize rotating head rotary movement at any angle in constrain height by upper hydraulic cylinder push rod; When the push rod of upper hydraulic cylinder and lower hydraulic cylinder all maintains static, rotating head rests on a fixed position, and now chuck still can drive workpiece to rotate, and realizes the weld job of relative stations;
3) step 2 is repeated), until complete whole weld jobs of workpiece exposed parts.
After upper hydraulic cylinder, lower hydraulic cylinder and servomotor difference connection control system, can realize linking with the control system of welding robot, by the welding procedure setting program of workpiece, control the sequence of movement of each portion mechanism, the rotating speed of chuck, the start and stop of upper and lower 2 hydraulic cylinders and the overhang of hydraulic cylinder push rod, thus realize the locking position function in automatic displacement and welding process.
Compared with prior art, the invention has the beneficial effects as follows:
1) quadric chain operation principle is adopted, upper endplay device and lower endplay device are controlled to rotate by corresponding hydraulic cylinder respectively, driven rotary head realizes the displacement of arbitrary height and angle, rotating head also can realize workpiece rotation at an arbitrary position, its adjustment flexibly, greatly can facilitate the weld job of each angle of workpiece;
2) linked by control system and welding robot, also can realize the automatic displacement in workpiece welding process;
3) revolution of rotating head drives as stepless time adjustment, can realize forward, reverse rotation, and rotary speed steadily and can ensure rotating speed at maximum load; Pitch drives peak load is 5000kg;
4) constant speed upset within the scope of 90 °, stable action is reliable, and has auto-lock function.
Accompanying drawing explanation
Fig. 1 is the side view of double rocking lever four axle positioner of the present invention.
Fig. 2 is the right view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
In figure: 1. rocking bar main shaft 17. axle sleeve on rocking bar connecting axle 13. times rocking bar connecting axle 14. hydraulic supporting struts 15. times rocking bar main shafts 16. on hydraulic cylinder 8. frame 9. floating bearing 10. chuck 11. linkage 12. on endplay device 5. times endplay devices 6. times hydraulic cylinders 7. on rotating head 2. gear 3. servomotor 4.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
Seeing Fig. 1-Fig. 3, is the structural representation of positioner of the present invention.A kind of double rocking lever four axle positioner of the present invention, comprise frame 8, upper endplay device 4, lower endplay device 5, upper hydraulic cylinder 7,6 times hydraulic cylinders and 1 rotating head, be arranged in parallel in described upper endplay device 42 upper rocking bars, the lower end of 2 upper rocking bars is hinged in frame 8 by upper rocking bar main shaft 16, the top of upper rocking bar is hinged with the upper hydraulic cylinder 7 be fixed in frame 8 by hydraulic supporting strut 14, and can under upper hydraulic cylinder 7 drives around on rocking bar main shaft 16 rotate; Be arranged in parallel in lower endplay device 52 lower rocking bars, the lower end of 2 lower rocking bars is hinged in frame 8 by lower rocking bar main shaft 15, the top of lower rocking bar is hinged with the lower hydraulic cylinder 6 be fixed in frame 8 by hydraulic supporting strut 14, and can rotate around lower rocking bar main shaft 15 under lower hydraulic cylinder 6 drives; The upper end of 2 upper rocking bars is by upper rocking bar connecting axle 12 and rotating head 1 bottom-hinged, and the upper end of 2 lower rocking bars is by lower rocking bar connecting axle 13 and whirler 1 bottom-hinged; Rotating chuck 10 is established at rotating head 1 top.
Also be provided with linkage 11 between described upper rocking bar connecting axle 12 and lower rocking bar connecting axle 13, linkage 11 is made up of the connecting rod that 2 be arranged in parallel, and the two ends of 2 connecting rods are fixed on upper rocking bar connecting axle 12 and lower rocking bar connecting axle 13 respectively by axle sleeve.
Described rotating head 1 is made up of housing, floating bearing 9, gear 2, chuck 10 and servomotor 3, the bearing outer ring of floating bearing 9 is fixed in housing, bearing inner race and gear 2 engaged transmission being located at its side, gear 2 is by servomotor 3 driven rotary, and chuck 10 is fixed on bearing inner race outer end and can rotates with bearing inner race.
Described upper hydraulic cylinder 7, lower hydraulic cylinder 6 and servomotor 3 be connection control system respectively.
A using method for double rocking lever four axle positioner, comprises the steps:
1), during original state, chuck 10 is in low level vertical state, facilitates card engaging workpiece; Be installed on by workpiece after on chuck 10, start servomotor 3, servomotor 3 driven wheel 2 rotates and drives the inner ring of floating bearing 9 to rotate, and is fixed on workpiece on chuck 10 with bearing inner race synchronous axial system; Now can carry out the weld job of relative stations;
2) when workpiece needs upset displacement, lower hydraulic cylinder 6 push rod stretches out, make the liftings simultaneously of 2 lower rocking bars and raise bottom driven rotary head 1, driving upper rocking bar can realize rotating head 1 rotary movement at any angle in constrain height by upper hydraulic cylinder 7 push rod; When the push rod of upper hydraulic cylinder 7 and lower hydraulic cylinder 6 all maintains static, rotating head 1 rests on a fixed position, and now chuck 10 still can drive workpiece to rotate, and realizes the weld job of relative stations;
3) step 2 is repeated), until complete whole weld jobs of workpiece exposed parts.
After upper hydraulic cylinder 7, lower hydraulic cylinder 6 and servomotor 3 difference connection control system, can realize linking with the control system of welding robot, by the welding procedure setting program of workpiece, control the sequence of movement of each portion mechanism, the rotating speed of chuck 10, the upper and lower start and stop of 2 hydraulic cylinders 7,6 and the overhang of hydraulic cylinder push rod, thus realize the locking position function in automatic displacement and welding process.
In the present invention, bottom the rotating head 1 of double rocking lever four axle positioner respectively with upper endplay device 4 and lower endplay device 5 hinged, have the function that can freely overturn and regulate height, its flip angle is 0 ° ~ 90 °, and upset shifting movement is completed by upper and lower 2 hydraulic cylinders 7,6.According to the shape of workpiece, welding requirements, workpiece turning, to desirable welding and assembling height and angle, can be very easy to weld job.
The rotating head 1 of double rocking lever four axle positioner can realize the rotation of workpiece in any locus, four chuck jaws are evenly arranged for fixation workpiece on chuck 10, workpiece is fixed on rotating head 1 by chuck 10, under the driving of servomotor 3, workpiece can with the bearing inner race synchronous axial system of floating bearing 9.
Upper hydraulic cylinder 7 and lower hydraulic cylinder 6 are separately fixed in frame 8, its push rod one end and hydraulic supporting strut 14 hinged, upper endplay device 4, linkage 11, lower endplay device 5 and frame 8 constitute quadric chain.In the fixed situation of frame 8, by regulating upper hydraulic cylinder 7 and lower hydraulic cylinder 6 to drive upper endplay device 4, lower endplay device 5 and linkage 11 relative motion, thus realize the change of rotating head 1 locus.
Double rocking lever four axle positioner of the present invention is a kind of advanced, efficient; in order to realize the welding of Complex Different Shape form workpiece and the welding displacement equipment of built-up welding, can with the welding machine such as argon arc welding machine, gas metal-arc welder, plasma welding machine, submerged arc welding machine, open arc welding machine with the use of also forming robot welding system.Coordinate welding robot or mechanical arm and setup control degree can realize conformal welding and full-automatic build-up welding.Rotating head 1 rotating speed is adjustable, and has each speed regulation circuit, and cyclelog can direct preset fusion length, and angle of inclination can regulate setting as required.
The structure of double rocking lever four axle positioner of the present invention is simple, and trouble point is few, thus long service life.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (6)
1. a double rocking lever four axle positioner, it is characterized in that, comprise frame, upper endplay device, lower endplay device, upper hydraulic cylinder, lower hydraulic cylinder and rotating head, be arranged in parallel in described upper endplay device 2 upper rocking bars, the lower end of 2 upper rocking bars is hinged in frame by upper rocking bar main shaft, the top of upper rocking bar is hinged with the upper hydraulic cylinder be fixed in frame by hydraulic supporting strut, and can under upper hydraulic cylinder drives around on rocking bar main axis; Be arranged in parallel in lower endplay device 2 lower rocking bars, the lower end of 2 lower rocking bars is hinged in frame by lower rocking bar main shaft, the top of lower rocking bar is hinged with the lower hydraulic cylinder be fixed in frame by hydraulic supporting strut, and can around lower rocking bar main axis under lower hydraulic cylinder drives; The upper end of 2 upper rocking bars is by upper rocking bar connecting axle and rotating head bottom-hinged, and the upper end of 2 lower rocking bars is by lower rocking bar connecting axle and rotating head bottom-hinged; Rotating chuck is established at rotating head top.
2. a kind of double rocking lever four axle positioner according to claim 1, it is characterized in that, also linkage is provided with between described upper rocking bar connecting axle and lower rocking bar connecting axle, linkage is made up of the connecting rod that 2 be arranged in parallel, and the two ends of 2 connecting rods are fixed on upper rocking bar connecting axle and lower rocking bar connecting axle respectively by axle sleeve.
3. a kind of double rocking lever four axle positioner according to claim 1, it is characterized in that, described rotating head is made up of housing, floating bearing, gear, chuck and servomotor, the bearing outer ring of floating bearing is fixed in housing, bearing inner race and the meshed transmission gear being located at its side, gear is by servomotor driven rotary, and chuck is fixed on bearing inner race outer end and can rotates with bearing inner race.
4. a kind of double rocking lever four axle positioner according to claim 1, is characterized in that, described upper hydraulic cylinder, lower hydraulic cylinder and servomotor be connection control system respectively.
5. the using method of a kind of double rocking lever four axle positioner according to claim 1, is characterized in that, comprise the steps:
1), during original state, chuck is in low level vertical state, facilitates card engaging workpiece; Be installed on by workpiece after on chuck, start servomotor, driven by servomotor gear rotates and drives the inner ring of floating bearing to rotate, and is fixed on workpiece on chuck with bearing inner race synchronous axial system; Now can carry out the weld job of relative stations;
2) when workpiece needs upset displacement, lower hydraulic cylinder push rod stretches out, and makes the liftings simultaneously of 2 lower rocking bars and raises bottom driven rotary head, drives upper rocking bar can realize rotating head rotary movement at any angle in constrain height by upper hydraulic cylinder push rod; When the push rod of upper hydraulic cylinder and lower hydraulic cylinder all maintains static, rotating head rests on a fixed position, and now chuck still can drive workpiece to rotate, and realizes the weld job of relative stations;
3) step 2 is repeated), until complete whole weld jobs of workpiece exposed parts.
6. the using method of a kind of double rocking lever four axle positioner according to claim 5, it is characterized in that, after upper hydraulic cylinder, lower hydraulic cylinder and servomotor difference connection control system, can realize linking with the control system of welding robot, by the welding procedure setting program of workpiece, control the sequence of movement of each portion mechanism, the rotating speed of chuck, the start and stop of upper and lower 2 hydraulic cylinders and the overhang of hydraulic cylinder push rod, thus realize the locking position function in automatic displacement and welding process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008575.9A CN105499892B (en) | 2015-12-29 | 2015-12-29 | A kind of axle positioner of double rocking lever four and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008575.9A CN105499892B (en) | 2015-12-29 | 2015-12-29 | A kind of axle positioner of double rocking lever four and its application method |
Publications (2)
| Publication Number | Publication Date |
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| CN105499892A true CN105499892A (en) | 2016-04-20 |
| CN105499892B CN105499892B (en) | 2017-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201511008575.9A Active CN105499892B (en) | 2015-12-29 | 2015-12-29 | A kind of axle positioner of double rocking lever four and its application method |
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| CN (1) | CN105499892B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141375A (en) * | 2016-08-19 | 2016-11-23 | 辽宁天利再造科技股份有限公司 | A kind of large-scale supporting roller built-up welding work station and operational approach thereof |
| CN110482452A (en) * | 2019-08-23 | 2019-11-22 | 上海源存机械制造有限公司 | A kind of pallet-changing machine |
| CN111590263A (en) * | 2020-05-28 | 2020-08-28 | 安徽机电职业技术学院 | Positioner for welding |
| CN111791004A (en) * | 2020-06-19 | 2020-10-20 | 斯图加特航空自动化（青岛）有限公司 | Position changing machine |
| US10845778B2 (en) | 2017-03-30 | 2020-11-24 | Lincoln Global, Inc. | Workpiece positioner and welding sequencer |
| CN114871018A (en) * | 2022-06-02 | 2022-08-09 | 常州工学院 | Wind power equipment spraying positioner containing gravity self-locking tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106141375A (en) * | 2016-08-19 | 2016-11-23 | 辽宁天利再造科技股份有限公司 | A kind of large-scale supporting roller built-up welding work station and operational approach thereof |
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| US10845778B2 (en) | 2017-03-30 | 2020-11-24 | Lincoln Global, Inc. | Workpiece positioner and welding sequencer |
| CN110482452A (en) * | 2019-08-23 | 2019-11-22 | 上海源存机械制造有限公司 | A kind of pallet-changing machine |
| CN111590263A (en) * | 2020-05-28 | 2020-08-28 | 安徽机电职业技术学院 | Positioner for welding |
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| CN114871018A (en) * | 2022-06-02 | 2022-08-09 | 常州工学院 | Wind power equipment spraying positioner containing gravity self-locking tool |
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| CN105499892B (en) | 2017-08-08 |
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