CN105855776A - Five-degree-of-freedom movable welding fixture - Google Patents
Five-degree-of-freedom movable welding fixture Download PDFInfo
- Publication number
- CN105855776A CN105855776A CN201610409043.4A CN201610409043A CN105855776A CN 105855776 A CN105855776 A CN 105855776A CN 201610409043 A CN201610409043 A CN 201610409043A CN 105855776 A CN105855776 A CN 105855776A
- Authority
- CN
- China
- Prior art keywords
- degree
- freedom
- mobile unit
- walking
- weld jig
- Prior art date
- Legal status (The legal status 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 status listed.)
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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
- 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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- 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
-
- 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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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a five-degree-of-freedom movable welding fixture which comprises a running unit, a five-degree-of-freedom moving unit, a welding grip holder, a drive device and a control box. The five-degree-of-freedom moving unit is arranged on the running unit and comprises a lift beam which is in slide connection with a lift slide; a first cross beam is fixedly connected to one side of the lift slide and is in slide connection with a first sliding block; a second cross beam is fixedly connected to the lower portion of the first sliding block and is in slide connection with a second sliding block; a rotating shaft is rotationally connected to the lower portion of the second sliding block; a swing arm is rotationally connected to the rotating shaft; and the welding grip holder is hinged to the swing arm. The five-degree-of-freedom movable welding fixture has the advantages of simple structure and convenience in operation; safety coefficient of the movable welding fixture is improved and welding process is accelerated; further, by the fixture, workpieces are clamped and fixed and can also be moved automatically during welding.
Description
Technical field:
The present invention relates to welding mechanical equipment technical field, be specifically related to a kind of five degree of freedom and move
Formula weld jig.
Background technology:
Weld jig is requisite technological equipment during extensive welding production, and it is permissible
Ensure the relative position of welding, to raising labour productivity, reduce work and produce intensity, improve
Mass accuracy aspect has considerable effect.Classify according to power source, mainly at present
Air-actuated jaw, electric fixture and hybrid power fixture can be divided into.At present, existing fixture
Can only be fixed by butt-welding fitting, it is impossible to carry out weldment and carry out overturning and moving, can only manually enter
Row upset, carries by other haulage equipment, and workman may be because of weldering in the case of careless
Contact temperature too high tumble comes to harm, and the most existing fixture does not has protective plate, is welding
When connecing, easily make workman come to harm, and existing fixture does not has graduated tile, when fixture goes out
During existing fault, it is impossible to correct timely.
The patent No. " CN201510935152.5 " discloses a kind of radiator weld jig, bag
Including weld jig, weld jig includes workbench, fixed plate, sliding panel, gripper shoe and hydraulic pressure
Device, workbench upper end is provided with fixed plate, and described fixed plate is provided with graduated tile, in fixed plate
End is provided with the first slide rail, and the first slide rail is five groups, and fixed plate passes through five group of first slide rail and slip
Plate connects, and sliding panel is two groups, and two groups of sliding panels are equipped with the second slide rail, and two groups of sliding panels lead to
Crossing two group of second slide rail to be connected with slide block, slide block one end is provided with swingle, and gripper shoe is provided with
Three slide rails, gripper shoe is connected with swingle by the 3rd slide rail.This radiator weld jig is only
Workpiece can be overturn, also cannot realize the carrying to workpiece.
Summary of the invention:
The purpose of the present invention is aiming at the deficiencies in the prior art, it is provided that a kind of five degree of freedom moves
Formula weld jig, to solve the problem proposed in above-mentioned background technology, present configuration is simple,
Easy to operate, improve weld jig safety coefficient and accelerate welding process, in welding process
In not only realize workpiece is fixedly clamped, moreover it is possible to workpiece is carried out automatic transporting.
The technology solution of the present invention is as follows:
A kind of five degree of freedom movable welding welding fixture, moves including walking mobile unit, five degree of freedom
Moving cell, weld jig head, driving means and control chamber, five degree of freedom mobile unit is positioned at
Walking mobile unit on, weld jig head is connected with five degree of freedom mobile unit, control chamber and
Driving means electrically connects, and controls, with this, walk mobile unit and the walking of five degree of freedom mobile unit
And movement, five degree of freedom mobile unit includes lift beam, lift beam slidably connects lifting sliding
Seat, lift slide is completed by lifting tooth rack-and-pinion with the lifting carriage of lift beam, rises
Fall slide side is fixedly connected with first crossbeam, and first crossbeam slidably connects the first slide block,
The traversing slip of first crossbeam and the first slide block is completed by the first traversing rack-and-pinion,
The bottom of the first slide block is fixedly connected with second cross beam, second cross beam slidably connects second sliding
The traversing slip of block, second cross beam and the second slide block is to be completed by the second traversing rack-and-pinion
, the second slide block lower rotational connects rotary shaft, and rotary shaft is rotatably connected to swing arm,
Weld jig head it is hinged with on swing arm.
Preferred as technique scheme, control chamber include PLC, inputting interface with
And ACK button, inputting interface can carry out dynamic parameter setting, and PLC receives via defeated
Enter the dynamic parameter of interface input, according to the set value calculation of dynamic parameter walk mobile unit and
The walking of five degree of freedom mobile unit and movement, ACK button is for entering the dynamic parameter of input
Row confirms and amendment.
Preferred as technique scheme, walking mobile unit include gripper shoe, rotating seat with
And walking track, gripper shoe is square platy structure, and it is made up of steel plate, the bottom of gripper shoe
Corner is connected by bearing four groups of road wheels, and often group road wheel all includes two walkings side by side
Wheel, two road wheels side by side connect via power transmission shaft, and walking track is inverted T shape track, often
Two road wheels of group road wheel ride in two stulls of inverted T shape track, and rotating seat is fixed on
In gripper shoe, rotating seat can rotate around own axes under the driving of rotating driving device.
Preferred as technique scheme, road wheel includes wheel body and is nested in outside wheel body
Elastomer on circumference, the outer circumference of wheel body offers the groove mated with elastomer row,
Elastomer is fixed on outside road wheel by groove, the cross section of elastomer be circular, square or
Trapezoidal, elastomer is the one in rubber, plastic cement or glass.
Preferred as technique scheme, the weld jig being connected with five degree of freedom mobile unit
Head can realize five directions and the movement of angle and rotation, improves the suitable of weld jig head with this
Ying Xing.
Preferred as technique scheme, weld jig head include weld jig head body and
Gripping portions, weld jig head body includes column, and column is cylindrical-shaped structure, column upper
It is evenly distributed with four hinged otic placodes on portion's circumferencial direction, hinged otic placode offers pin shaft hole,
Column bottom connects positioning disc, and positioning disc is provided with the breach accommodating gripping portions,
Breach and the position one_to_one corresponding of hinged otic placode, positioning disc bottom is provided with vacuum pump, vacuum
Pump lower seal connects vacuum cup.
Preferred as technique scheme, gripping portions includes opening and closing drive mechanism and jaw,
One jaw pairing arranges an opening and closing drive mechanism, and opening and closing drive mechanism is telescopic cylinder, stretches
Contracting cylinder one end is hinged with hinged otic placode by bearing pin, the other end and the connection otic placode of jaw upper end
Hinged.
The beneficial effects of the present invention is: the five degree of freedom Mobile welding clamp structure of the present invention
It is simple and convenient to operate, improves the safety coefficient of weld jig and accelerate welding process, in weldering
Termination process not only realizes workpiece is fixedly clamped, moreover it is possible to workpiece is carried out automatic transporting.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of walking mobile unit；
Fig. 3 is the structural representation of weld jig head；
Fig. 4 is the structural representation of weld jig head body.
Detailed description of the invention:
Understandable in order to enable the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below
In conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.
As it is shown in figure 1, five degree of freedom movable welding welding fixture include walk mobile unit, five from
By degree mobile unit, weld jig head 3, driving means and control chamber 4, five degree of freedom moves
Moving cell is positioned on walking mobile unit, and weld jig head 3 is with five degree of freedom mobile unit even
Connecing, control chamber electrically connects with driving means, controls, with this, walk mobile unit and five degree of freedom shifting
The walking of moving cell and movement, five degree of freedom mobile unit includes lift beam 21, lift beam 21
On slidably connect lift slide 22, lift slide 22 with the lifting carriage of lift beam 21 is
Being completed by lifting tooth rack-and-pinion, lift slide 22 side is fixedly connected with first crossbeam
26, first crossbeam 26 slidably connects the first slide block 23, first crossbeam 26 and first is sliding
The traversing slip of block 23 is completed by the first traversing rack-and-pinion, the first slide block 23
Bottom is fixedly connected with second cross beam 27, and second cross beam 27 slidably connects the second slide block 24,
Second cross beam 27 and the traversing slip of the second slide block 24 are complete by the second traversing rack-and-pinion
Becoming, the second slide block 24 lower rotational connects rotary shaft, and rotary shaft is rotatably connected to pendulum
Swing arm 25, swing arm 25 is hinged with weld jig head 3.
Control chamber 4 includes PLC, inputting interface and ACK button, and inputting interface can
Carrying out dynamic parameter setting, PLC receives the dynamic parameter via inputting interface input,
Set value calculation walking mobile unit according to dynamic parameter and the row of five degree of freedom mobile unit
Walking and move, ACK button is for confirming the dynamic parameter of input and revise.
As shown in Figure 1, 2, walking mobile unit include gripper shoe 14, rotating seat 15 and
Walking track 11, gripper shoe 14 is square platy structure, and it is made up of steel plate, gripper shoe 14
Corner, bottom connected by bearing 13 and have four groups of road wheels 12, often group road wheel 12 all wraps
Including two road wheels 12 side by side, two road wheels 12 side by side connect via power transmission shaft, OK
Walking track is inverted T shape track, and often two road wheels of group road wheel 12 ride over inverted T shape track
Two stulls on, rotating seat 15 is fixed in gripper shoe 14, and rotating seat 15 drives in rotation
Can rotate around own axes under the driving of dynamic device.
Road wheel 12 includes wheel body and the elastomer being nested in wheel body outer circumference, wheel body
Offering the groove mated with elastomer row in outer circumference, elastomer is expert at by groove is fixing
Outside travelling wheel, the cross section of elastomer is circular, square or trapezoidal, and elastomer is rubber, moulds
One in glue or glass.
The weld jig head 3 being connected with five degree of freedom mobile unit can realize five directions and angle
The movement of degree and rotation, improve the adaptability of weld jig head 3 with this.
As shown in Figure 3-4, weld jig head 3 includes weld jig head body and gripping portions,
Weld jig head body includes that column 31, column 31 are cylindrical-shaped structure, column 31 upper
It is evenly distributed with four hinged otic placodes 311 on portion's circumferencial direction, hinged otic placode 311 offers
Pin shaft hole, column 31 bottom connects positioning disc 32, and positioning disc 32 is provided with appearance
Receive the breach 321 of gripping portions, the position one_to_one corresponding of breach 321 and hinged otic placode 311,
Positioning disc 34 bottom is provided with vacuum pump 34, and vacuum pump 34 lower seal connects vacuum
Sucker 35.
Gripping portions includes that opening and closing drive mechanism 334 and jaw 33, a jaw 33 match
Arranging an opening and closing drive mechanism 334, opening and closing drive mechanism 334 is telescopic cylinder, flexible gas
Cylinder one end is hinged with hinged otic placode 311 by bearing pin, the other end and the connection of jaw 33 upper end
Otic placode 331 is hinged.
Described embodiment is in order to the illustrative present invention, not for limiting the present invention.Any
Those skilled in the art all can be under the spirit and the scope of the present invention, to described embodiment
Modify, therefore the scope of the present invention, should be as listed by the claim of the present invention.
Claims (7)
1. a five degree of freedom movable welding welding fixture, it is characterised in that: include that walking is mobile
Unit, five degree of freedom mobile unit, weld jig head (3), driving means and control chamber (4),
Five degree of freedom mobile unit is positioned on walking mobile unit, and weld jig head (3) is with five certainly
Being connected by degree mobile unit, control chamber electrically connects with driving means, controls, with this, mobile list of walking
Unit and the walking of five degree of freedom mobile unit and movement, five degree of freedom mobile unit includes lift beam
(21), lift beam (21) slidably connects lift slide (22), lift slide (22)
Completed by lifting tooth rack-and-pinion with the lifting carriage of lift beam (21), lift slide
(22) side is fixedly connected with first crossbeam (26), and first crossbeam is slidably connected on (26)
The first slide block (23), first crossbeam (26) is had with the traversing slip of the first slide block (23) to be
Being completed by the first traversing rack-and-pinion, the bottom of the first slide block (23) is fixedly connected with
Second cross beam (27), second cross beam (27) slidably connects the second slide block (24), and second
Crossbeam (27) is by the second traversing rack-and-pinion with the traversing slip of the second slide block (24)
Completing, the second slide block (24) lower rotational connects rotary shaft, and rotary shaft is rotationally connected
There is swing arm (25), swing arm (25) is hinged with weld jig head (3).
A kind of five degree of freedom movable welding welding fixture the most according to claim 1, it is special
Levy and be: control chamber (4) includes PLC, inputting interface and ACK button, defeated
Entering interface and can carry out dynamic parameter setting, PLC receives moving via inputting interface input
State parameter, set value calculation walking mobile unit and five degree of freedom according to dynamic parameter move list
The walking of unit and movement, ACK button is for confirming the dynamic parameter of input and revise.
A kind of five degree of freedom movable welding welding fixture the most according to claim 1, it is special
Levy and be: walking mobile unit includes gripper shoe (14), rotating seat (15) and walking rail
Road (11), gripper shoe (14) is square platy structure, and it is made up of steel plate, gripper shoe (14)
Corner, bottom by bearing (13) connect have four groups of road wheels (12), often organize road wheel (12)
All including two road wheels (12) side by side, two road wheels (12) side by side are via transmission
Axle connects, and walking track is inverted T shape track, and two road wheels often organizing road wheel (12) are ridden
In two stulls of inverted T shape track, rotating seat (15) is fixed in gripper shoe (14),
Rotating seat (15) can rotate around own axes under the driving of rotating driving device.
A kind of five degree of freedom movable welding welding fixture the most according to claim 3, it is special
Levy and be: road wheel (12) includes wheel body and the elastomer being nested in wheel body outer circumference,
Offering the groove mated with elastomer row in the outer circumference of wheel body, elastomer is solid by groove
Being scheduled on outside road wheel, the cross section of elastomer is circular, square or trapezoidal, and elastomer is rubber
One in glue, plastic cement or glass.
A kind of five degree of freedom movable welding welding fixture the most according to claim 1, it is special
Levy and be: the weld jig head (3) being connected with five degree of freedom mobile unit can realize five sides
To with the movement of angle and rotation.
A kind of five degree of freedom movable welding welding fixture the most according to claim 1, it is special
Levy and be: weld jig head (3) includes weld jig head body and gripping portions, weld clip
Tool head body includes that column (31), column (31) are cylindrical-shaped structure, column (31)
Four hinged otic placodes (311), hinged otic placode (311) it is evenly distributed with on the circumferencial direction of top
On offer pin shaft hole, column (31) bottom connects positioning disc (32), positioning disc
(32) breach (321) accommodating gripping portions, breach (321) and hinged ear it are provided with on
The position one_to_one corresponding of plate (311), positioning disc (34) bottom is provided with vacuum pump (34),
Vacuum pump (34) lower seal connects vacuum cup (35).
A kind of five degree of freedom movable welding welding fixture the most according to claim 6, it is special
Levy and be: gripping portions includes opening and closing drive mechanism (334) and jaw (33), a jaw
(33) pairing arranges an opening and closing drive mechanism (334), and opening and closing drive mechanism (334) is
Telescopic cylinder, telescopic cylinder one end is hinged with hinged otic placode (311) by bearing pin, the other end
Hinged with the connection otic placode (331) of jaw (33) upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409043.4A CN105855776A (en) | 2016-06-08 | 2016-06-08 | Five-degree-of-freedom movable welding fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409043.4A CN105855776A (en) | 2016-06-08 | 2016-06-08 | Five-degree-of-freedom movable welding fixture |
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| CN105855776A true CN105855776A (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610409043.4A Pending CN105855776A (en) | 2016-06-08 | 2016-06-08 | Five-degree-of-freedom movable welding fixture |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239018A (en) * | 2016-08-29 | 2016-12-21 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligent machine automatization H profile steel Member Welding conveying mechanism |
| CN106270970A (en) * | 2016-08-29 | 2017-01-04 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligent machine automatization H profile steel Member Welding carrying method |
| CN106944804A (en) * | 2017-04-17 | 2017-07-14 | 苏州格联威智能科技有限公司 | A kind of conveying device of relay electronic component |
| CN107414387A (en) * | 2017-08-24 | 2017-12-01 | 林博文 | A kind of multi-faceted weld jig |
| CN107447358A (en) * | 2017-09-12 | 2017-12-08 | 海宁市新益毛绒有限公司 | A kind of tricot machine Tobe mechanism |
| CN108609388A (en) * | 2018-06-12 | 2018-10-02 | 黄翔鸥 | A kind of Dacroment coating machine feed mechanism |
| CN109592559A (en) * | 2018-12-25 | 2019-04-09 | 亚杰科技（江苏）有限公司 | A kind of transmission shaft clamping hanger |
| CN110238772A (en) * | 2018-11-21 | 2019-09-17 | 湖北工业大学 | A kind of multiple degrees of freedom fixture |
| CN110653546A (en) * | 2019-09-11 | 2020-01-07 | 西安航天动力测控技术研究所 | Five-degree-of-freedom socket welding support seat |
| CN113084203A (en) * | 2021-04-01 | 2021-07-09 | 安徽东风机电科技股份有限公司 | Primary elastomer part rough turning processing equipment and processing technology thereof |
| CN113125101A (en) * | 2021-04-22 | 2021-07-16 | 中国空气动力研究与发展中心空天技术研究所 | Five-degree-of-freedom probe clamping device for pneumatic probe calibration |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239018A (en) * | 2016-08-29 | 2016-12-21 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligent machine automatization H profile steel Member Welding conveying mechanism |
| CN106270970A (en) * | 2016-08-29 | 2017-01-04 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligent machine automatization H profile steel Member Welding carrying method |
| CN106270970B (en) * | 2016-08-29 | 2018-11-16 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligent machine automation H profile steel Member Welding delivery method |
| CN106944804A (en) * | 2017-04-17 | 2017-07-14 | 苏州格联威智能科技有限公司 | A kind of conveying device of relay electronic component |
| CN107414387A (en) * | 2017-08-24 | 2017-12-01 | 林博文 | A kind of multi-faceted weld jig |
| CN107447358A (en) * | 2017-09-12 | 2017-12-08 | 海宁市新益毛绒有限公司 | A kind of tricot machine Tobe mechanism |
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| CN110238772A (en) * | 2018-11-21 | 2019-09-17 | 湖北工业大学 | A kind of multiple degrees of freedom fixture |
| CN109592559A (en) * | 2018-12-25 | 2019-04-09 | 亚杰科技（江苏）有限公司 | A kind of transmission shaft clamping hanger |
| CN110653546A (en) * | 2019-09-11 | 2020-01-07 | 西安航天动力测控技术研究所 | Five-degree-of-freedom socket welding support seat |
| CN113084203A (en) * | 2021-04-01 | 2021-07-09 | 安徽东风机电科技股份有限公司 | Primary elastomer part rough turning processing equipment and processing technology thereof |
| CN113125101A (en) * | 2021-04-22 | 2021-07-16 | 中国空气动力研究与发展中心空天技术研究所 | Five-degree-of-freedom probe clamping device for pneumatic probe calibration |
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Application publication date: 20160817 |