CN106271277B - Robot welding equipment - Google Patents
Robot welding equipment Download PDFInfo
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- CN106271277B CN106271277B CN201610828406.8A CN201610828406A CN106271277B CN 106271277 B CN106271277 B CN 106271277B CN 201610828406 A CN201610828406 A CN 201610828406A CN 106271277 B CN106271277 B CN 106271277B
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- welding
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- welding robot
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of robot welding equipment; welding robot including the fixed mechanism fixed for bottom support and for weld job, the walking track protected provided with straight line moving track and to synchronization-moving cable on fixed mechanism and loaded on being used to control welding robot vertically to move regulation and move regulation and the c-type rack device for protecting synchronization-moving cable along the horizontal direction perpendicular to walking track in walking track；C-type rack device is provided with the balance crane component for being used for during control welding robot movement regulation and weld job sliding and rotate autobalance cable by weight.Realize that welding robot is fastened along moving freely on X-axis, Y-axis and Z axis in spatial coordinate；Stability of the welding robot in mobile and weld job is high.Suitable for the automatic welding operation of the big workpiece of multi items structure, differentiation.
Description
Technical field
The present invention relates to robot welder's technical field, especially, is related to a kind of robot welding equipment
Background technology
At present, by being found to the investigation for manufacturing enterprise, many manufacturing enterprises have multi items Workpiece structure
Processing operation needs, and physical dimension is widely different, it is difficult to realizes automated production operation in same welding workstation, individually
Robot welding workstation intelligently meets the welding demand of indivedual similar products used by enterprise, excessive to multi items difference
Product mainly using based on human weld.But many medium-sized and small enterprises are by fund cost due to being limited, there is an urgent need to
One robot welding workstation just disclosure satisfy that physical dimension difference is big, the welding demand of multi items workpiece, for numerous visitors
This requirement at family, it is necessary to the arm exhibition scope of expanding machinery people, but every welding robot has its specific arms length,
Its arms length can not cover medium-and-large-sized structural member size range, it is necessary to the mode ability being combined by ancillary equipment and robot
Automatic welding can be realized.
The content of the invention
The invention provides a kind of robot welding equipment, to solve existing robot welding workstation, Zhi Nengman
The automatic welding of the indivedual similar products of foot, and the big workpiece of multi items structure, differentiation causes to weld based on human weld
Connect the technical problem that poor uniformity, welding quality unstable, welding efficiency are low, Automation of Welding degree is low.
The present invention provides a kind of robot welding equipment, including the fixed mechanism fixed for bottom support and use
Enter in provided with straight line moving track on the welding robot of weld job, fixed mechanism and to synchronization-moving cable
The walking track of row protection and loaded on be used to controlling in walking track welding robot vertically mobile regulation and along perpendicular to
The c-type rack device that the horizontal direction movement of walking track is adjusted and protected to synchronization-moving cable；Set on c-type rack device
Have for sliding and rotating autobalance cable by weight during control welding robot movement regulation and weld job
Balance crane component.
Further, balance crane component includes the pillar being fixed on c-type rack device, the rocking arm being rotationally connected with pillar
And it is slidably connected to and is used for the balance crane for lifting by crane cable on rocking arm.
Further, balance crane is provided with multiple, and multiple balance cranes are embedded in the cunning being axially opened in along rocking arm on rocking arm
In groove；Chute is provided with the stop component for being used for the sliding scale that limiting balance is hung in chute.
Further, the revolution sleeve on the revolution axle bed in bottom and top is used mutually to cover between rocking arm and pillar
Close, turn round between axle bed and revolution sleeve and connected by multigroup floating bearing, the radial dimension of floating bearing is gradual from top to bottom
Increase；The bottom of revolution sleeve is provided with the lid being removably assemblied on revolution sleeve upper opening and for safeguarding floating bearing
Plate.
Further, track of walking axially is layed on fixed mechanism including at least one along fixed mechanism to be used for by nibbling
Close coordinate with moved along a straight line walking rack, at least one it is parallel with walking rack laying and be used for guide c-type rack device
The line slideway and at least one that move along a straight line are parallel with walking rack to be laid and in c-type rack device moving process
The track support chain that synchronization-moving cable is protected.
Further, lateral be provided with of line slideway is used to preventing during weld job weldering bits to drop and is bonded in straight line
Guide rail backplate on guide rail；Lateral be provided with of track support chain is used to preventing during weld job weldering bits to drop and is bonded in support chain
On support chain backplate；The both ends of line slideway, which are provided with, to be used to limit linear motion range of the c-type rack device on line slideway
Track block seat, track block seat surface, which is provided with, to be used to buffer buffer stopper of the c-type rack device to the impulsive force of track block seat.
Further, the both ends of line slideway be provided be used to controlling the c-type rack device that move on line slideway slow down with
The mobile second level stroke switch stopped.
Further, c-type rack device include mobile link in walking track on column and vertically mobile link in
The cursor slide laid on column and perpendicular to walking track, welding robot are connected on cursor slide along cursor slide axial movement, balance crane
Component is on cursor slide；At least one is vertically laid with the side wall of column to be used to coordinate vertically to be transported by engagement
For guiding the vertical guide that cursor slide moves along a straight line, vertical guide both ends are provided with to be used for dynamic vertical rack and at least one
The vertical block seat of cursor slide moving range is limited, the welding wire cylinder for providing welding wire for welding robot is additionally provided with column side wall
And for providing the welding machine of the energy for the welding gun of welding robot；Column bottom, which is provided with, to be used to engage to drive with walking track
Column along walking track axial movement track gear, the column drive device for driving track pinion rotation, for row
Walk the track support chain in track be attached with drag track support chain protection cable track support chain bearing and for sensing c-type
The sense base of rack device shift position；Cursor slide is connected by cursor slide carriage saddle with column, and cursor slide carriage saddle, which is provided with, to be used for erecting
The vertical gear that is engaged to rack, for the vertical guide slide that is slidably matched with vertical guide and for driving vertical gear
The cursor slide drive device of rotation.
Further, it is axially arranged with least one along cursor slide in the side wall of cursor slide to be used to coordinate to enter water-filling by engagement
Equal the horizontal rack to motion, at least one be used to guide the horizontal guide rail, at least one that welding robot horizontally moves
Chain is held in the palm for the level that synchronization-moving cable in butt welding machine device people's moving process is protected and located at level support chain bottom
Portion is used for the horizontal support chain support of the horizontal support chain of support, and horizontal guide rail both ends, which are provided with, to be used to limit welding robot moving range
Horizontal block seat；Welding robot is provided with to be used to be attached with horizontal support chain and held in the palm with horizontal the horizontal of support chain protection cable of dragging
Chain bearing.
Further, welding robot by carriage saddle mobile link in horizontal rack and horizontal guide rail, on carriage saddle
It is connected with the aluminium alloy post that installation position is provided for being provided as welding robot servicing unit；Carriage saddle is filled by slide rail slide
Assigned on horizontal guide rail, carriage saddle is engaged in horizontal rack by support gear, and support gear is connected with for driving bracket teeth
Take turns the carriage drive device rotated；Welding robot is provided with the rapid switcher for quick-replaceable welding gun, and rapid switcher passes through positioning
Alignment pin on seat is fixed positioned on welding robot；Aluminium alloy post, which is provided with, to be used to regularly clear up torch neck inner surface
The clear rifle of balling cuts silk device and the wire-feed motor for exporting welding wire to welding gun caused by the weldering bits and cutting welding wire of adhesion；Weldering
The laser for guiding welding gun to advance all the time along weld seam is additionally provided with welding robot, laser is connected in weldering by fixed seat
On rifle.
The invention has the advantages that：
Robot welding equipment of the present invention, the stationary positioned of whole device is carried out by fixed mechanism, ensure structure
Structural stability during weld job；Walking track is set on fixed mechanism, to form straight line moving track, simultaneously
The cable of mobile welding robot on straight line moving track is protected, reduces the obstruction of cable butt welding machine device people movement；
Welding robot is laid on c-type rack device, by c-type rack device realize welding robot spatially vertically movable and
Along moving horizontally perpendicular to straight line moving track, the control portable cord of the control shiftable haulage line and c-type rack device of track of walking
Road forms the three-dimensional coordinate system of welding robot space movement, so as to realize that welding robot is fastened along X-axis, Y in spatial coordinate
Moving freely on axle and Z axis；By setting balance crane component on c-type rack device, in control welding robot movement regulation
With autobalance gravity is slided and rotated during weld job by weight, so as to improve welding robot mobile and weld
Stability during operation, ensure the precision and welding quality of welding.Suitable for the automatic of the big workpiece of multi items structure, differentiation
Change weld job.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structural representation of the robot welding equipment of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of the balance crane component of the preferred embodiment of the present invention；
Fig. 3 is structural representation of the rocking arm with pillar binding site of the preferred embodiment of the present invention；
Fig. 4 is the structural representation of the walking track of the preferred embodiment of the present invention；
Fig. 5 is one of structural representation of c-type rack device of the preferred embodiment of the present invention；
Fig. 6 is the two of the structural representation of the c-type rack device of the preferred embodiment of the present invention.
Marginal data：
1st, fixed mechanism；101st, walking underframe；102nd, regulating bolt；103rd, screw is tightened；104th, chemical anchor bolts；105th,
Sole；2nd, welding robot；201st, aluminium alloy post；202nd, carriage saddle；203rd, slide rail slide；204th, support gear；205th, weld
Rifle；206th, rapid switcher；207th, positioning seat；2071st, alignment pin；208th, clear rifle cuts silk device；209th, wire-feed motor；210th, laser；
211st, fixed seat；212nd, carriage drive device；3rd, walking track；301st, walking rack；302nd, line slideway；303rd, track support
Chain；304th, guide rail backplate；305th, chain backplate is held in the palm；306th, track block seat；307th, buffer stopper；308th, second level stroke switchs；4th, c-type frame
Device；401st, column；402nd, cursor slide；4021st, horizontal rack；4022nd, horizontal guide rail；4023rd, horizontal support chain；4024th, horizontal support
Chain bearing；4025th, horizontal support chain support；4026th, horizontal block seat；403rd, vertical rack；404th, vertical guide；405th, vertical gear
Seat；406th, welding wire cylinder；407th, welding machine；408th, track gear；409th, column drive device；410th, track support chain bearing；411st, feel
Answer seat；412nd, cursor slide carriage saddle；413rd, vertical gear；414th, cursor slide drive device；415th, vertical guide slide；5th, balance crane group
Part；501st, pillar；502nd, rocking arm；503rd, balance crane；504th, stop component；505th, axle bed is turned round；506th, sleeve is turned round；507th, return
Rotating shaft is held；508th, cover plate.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be limited by following and
The multitude of different ways of covering is implemented.
Fig. 1 is the structural representation of the robot welding equipment of the preferred embodiment of the present invention；Fig. 2 is of the invention preferred
The structural representation of the balance crane component of embodiment；Fig. 3 is knot of the rocking arm with pillar binding site of the preferred embodiment of the present invention
Structure schematic diagram；Fig. 4 is the structural representation of the walking track of the preferred embodiment of the present invention；Fig. 5 is the C of the preferred embodiment of the present invention
One of structural representation of type frame device；Fig. 6 is the two of the structural representation of the c-type rack device of the preferred embodiment of the present invention.
As shown in figure 1, the robot welding equipment of the present embodiment, including the fixed mechanism fixed for bottom support
1 and the welding robot 2 for weld job, provided with straight line moving track and to synchronous shifting on fixed mechanism 1
Walking track 3 that dynamic cable is protected and loaded on being used to control welding robot 2 is vertically mobile to adjust in walking track 3
The c-type rack device 4 for adjusting and being protected to synchronization-moving cable is moved on section and edge perpendicular to the horizontal direction of walking track；
C-type rack device 4, which is provided with, to be used to slide and turn by weight during the control movement of welding robot 2 regulation and weld job
The balance crane component 5 of dynamic autobalance cable.Robot welding equipment of the present invention, whole device is carried out by fixed mechanism
Stationary positioned, ensure structural stability of the structure during weld job.Walking track 3 is set on fixed mechanism, with
Straight line moving track is formed, while the cable of mobile welding robot on straight line moving track is protected, reduces cable pair
The obstruction of welding robot movement.Welding robot is laid on c-type rack device 4, and welding robot is realized by c-type rack device 4
Vertically movable and edge the moving horizontally perpendicular to straight line moving track of people spatially, the control portable cord for track 3 of walking
The control shiftable haulage line of road and c-type rack device 4 forms the three-dimensional coordinate system of welding robot space movement, so as to realize bonding machine
Device people is fastened along moving freely on X-axis, Y-axis and Z axis in spatial coordinate.By setting balance crane component on c-type rack device 4
5, autobalance gravity is slided and rotated by weight during control welding robot movement regulation and weld job, so as to
Stability of the welding robot in mobile and weld job is improved, ensures the precision and welding quality of welding.Suitable for more product
The automatic welding operation of the big workpiece of kind structure, differentiation.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, balance crane component 5 includes the pillar being fixed on c-type rack device 4
501st, the Rocker arm 5 02 that is rotationally connected with pillar 501 and it is slidably connected to and is used for the balance crane for lifting by crane cable on Rocker arm 5 02
503.Alternatively, what balance crane 503 was swingable is hung on Rocker arm 5 02, and the degree of balance is controlled by freely swinging.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, balance crane 503 is provided with multiple.Multiple balance cranes 503 are embedded in
Axially it is opened in along Rocker arm 5 02 in the chute on Rocker arm 5 02.Chute is provided with hangs 503 cunnings in chute for limiting balance
The stop component 504 of dynamic scope.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, the revolution in bottom is used between Rocker arm 5 02 and pillar 501
Axle bed 505 and the 506 mutual fit of revolution sleeve on top.Pass through multigroup gyroaxis between revolution axle bed 505 and revolution sleeve 506
Hold 507 connections.The radial dimension of floating bearing 507 from top to bottom gradually increases.The bottom for turning round sleeve 506 is provided with removably
It is assemblied on the revolution upper opening of sleeve 506 and is used for the cover plate 508 for safeguarding floating bearing 507.
As shown in Figure 1 and Figure 4, in the present embodiment, walking track 3 includes at least one and is axially layed in along fixed mechanism 1
It is used to coordinate with the walking rack 301, at least one to be moved along a straight line and walking rack 301 by engaging on fixed mechanism 1
It is parallel to lay and be used for the line slideway 302 and at least one and walking rack 301 for guiding c-type rack device 4 to move along a straight line
It is parallel to lay and be used for the track support chain 303 protected to synchronization-moving cable in the moving process of c-type rack device 4.
As shown in Figure 1 and Figure 4, in the present embodiment, lateral be provided with of line slideway 302 is used to preventing during weld job
Weldering, which is considered to be worth doing, drops and is bonded in the guide rail backplate 304 on line slideway 302.Lateral be provided with of track support chain 303 is used to prevent from welding
The support chain backplate 305 for dropping and being bonded on support chain is considered in weldering to be worth doing in operation process.The both ends of line slideway 302, which are provided with, to be used to limit C
The track block seat 306 of linear motion range of the type frame device 4 on line slideway 302.The surface of track block seat 306, which is provided with, to be used to delay
Rush buffer stopper 307 of the c-type rack device 4 to the impulsive force of track block seat 306.
As shown in Figure 1 and Figure 4, in the present embodiment, the both ends of line slideway 302, which are provided with, to be used to control in line slideway 302
The c-type rack device 4 of upper movement slow down and move stop second level stroke switch 308.
As shown in Fig. 1, Fig. 5 and Fig. 6, in the present embodiment, c-type rack device 4 includes mobile link in vertical in walking track 3
Post 401 and vertically mobile link are in the cursor slide 402 laid on column 401 and perpendicular to walking track 3.Welding robot 2
It is connected to along the axial movement of cursor slide 402 on cursor slide 402.Balance crane component 5 is on cursor slide 402.Edge in the side wall of column 401
It is vertical be laid with least one be used for by engagement cooperation to carry out the vertical rack 403 of vertical motion and at least one be used for
The vertical guide 404 that guiding cursor slide 402 moves along a straight line.The both ends of vertical guide 404, which are provided with, to be used to limit the moving range of cursor slide 402
Vertical block seat 405.The welding wire cylinder 406 for providing welding wire for welding robot 2 is additionally provided with the side wall of column 401 and is used
The welding machine 407 of the energy is provided in the welding gun 205 for welding robot 2.The bottom of column 401, which is provided with, to be used to engage with walking track 3
Driven with the track gear 408, the column for driving track gear 408 to rotate that drive column 401 to be moved axially along walking track 3
Move device 409, for being attached with the track support chain 303 in walking track 3 to drag the ground that track support chain 303 protects cable
Rail support chain bearing 410 and the sense base 411 for sensing the shift position of c-type rack device 4.Cursor slide 402 passes through cursor slide carriage saddle
412 are connected with column 401.Cursor slide carriage saddle 412 be provided be used for engaged with vertical rack 403 vertical gear 413, for
The vertical guide slide 415 and the cursor slide drive device for driving vertical gear 413 to rotate that vertical guide 404 is slidably matched
414.Vertical guide 404 is line slideway.
As shown in Fig. 1, Fig. 5 and Fig. 6, in the present embodiment, it is axially arranged with least along cursor slide 402 in the side wall of cursor slide 402
One is used to be used to guide welding robot to carry out the horizontal horizontal rack 4021, at least one to motion by engaging to coordinate
2 horizontal guide rails 4022, at least one horizontally moved are used for synchronization-moving cable in the moving process of butt welding machine device people 2
The level protected holds in the palm chain 4023 and holds in the palm the horizontal support chain of chain 4023 for support level located at horizontal support chain 4023 bottom
Support 4025.The both ends of horizontal guide rail 4022 are provided with the horizontal block seat 4026 for being used for limiting the moving range of welding robot 2.Bonding machine
Device people 2, which is provided with, to be used to be attached the horizontal support chain bearing for protecting cable with the horizontal support chain 4023 of dragging with horizontal support chain 4023
4024。
As shown in Fig. 1, Fig. 5 and Fig. 6, in the present embodiment, welding robot 2 is by the mobile link of carriage saddle 202 in level
On rack 4021 and horizontal guide rail 4022.It is connected with carriage saddle 202 and provides peace for being provided as the servicing unit of welding robot 2
Fill the aluminium alloy post 201 of position.Carriage saddle 202 is assemblied on horizontal guide rail 4022 by slide rail slide 203.Carriage saddle 202 is logical
Support gear 204 is crossed to be engaged in horizontal rack 4021.Support gear 204 is connected with the branch for driving support gear 204 to rotate
Frame drive device 212.Welding robot 2 is provided with the rapid switcher 206 for quick-replaceable welding gun 205.It is fixed that rapid switcher 206 passes through
Alignment pin 2071 on the seat 207 of position is fixed positioned on welding robot 2.Aluminium alloy post 201, which is provided with, to be used to regularly clear up
The weldering bits of the inner nozzle surface of welding gun 205 adhesion and cut the clear rifle of balling caused by welding wire and cut silk device 208 and for weldering
Rifle 205 exports the wire-feed motor 209 of welding wire.It is additionally provided with what is advanced all the time along weld seam for guiding welding gun 205 on welding robot 2
Laser 210.Laser 210 is connected on welding gun 205 by fixed seat 211.Horizontal guide rail 4022 is line slideway.
During implementation, there is provided a kind of cross slide rail robot welding equipment, start decelerator by servomotor, by only
The drive technology that some rack-and-pinion are seamless, make welding robot on line slide rail along the X-direction of three-dimensional coordinate system, Y
Walked on direction of principal axis, Z-direction, extend the reachable welding scope and flexibility ratio of welding robot, the servomotor of use
Outside axle with servo-drive for welding, servomotor, servo-drive and welding robot can realize linkage, and welding robot exists
Along along line slide rail X, Y, while walk in Z-direction, welding robot can weld to workpiece, and cross slide rail work can be achieved
Make the automation of device, so as to obtain the fully automation of robot welding workstation.
Cross slide rail robot welding equipment, including c-type rack device 4 and walking track 3, be integrated with machinery, electrically,
The polytechnic robot equipments such as control, welding.Institute's welder's part can be made in the operating radius of welding robot 2, machine
Device people switch board control welding robot 2 performs the servo-drive on various actions and X, Y, Z-direction, and welding robot 2 can edge
Walked on line slide rail X, Y, Z-direction, extend the reachable welding scope and flexibility ratio of welding robot 2, size can be met
The needs of differentiation big structure part welding, servo-drive and welding robot 2 realize linkage.
Walk track 3, including track block seat 306, nylon block (buffer stopper 307), support chain backplate 305, track support chain 303,
Two travel switches (second level stroke switch 308), line slideway 302, walking rack 301, track block seat 306, Guide rail shields (are led
Rail backplate 304).
Fixed mechanism 1, including walking underframe 101, regulating bolt 102, tighten screw 103, base anchor 105 and chemical anchor bolts
104。
Walking underframe 101 has enough intensity, rigidity, hardness, can bear various power during c-type rack device 4 travels
Effect and abrasion, stability is high, and damping capaicty is strong.Line slideway 302 and walking rack 301 are connected in walking underframe by bolt
On 101, positioned by walking underframe 101 through finishing the boss formed.Track block seat 306 is arranged in walking rack 301
Both ends, c-type rack device 4 can be supported, play position-limiting action, prevent from skidding off line slideway 302.Nylon block (buffer stopper
307) it is arranged on by bolt on track block seat 306, plays a part of buffering.Guide rail shield (guide rail backplate 304) is led to straight line
Rail 302 plays a part of protection, prevents spatter to be bonded on line slideway 302.Second level stroke switch 308 (open by the first stroke
Close and switched with the second travel switch, and third trip switch with fourth line journey) it is connected in by bolt in walking underframe 101.
First travel switch and the second travel switch are located at the front position of walking underframe 101.Second travel switch can make c-type rack-mounted
4 decelerations are put, the first travel switch can stop c-type rack device 4.Third trip is switched with fourth line journey switch positioned at walking bottom
The back-end location of frame 101.Third trip switch can make the c-type rack device 4 slow down, and fourth line journey switch can make c-type frame
Device 4 stops.Base anchor 105 is fixed on ground by chemical anchor bolts 104.Regulating bolt 102 can adjust walking underframe 101
To horizontal level, facilitate the even running of c-type rack device 4.Tightening screw 103 can make walking underframe 101 be fastened on base anchor 105
On.Track support chain 303 is placed in support chain backplate 305, and the tracheae, the electric wire that are connected on c-type rack device 4 are placed on track support chain
Inside 303, it can be dragged with c-type rack device 4.
C-type rack device 4, its structure are as follows：
C-type rack device 4, including welding robot 2, welding gun 205, fixed seat 211, laser 210, rapid switcher 206 are horizontal
Block seat 4026, cursor slide 402, horizontal support chain support 4025, horizontal support chain 4023, horizontal support chain bearing 4024, balance crane component 5,
Aluminium alloy post 201, wire-feed motor 209, positioning seat 207, alignment pin 2071, clear rifle cut silk device 208, horizontal guide rail 4022, water
It is flat tooth bar 4021, vertical block seat 405, cursor slide carriage saddle 412, column 401, welding wire cylinder 406, mounting seat, upright column sliding platform seat, vertical
Gear 413, vertical guide slide 415, motor+reductor (cursor slide drive device 414), vertical guide 404, vertical rack 403,
Digital welding machine (welding machine 407), motor+reductor (column drive device 409), track support chain bearing 410, track gear 408, sense
Answer seat 411, Rocker arm 5 02, balance crane 503, stop component 504, positioning backing pin, revolution axle bed 505, pillar 501, motor+deceleration
Machine (carriage drive device 212), slide rail slide 203, support gear 204, carriage saddle 202, floating bearing 507, cover plate 508.
Welding robot 2 is by being connected in the effect of track gear 408 in column drive device 409 straight line along in Y-direction
Walking.Track gear 408 engages driving with walking rack 301, is put down with promoting on direction of the upright column sliding platform seat along line slideway 302
Move.Welding robot 2 is by being connected in the effect of vertical gear 413 in cursor slide drive device 414 straight line moving along in Z-direction.
Vertical gear 413 engages driving with vertical rack 403, to promote cursor slide carriage saddle 412 vertically to be put down on the direction of guide rail 404
Move.The both ends of vertical rack 403 are respectively provided with to be skidded off vertically for being supported with cursor slide carriage saddle 412 to prevent on-slip arm carriage saddle 412
The vertical block seat 405 of guide rail 404.Vertical guide 404 matches three row vertical guide slides 415, and sliding in vertical guide 404
It is dynamic.Welding robot 2 is by being connected in straight line moving in the effect in X direction of the upper bracket gear 204 of carriage drive device 212.
Support gear 204 engages driving with horizontal rack 4021, to promote side of the carriage saddle 202 along horizontal guide rail 4022 to translate up.
The both ends of horizontal rack 4021 are respectively provided with skids off horizontal guide rail 4022 for being supported with carriage saddle 202 to prevent on-slip pedestal 202.Water
Level gauge 4022 matches two row slide rail slides 203, and is slided on horizontal guide rail 4022.C-type rack device 4 is in the same of straight line moving
When can be linked with welding robot 2.
Welding robot 2 is fastened on carriage saddle 202 by bolt and alignment pin.Welding gun 205 is connected by rapid switcher 206
On the 6th axle of welding robot 2.C-type rack device 4, include two sets of rapid switchers, 206, two different welding guns 205.Rapid switcher
206 are positioned by alignment pin 2071 on positioning seat 207, after the completion of positioning, the reception signal of welding robot 2, automatically from fast
Disengaged on parallel operation 206, be automatically performed the mutual replacing of different welding guns 205, two kinds of different welding procedures can be met.This device
Two or more welding guns can be contained, welding gun can be changed automatically, meet a variety of different welding procedures.
Laser 210 is connected on welding gun 205 by fixed seat 211, and laser 210 can guide the edge all the time of welding gun 205
Weld seam to walk.
Balance crane component 5, including Rocker arm 5 02, balance crane 503, stop component 504, backing pin, revolution axle bed 505, pillar
501st, floating bearing 507, cover plate 508.Balance crane 503 can slide in the chute of Rocker arm 5 02.Stop component 504 is to balance crane
503 play spacing effect.Revolution axle bed 505 and Rocker arm 5 02 are provided with two groups of floating bearings 507.The chi of bottom floating bearing 507
Very little specification is bigger than top floating bearing 507, can facilitate the installation and maintenance of balance crane component 5.Rocker arm 5 02 passes through two groups of gyroaxises
507 effect is held, is turned round along the axis of rotation of revolution axle bed 505.Two backing pins are installed on revolution axle bed 505, to shaking
Play spacing effect in the angle of revolution of arm 502.The various welding positions that balance crane component 5 can be shown according to welding robot 2,
Automatic adjusting position, have the function that balance.
Aluminium alloy post 201, clear rifle are cut silk device 208 and are fastened by bolts on carriage saddle 202, and with carriage saddle 202
Translated up together along the side of horizontal guide rail 4022.By the control (existing program and its control method) of program, clear rifle cuts silk
Device 208 can the spatter thing of the inner nozzle surface of Butt welding gun 205 adhesion of timing be purged, and cut caused by welding wire
Balling.Balance crane component 5, wire-feed motor 209, positioning seat 207 are fastened on aluminium alloy post 201 by tight fixed bolt.It is used tight
It is aluminium alloy extrusions special bolt to determine bolt, can be slided in aluminium alloy extrusions groove, i.e. balance crane component 5, wire-feed motor 209, fixed
Position seat 207 can adjust in the relative position of aluminium alloy post 201.
Welding wire cylinder 406 is fastened on column 401 by mounting seat, can meet the welding of slab workpiece, is avoided frequently more
Welding wire is changed, improves welding production efficiency.Digital welding machine (welding machine 407) is fastened on column 401 by mounting bracket, shorten with
The flexible cable length that welding robot 2 connects, has saved cost.Digital welding machine (welding machine 407) and welding wire cylinder 406 are with column 401
Translated up along the side of line slideway 302.
One end of track support chain 303 is bolted track support chain bearing 410, and along the direction of line slideway 302
Dragging.Level support chain support 4025 is bolted on cursor slide 402, and level support chain 4023 is placed on horizontal support chain support
In 4025.Level support chain 4023 is fastened by bolts on level support chain bearing 4024, is dragged along the direction of horizontal guide rail 4022
It is dynamic.
Sense base 411 contacts with the sensing of second level stroke switch 308, and control c-type rack device 4 slows down and stop motion.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (7)
1. a kind of robot welding equipment, including support fixed fixed mechanism (1) for bottom and make for welding
The welding robot (2) of industry,
Characterized in that,
Provided with straight line moving track and the walking protected to synchronization-moving cable on the fixed mechanism (1)
Track (3) and loaded on being used to controlling the welding robot (2) vertically mobile regulation and along hanging down on walking track (3)
The c-type rack device (4) for directly adjusting and being protected to synchronization-moving cable in the horizontal direction movement of walking track；
The c-type rack device (4), which is provided with, to be used for during the mobile regulation of the welding robot (2) and weld job is controlled
The balance crane component (5) of autobalance cable is slided and rotated by weight；
The c-type rack device (4) includes mobile link in the column (401) on the walking track (3) and vertically moved
The cursor slide (402) for being connected on the column (401) and being laid perpendicular to the walking track (3),
The welding robot (2) is connected on the cursor slide (402) along the cursor slide (402) axial movement,
The balance crane component (5) is on the cursor slide (402)；
At least one is vertically laid with the side wall of the column (401) to be used to coordinate to carry out vertical motion by engagement
Vertical rack (403) and at least one be used for guide the vertical guide (404) that the cursor slide (402) moves along a straight line,
Vertical guide (404) both ends are provided with the vertical block seat (405) for being used for limiting the cursor slide (402) moving range,
Be additionally provided with column (401) side wall for for the welding robot (2) provide welding wire welding wire cylinder (406) with
And the welding machine (407) of the energy is provided for the welding gun (205) for the welding robot (2)；
Column (401) bottom, which is provided with, to be used to engage to drive the column (401) along the row with the walking track (3)
Walk the track gear (408) of track (3) axial movement, the column drive device for driving the track gear (408) to rotate
(409), protected for being attached with the track support chain (303) on the walking track (3) with dragging the track support chain (303)
Protect the track support chain bearing (410) of cable and the sense base (411) for sensing c-type rack device (4) shift position；
The cursor slide (402) is connected by cursor slide carriage saddle (412) with the column (401), on the cursor slide carriage saddle (412)
Match somebody with somebody provided with the vertical gear (413) for being engaged with the vertical rack (403), for being slided with the vertical guide (404)
The vertical guide slide (415) of conjunction and the cursor slide drive device (414) for driving the vertical gear (413) to rotate；
The balance crane component (5) include be fixed on the c-type rack device (4) pillar (501), be rotationally connected with the branch
Rocking arm (502) and swing on post (501), which are hung on the rocking arm (502), is used for the balance crane (503) for lifting by crane cable.
2. robot welding equipment according to claim 1, it is characterised in that
The revolution axle bed (505) in bottom and the revolving sleeve on top are used between the rocking arm (502) and the pillar (501)
Cylinder (506) mutual fit,
It is connected between the revolution axle bed (505) and the revolution sleeve (506) by multigroup floating bearing (507),
The radial dimension of the floating bearing (507) from top to bottom gradually increases；
The bottom of the revolution sleeve (506) is provided with removably to be assemblied on described revolution sleeve (506) upper opening and is used in combination
In the cover plate (508) for safeguarding the floating bearing (507).
3. the robot welding equipment according to claims 1 or 2, it is characterised in that
The walking track (3) is axially layed on the fixed mechanism (1) including at least one along the fixed mechanism (1) to be used
In by engaging the walking rack (301), at least one cloth parallel with the walking rack (301) that coordinate to be moved along a straight line
And if line slideway (302) and at least one and the walking tooth for guiding the c-type rack device (4) to move along a straight line
Bar (301) is parallel to lay and is used for the track protected to synchronization-moving cable in c-type rack device (4) moving process
Hold in the palm chain (303).
4. robot welding equipment according to claim 3, it is characterised in that
Lateral be provided with of the line slideway (302) is used to preventing during weld job weldering bits to drop and is bonded in the straight line
Guide rail backplate (304) on guide rail (302)；
The track support chain (303) it is lateral be provided be used to prevent weld job during weldering bits drop and be bonded on support chain
Hold in the palm chain backplate (305)；
The both ends of the line slideway (302), which are provided with, to be used to limit the c-type rack device (4) in the line slideway (302)
Linear motion range track block seat (306),
Track block seat (306) surface is provided with to be rushed for buffering the c-type rack device (4) to the track block seat (306)
Hit the buffer stopper (307) of power.
5. robot welding equipment according to claim 4, it is characterised in that
The both ends of the line slideway (302), which are provided with, to be used to control the c-type moved on the line slideway (302) rack-mounted
Put the second level stroke switch (308) that (4) slow down and movement stops.
6. the robot welding equipment according to claims 1 or 2, it is characterised in that
In the side wall of the cursor slide (402) along the cursor slide (402) be axially arranged with least one be used for by engagement cooperation with
Carry out horizontal horizontal rack (4021) to motion, at least one be used to guide the welding robot (2) horizontally to move
Horizontal guide rail (4022), at least one be used to carry out synchronization-moving cable in the welding robot (2) moving process
The horizontal of protection holds in the palm chain (4023) and holds in the palm chain (4023) for horizontal described in support located at described horizontal support chain (4023) bottom
Horizontal support chain support (4025),
Horizontal guide rail (4022) both ends are provided with the horizontal block seat for being used for limiting the welding robot (2) moving range
(4026)；
The welding robot (2), which is provided with, to be used to be attached with the horizontal support chain (4023) to drag the horizontal support chain
(4023) the horizontal support chain bearing (4024) of cable is protected.
7. robot welding equipment according to claim 6, it is characterised in that
The welding robot (2) is led by carriage saddle (202) mobile link in the horizontal rack (4021) and the level
On rail (4022), it is connected with the carriage saddle (202) and provides installation for being provided as the welding robot (2) servicing unit
The aluminium alloy post (201) of position；
The carriage saddle (202) is assemblied on the horizontal guide rail (4022) by slide rail slide (203), the carriage saddle
(202) it is engaged in by support gear (204) in the horizontal rack (4021), the support gear (204) is connected with for driving
The carriage drive device (212) for rotating the support gear (204)；
The welding robot (2) is provided with the rapid switcher (206) for welding gun (205) described in quick-replaceable,
The rapid switcher (206) is fixed positioned in the welding robot (2) by the alignment pin (2071) on positioning seat (207)
On；
The aluminium alloy post (201) be provided be used for regularly clear up the welding gun (205) inner nozzle surface adhesion weldering bits and
The clear rifle for cutting balling caused by welding wire cuts silk device (208) and the wire-feed motor for exporting welding wire to the welding gun (205)
(209)；
The laser for guiding the welding gun (205) to advance all the time along weld seam is additionally provided with the welding robot (2)
(210), the laser (210) is connected on the welding gun (205) by fixed seat (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828406.8A CN106271277B (en) | 2016-09-18 | 2016-09-18 | Robot welding equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828406.8A CN106271277B (en) | 2016-09-18 | 2016-09-18 | Robot welding equipment |
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| Publication Number | Publication Date |
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| CN106271277A CN106271277A (en) | 2017-01-04 |
| CN106271277B true CN106271277B (en) | 2017-12-12 |
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| CN201610828406.8A Active CN106271277B (en) | 2016-09-18 | 2016-09-18 | Robot welding equipment |
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| CN106271277A (en) | 2017-01-04 |
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