CN105904131A - Full-automatic welding mechanical arm - Google Patents
Full-automatic welding mechanical arm Download PDFInfo
- Publication number
- CN105904131A CN105904131A CN201610359686.2A CN201610359686A CN105904131A CN 105904131 A CN105904131 A CN 105904131A CN 201610359686 A CN201610359686 A CN 201610359686A CN 105904131 A CN105904131 A CN 105904131A
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- axis
- platform
- guide rail
- mechanical arm
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a full-automatic welding mechanical arm which comprises a bottom platform (1). An X-axis platform (4), a Z-axis platform (6) and a Y-axis platform (10) are arranged on the bottom platform (1). The Y-axis platform (10) is further provided with a manipulator platform (21), a nut at the bottom end of the manipulator platform (21) is matched with a Y-axis lead screw (11), the manipulator platform (21) is provided with an outer sleeve (14), a mechanical arm body (15) is rotationally connected into the outer sleeve (14), the manipulator platform (21) is provided with a rotary motor (16), a gear at the work end of the rotary motor (16) is meshed with a gear at the tail end of the mechanical arm body (15), a welding gun clamp (17) is hinged to the tail end of the mechanical arm body (15), and the welding gun clamp (17) is driven by a swing motor in the mechanical arm body (15).
Description
Technical field
The present invention relates to welding field, particularly a kind of Full-automatic welding machinery arm.
Background technology
In machinery production, manufacture field, a lot of places need to carry out welding processing operation, traditional welding job needs manual operation, this mode also exists the problems such as big, the inefficiency of workload, occur in that now that for this some can realize the device of welding operation, but these devices are only capable of the motion driving welding gun to do simple movement locus on three dimensions mostly, for some baroque equipment, traditional automatic welding device is difficult to multi-faceted, the welding operation of multi-angle, brings certain difficulty and problem to actual production.
Summary of the invention
The present invention is to solve the above-mentioned deficiency existing for prior art, proposes one design ingenious, rationally distributed, it is possible to quickly and conveniently to complete the Full-automatic welding machinery arm of welding job under Various Complex operating mode.
nullThe technical solution of the present invention is: a kind of Full-automatic welding machinery arm，It is characterized in that: described mechanical arm includes bottom platform 1，Length direction along bottom platform 1 is provided with X-axis tooth bar 2 and X-axis guide rail 3，And described X-axis guide rail 3 is symmetrically arranged two，X-axis guide rail 3 slidably connects X-axis platform 4，X-axis platform 4 is provided with X-axis motor 5，Gear on X-axis motor 5 working end is meshed with described X-axis tooth bar 2，X-axis platform 4 has been longitudinally disposed Z axis platform 6，Length direction along Z axis platform 6 is provided with Z axis leading screw 7 and Z axis guide rail 8，Wherein Z axis leading screw 7 is driven by the Z axis motor 9 being arranged on Z axis platform 6，And described Z axis guide rail 8 is symmetrically arranged two，Z axis guide rail 8 slidably connects Y-axis platform 10，The screw of Y-axis platform 10 bottom matches with Z axis leading screw 7，Length direction along Y-axis platform 10 is provided with Y-axis leading screw 11 and Y-axis guide rail 12，Wherein Y-axis leading screw 11 is driven by the y-axis motor 13 being arranged on Y-axis platform 10，And described Y-axis guide rail 12 is symmetrically arranged two，Y-axis guide rail 12 slidably connects mechanical hand platform 21，The screw of mechanical hand platform 21 bottom matches with Y-axis leading screw 11，It is provided with outer sleeve 14 on described mechanical hand platform 21，Mechanical arm 15 it is rotatably connected in outer sleeve 14，Mechanical hand platform 21 is provided with rotary electric machine 16，Gear on rotary electric machine 16 working end engages with the gear of mechanical arm 15 end，End at mechanical arm 15 is hinged with welding gun fixture 17，Described welding gun fixture 17 is driven by the oscillating motor being arranged in mechanical arm 15.
The end of described mechanical arm 15 is provided with smart camera 18.
The end of described mechanical arm 15 is provided with range sensor 19.
It is provided with wire-feed motor 20 on described X-axis platform 4.
Top rotating support at described Z axis platform 6 has fixed pulley 21, connection rope 22 it is provided with on described fixed pulley 21, the one end connecting rope 22 is connected with described Y-axis platform 10, the other end connecting rope 22 is then provided with balancing weight 23, and Y-axis platform 10 and balancing weight 23 lay respectively at the two sides of Z axis platform 6.
The present invention compared with the existing technology, has the advantage that
The Full-automatic welding machinery arm of this kind of version, for carrying out during the complex device of some structure welds, traditional welder is difficult to smoothly complete the problem of work, design and a kind of integrate X-axis translation, Y-axis translation, Z axis translation, rotate and swing the structure of various motion, it can drive welding gun to do various action on three dimensions, even for the device that structure is complex, it is also possible to favorably accomplish welding job.It also has parameter acquisition devices (smart camera and range sensor) simultaneously, so after this mechanical arm mixes corresponding control system, just can realize the welding operation of full-automation, save substantial amounts of cost of labor and work, be greatly enhanced production efficiency.It can be said that it has possessed multiple advantage, being particularly suitable for popularization and application in the art, its market prospect is the most wide.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the structural representation of embodiment of the present invention bottom platform section.
Fig. 3 is the structural representation of embodiment of the present invention Z axis terrace part.
Fig. 4 is the structural representation of embodiment of the present invention Y-axis terrace part.
Fig. 5 is the structural representation of embodiment of the present invention mechanical arm part.
Fig. 6 be embodiment of the present invention axle side to schematic perspective view.
Detailed description of the invention
The detailed description of the invention of the present invention is described below in conjunction with accompanying drawing.As shown in Figures 1 to 6: a kind of Full-automatic welding machinery arm, it includes a bottom platform 1 installed on the foundation, length direction along bottom platform 1 is provided with X-axis tooth bar 2 and X-axis guide rail 3, wherein X-axis guide rail 3 be symmetrically arranged two with, X-axis guide rail 3 slidably connects X-axis platform 4, being provided with X-axis motor 5 on this X-axis platform 4, the gear being positioned on X-axis motor 5 working end is meshed with above-mentioned X-axis tooth bar 2；X-axis platform 4 has been longitudinally disposed Z axis platform 6, length direction along this Z axis platform 6 is provided with Z axis leading screw 7 and Z axis guide rail 8, wherein rotating support Z axis leading screw 7 on Z axis platform 6 is driven by the Z axis motor 9 being similarly disposed on Z axis platform 6, and Z axis guide rail 8 is symmetrically arranged two equally, slidably connecting Y-axis platform 10 on Z axis guide rail 8, the screw on this Y-axis platform 10 then matches with above-mentioned Z axis leading screw 7；nullThe length direction of Y-axis platform 10 is provided with Y-axis leading screw 11 and Y-axis guide rail 12，Wherein rotating support Y-axis leading screw 11 on Y-axis platform 10 is driven by the y-axis motor 13 being similarly disposed on Y-axis platform 10，And described Y-axis guide rail 12 is symmetrically arranged two，Y-axis guide rail 12 slidably connects mechanical hand platform 21，Mechanical hand platform 21 is provided with the screw matched with Y-axis leading screw 11，Mechanical hand platform 21 is additionally provided with outer sleeve 14，It is rotatably connected to mechanical arm 15 in this outer sleeve 14，Mechanical hand platform 21 is additionally provided with rotary electric machine 16，Gear on this rotary electric machine 16 working end engages with the gear of mechanical arm 15 end，I.e. rotary electric machine 16 can drive mechanical arm 15 to rotate relative to outer sleeve 14，End at mechanical arm 15 is hinged with welding gun fixture 17，This welding gun fixture 17 is driven by being arranged on the oscillating motor within mechanical arm 15；
Top rotating support at Z axis platform 6 has fixed pulley 21, fixed pulley 21 is provided with connection rope 22, this one end connecting rope 22 is connected with described Y-axis platform 10, the other end connecting rope 22 is then provided with balancing weight 23, and Y-axis platform 10 and balancing weight 23 lay respectively at the two sides of Z axis platform 6, balancing weight 23 can balance Z axis platform 6 and the weight of each mechanism on it, prevents Z axis leading screw 7 stress from affecting normal work；
It is additionally provided with smart camera 18 and range sensor 19 in the end of mechanical arm 15, and on X-axis platform 4, is additionally provided with wire-feed motor 20.
The work process of the Full-automatic welding machinery arm of the embodiment of the present invention is as follows: be first fixed on welding gun fixture by welding gun, bottom platform 1 is fixing on the foundation, then X-axis motor 5 works, X-axis platform 4 and all mechanisms thereon is driven to move along the length direction of X-axis guide rail 3, it is achieved the displacement in X-direction；
Z axis motor 9 works, and drives Z axis leading screw 7 to rotate (forward or reverse), and the Z axis platform 6 matched by screw with Z axis leading screw 7 will be moved along the length direction of Z axis guide rail 8, it is achieved Z axis platform and all mechanisms thereon displacement in the Z-axis direction；
Y-axis motor 13 works, Y-axis leading screw 11 is driven to rotate (forward or reverse), the mechanical hand platform 21 matched by screw with Y-axis leading screw 11 will be moved along the length direction of Y-axis guide rail 12, it is achieved mechanical hand platform 21 and all mechanisms thereon displacement in the Y-axis direction；
The combination of above-mentioned three kinds of actions, it is achieved mechanical hand platform 21(i.e. welding gun fixture 17 and welding gun thereon) motion of various tracks on three dimensions；
Rotary electric machine 16 works, rotated relative to outer sleeve 14 by gear driving pair driving mechanical arm 15, drive mechanical arm 15 to connect welding gun to rotate with the axis of mechanical arm 15 for axle, oscillating motor work simultaneously, welding gun fixture 17 is driven to do the swing of certain angle, above-mentioned two action (rotate, swing) and welding gun combination of translation motion on three dimensions, allow this device can flexibly, be readily achieved the welding operation of various complex situations and structure；
During this device works, wire-feed motor 20 provides welding wire for welding gun, smart camera 18 then can collect picture signal real-time at welding gun, range sensor 19 be then capable of detecting when welding gun and to be welded between distance, these signals above-mentioned can be transmitted directly in control system, the instruction of correspondence is sent to each actuator (each motor) according to these signals, it is achieved full automatic welding operation by control system；Can also be sent to controllers by control system, controllers sends the instruction of correspondence according to the information of these signals to each actuator (each motor), it is achieved automanual welding operation,
Due to this device can carry out complex structure and in the case of welding operation, be therefore particularly suitable for the welding operation of high pressure coil pack class device.
Claims (5)
- null1. a Full-automatic welding machinery arm，It is characterized in that: described mechanical arm includes bottom platform (1)，Length direction along bottom platform (1) is provided with X-axis tooth bar (2) and X-axis guide rail (3)，And described X-axis guide rail (3) is symmetrically arranged two，X-axis guide rail (3) slidably connects X-axis platform (4)，X-axis platform (4) is provided with X-axis motor (5)，Gear on X-axis motor (5) working end is meshed with described X-axis tooth bar (2)，X-axis platform (4) has been longitudinally disposed Z axis platform (6)，Length direction along Z axis platform (6) is provided with Z axis leading screw (7) and Z axis guide rail (8)，Wherein Z axis leading screw (7) is driven by the Z axis motor (9) being arranged on Z axis platform (6)，And described Z axis guide rail (8) is symmetrically arranged two，Z axis guide rail (8) slidably connects Y-axis platform (10)，The screw of Y-axis platform (10) bottom matches with Z axis leading screw (7)，Length direction along Y-axis platform (10) is provided with Y-axis leading screw (11) and Y-axis guide rail (12)，Wherein Y-axis leading screw (11) is driven by the y-axis motor (13) being arranged on Y-axis platform (10)，And described Y-axis guide rail (12) is symmetrically arranged two，Y-axis guide rail (12) slidably connects mechanical hand platform (21)，The screw of mechanical hand platform (21) bottom matches with Y-axis leading screw (11)，It is provided with outer sleeve (14) on described mechanical hand platform (21)，Mechanical arm (15) it is rotatably connected in outer sleeve (14)，Mechanical hand platform (21) is provided with rotary electric machine (16)，Gear on rotary electric machine (16) working end engages with the gear of mechanical arm (15) end，End at mechanical arm (15) is hinged with welding gun fixture (17)，Described welding gun fixture (17) is driven by the oscillating motor being arranged in mechanical arm (15).
- Full-automatic welding machinery arm the most according to claim 1, it is characterised in that: the end of described mechanical arm (15) is provided with smart camera (18).
- Full-automatic welding machinery arm the most according to claim 1, it is characterised in that: the end of described mechanical arm (15) is provided with range sensor (19).
- Full-automatic welding machinery arm the most according to claim 1, it is characterised in that: it is provided with wire-feed motor (20) on described X-axis platform (4).
- Full-automatic welding machinery arm the most according to claim 1, it is characterized in that: the top rotating support at described Z axis platform (6) has fixed pulley (21), connection rope (22) it is provided with on described fixed pulley (21), the one end connecting rope (22) is connected with described Y-axis platform (10), the other end connecting rope (22) is then provided with balancing weight (23), and Y-axis platform (10) and balancing weight (23) lay respectively at the two sides of Z axis platform (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610359686.2A CN105904131A (en) | 2016-05-27 | 2016-05-27 | Full-automatic welding mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610359686.2A CN105904131A (en) | 2016-05-27 | 2016-05-27 | Full-automatic welding mechanical arm |
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| CN105904131A true CN105904131A (en) | 2016-08-31 |
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| CN201610359686.2A Pending CN105904131A (en) | 2016-05-27 | 2016-05-27 | Full-automatic welding mechanical arm |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088723A (en) * | 2017-05-20 | 2017-08-25 | 上汽通用五菱汽车股份有限公司 | A kind of novel multi-shaft automatic welding device |
| CN107283081A (en) * | 2017-07-19 | 2017-10-24 | 江门市众能电控科技有限公司 | A kind of adjustable composite welding component of pivot angle |
| CN107470752A (en) * | 2017-07-19 | 2017-12-15 | 江门市众能电控科技有限公司 | A kind of steer composite welding mechanism |
| CN107940171A (en) * | 2018-01-02 | 2018-04-20 | 哈尔滨海映天初科技有限公司 | A kind of three-dimensional scaling glide base |
| CN108480830A (en) * | 2018-03-29 | 2018-09-04 | 郭庭府 | A kind of welding manipulator used convenient for intelligent robot |
| CN108907544A (en) * | 2018-07-05 | 2018-11-30 | 深圳中研塑力科技有限公司 | Four axis welding manipulators |
| WO2019090719A1 (en) * | 2017-11-10 | 2019-05-16 | 深圳配天智能技术研究院有限公司 | Welding gun support arm and robot |
| CN109869102A (en) * | 2019-04-11 | 2019-06-11 | 江苏地龙重型机械有限公司 | Linkage on a kind of new type auto pivot angle |
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| JP2013123716A (en) * | 2011-12-13 | 2013-06-24 | Toshiba Corp | Weld bead-shaping device and shaping method |
| CN103658980A (en) * | 2013-11-27 | 2014-03-26 | 武汉法利莱切割***工程有限责任公司 | Main unit of square tube laser cutting machine |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088723A (en) * | 2017-05-20 | 2017-08-25 | 上汽通用五菱汽车股份有限公司 | A kind of novel multi-shaft automatic welding device |
| CN107283081A (en) * | 2017-07-19 | 2017-10-24 | 江门市众能电控科技有限公司 | A kind of adjustable composite welding component of pivot angle |
| CN107470752A (en) * | 2017-07-19 | 2017-12-15 | 江门市众能电控科技有限公司 | A kind of steer composite welding mechanism |
| CN107283081B (en) * | 2017-07-19 | 2019-12-31 | 江门市众能电控科技有限公司 | Swing angle adjustable composite welding assembly |
| WO2019090719A1 (en) * | 2017-11-10 | 2019-05-16 | 深圳配天智能技术研究院有限公司 | Welding gun support arm and robot |
| CN107940171A (en) * | 2018-01-02 | 2018-04-20 | 哈尔滨海映天初科技有限公司 | A kind of three-dimensional scaling glide base |
| CN108480830A (en) * | 2018-03-29 | 2018-09-04 | 郭庭府 | A kind of welding manipulator used convenient for intelligent robot |
| CN108907544A (en) * | 2018-07-05 | 2018-11-30 | 深圳中研塑力科技有限公司 | Four axis welding manipulators |
| CN109869102A (en) * | 2019-04-11 | 2019-06-11 | 江苏地龙重型机械有限公司 | Linkage on a kind of new type auto pivot angle |
| CN109869102B (en) * | 2019-04-11 | 2023-11-14 | 江苏地龙重型机械有限公司 | Automatic swing angle pole-lifting mechanism |
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Application publication date: 20160831 |