CN106514078A - Circular arc track welding robot for automobile spring plate subassembly - Google Patents
Circular arc track welding robot for automobile spring plate subassembly Download PDFInfo
- Publication number
- CN106514078A CN106514078A CN201611096077.9A CN201611096077A CN106514078A CN 106514078 A CN106514078 A CN 106514078A CN 201611096077 A CN201611096077 A CN 201611096077A CN 106514078 A CN106514078 A CN 106514078A
- Authority
- CN
- China
- Prior art keywords
- welding
- welding gun
- activity
- seat
- arm
- 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.)
- Pending
Links
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
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a circular arc track welding robot for an automobile spring plate subassembly. The robot comprises a welding fixed pedestal and a movable rotating seat; the movable rotating seat is provided with a movable welding rear arm, a movable welding middle arm and a movable welding front arm; the lower end of the movable welding rear arm is hinged with the top of the movable rotating seat through a first horizontal rotating shaft; the upper end of the movable welding rear arm is hinged with the movable welding middle arm through a second horizontal rotating shaft; the movable welding front arm is provided with a rotary welding gun seat; the rotary welding gun seat is connected with the movable welding front arm through a welding gun seat rotating shaft; the rotary welding gun seat is also provided with a welding gun mounting joint parallel to the welding gun seat rotating shaft; and the welding gun mounting joint is coaxially provided with a movably-installed welding gun. The welding robot disclosed by the invention can simplify the operation procedures when the welding robot is used for implementing circular-arc-track welding and can reduce the amount of hinged support arms for linkage operation.
Description
Technical field
The present invention relates to a kind of machining equipment technical field, particularly a kind of coiled spring motor sub-unit arc track
Welding robot.
Background technology
Automobile hanging is collectively constituted by bearing spring and damper, when which rebounds after being mainly used in suppressing spring shock-absorbing
Shake and from the impact on road surface；When through uneven road surface, the vibrations on road surface are filtered first by shock-absorbing spring, then by subtracting
Shake device to suppress the reciprocating motion that spring itself stress is produced；Damper using spring holder come mounting shock absorber spring, while
Implement the fixed effect of auxiliary to damper；And automobile absorber generally includes inner casing, outer shell, storage between inner casing and outer shell, is formed
Oil cylinder, inner casing are provided with connecting rod, piston valve and bottom valve, and piston valve is set on connecting rod, and bottom valve is arranged on inner casing bottom, and piston will
Inner casing is divided into upper and lower two operating cylinders；Generally spring plate of shock absorber is arranged in the outer rim of oil storage cylinder by being welded and fixed.Vapour
The crudy of car spring disk sub-unit directly affects the maintaining cost of its service life and vehicle.
Welding robot is the industrial robot for being engaged in welding, and industrial robot is a kind of multiduty, repeatable programming
Automatically control operation machine, with three or more programmable axles, for industrial automation；In order to adapt to different use
On the way, the mechanical interface of last axle of robot, typically one adpting flange can be hinged with different instruments or claim end to perform
Device；Last shaft flange attaching soldering turret or welding gun of the welding robot in industrial robot, make it to carry out to weld, cut or
Thermal spraying；Compared to traditional human weld's operation, the advantage of robot welding operation is weld job high working efficiency, weldering
Connect operation quality good stability, weld job precision high.Welding robot of the prior art is carrying out the weldering of circular arc track
When connecing, it usually needs multiple to be hinged support arm linkage operation, to realize the motion of welding gun end, above-mentioned operating type is not only welded
The performance accuracy of operation is relatively low, and larger for the hinge spindle abrasion of multiple support arms, and the energy consumption of operation is higher.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of coiled spring motor sub-unit arc track bonding machine
Device people, can simplify operation procedure of the welding robot when circular arc Antiinterference is carried out, and reduce and propped up using multiple being hinged
Arm linkage operation.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of coiled spring motor sub-unit arc track welding robot, consolidates including being welded and fixed base and being arranged at the welding
Determine the rotary moveable seat on base, the rotary moveable seat can surround vertical axially free rotation, the rotary moveable seat
On be provided with welding activity postbrachium, arm and welding activity forearm in welding activity, the lower end of the welding activity postbrachium is by the
It is hinged at the top of one feathering axis and the rotary moveable seat, the upper end of the welding activity postbrachium is revolved by the second level
Rotating shaft is hinged with arm in the welding activity；The welding activity forearm includes being fixedly connected end and weld job end, described
The end that is fixedly connected of welding activity forearm connects arm in the welding activity, and the weld job end of the welding activity forearm is arranged
There is Spin welding gun platform, the Spin welding gun platform connects the weld job end of the welding activity forearm, institute by the rotating shaft of welding gun seat
State Spin welding gun platform to rotate around the welding gun seat rotating shaft, and welding gun seat rotating shaft be perpendicular to the welding activity forearm,
The welding gun erection joint parallel to the welding gun seat rotating shaft is additionally provided with the Spin welding gun platform, in the welding gun erection joint
It is coaxially arranged with activity and welding gun is installed.
As the further improvement of above-mentioned technical proposal, several are provided with the Spin welding gun platform for fixedly mounting
The joint installation screw of the welding gun erection joint, the axis of several joint installation screws and the Spin welding gun platform
Spacing between axis is different；Welding gun is installed in the activity includes welding gun installation end and welding gun operation end, the activity peace
The welding gun installation end of welding equipment rifle is fixedly connected the welding gun erection joint and can surround the axis rotation of the welding gun erection joint
Turn, it is bending structure that the welding gun operation end of welding gun is installed in the activity.
As the further improvement of above-mentioned technical proposal, the driving welding is provided with the first level rotary shaft and is lived
Dynamic postbrachium is provided with second feathering axis around the first rotary drive motor of first level rotary shaft rotation
The second rotary drive motor for driving the welding activity MAC to rotate around second feathering axis.
As the further improvement of above-mentioned technical proposal, the 3rd rotation driving electricity in the welding activity, on arm, is provided with
Machine, the axial direction for being axially perpendicular to second feathering axis of the 3rd rotary drive motor, and the 3rd rotation are driven
Dynamic motor includes motor stator and motor rotor, and the motor stator is fixedly installed in the welding activity
On arm, the end that is fixedly connected of the welding activity forearm is fixedly and coaxially connected the motor rotor.
Compared with prior art, the invention has the beneficial effects as follows：
A kind of coiled spring motor sub-unit arc track welding robot provided by the present invention, is driven by Spin welding gun platform and is lived
It is dynamic that welding gun rotation is installed, you can to realize the weld job of circular arc track, the weld job program of welding robot can be simplified,
Reducing and support arm linkage operation being hinged using multiple, so as to reduce the abrasion of the hinge spindle of support arm, and the energy consumption of operation is relatively low.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of structural representation of coiled spring motor sub-unit arc track welding robot of the present invention；
Fig. 2 is the structural representation of Spin welding gun platform of the present invention.
Specific embodiment
Referring to figs. 1 to Fig. 2, Fig. 1 to Fig. 2 is the structural representation of a specific embodiment of the invention.
As shown in Figure 1 to Figure 2, a kind of coiled spring motor sub-unit arc track welding robot, including being welded and fixed bottom
Seat 10 and the rotary moveable seat 11 being welded and fixed on base 10 is arranged at, it is vertical that the rotary moveable seat 11 can be surrounded
Axially free rotation, is provided with arm 21 and welding activity in welding activity postbrachium 20, welding activity on the rotary moveable seat 11
Forearm 22, the lower end of the welding activity postbrachium 20 pass through the top hinge of first level rotary shaft 23 and the rotary moveable seat 11
Connection, the upper end of the welding activity postbrachium 20 is hinged with arm 21 in the welding activity by the second feathering axis 24；
The welding activity forearm 22 includes being fixedly connected end and weld job end, and the end that is fixedly connected of the welding activity forearm 22 connects
Arm 21 in the welding activity is connect, the weld job end of the welding activity forearm 22 is provided with Spin welding gun platform 30, the rotation
Turn the weld job end that welding gun seat 30 connects the welding activity forearm 22 by welding gun seat rotating shaft 31, the Spin welding gun platform 30
Can rotate around welding gun seat rotating shaft 31, and welding gun seat rotating shaft 31 is perpendicular to the welding activity forearm 22, the rotation
Turn on welding gun seat 30, to be additionally provided with the welding gun erection joint 32 parallel to welding gun seat rotating shaft 31, the welding gun erection joint 32
On be coaxially arranged with activity install welding gun 33.
Further with improvement, several are provided with the Spin welding gun platform 30 and are connect for fixedly mounting the welding gun installation
32 joint installation screw 34, the axis of the axis of several joint installation screws 34 and the Spin welding gun platform 30 it
Between spacing it is different；Welding gun 33 is installed in the activity includes welding gun installation end and welding gun operation end, and weldering is installed in the activity
The welding gun installation end of rifle 33 is fixedly connected the welding gun erection joint 32 and can surround the axis of the welding gun erection joint 32
Rotation, it is bending structure that the welding gun operation end of welding gun 33 is installed in the activity.Drive is provided with the first level rotary shaft 23
First rotary drive motor 25 of the dynamic welding activity postbrachium 20 around the first level rotary shaft 23 rotation, described second
Arm 21 in driving the welding activity is provided with feathering axis 24 and surrounds the second of second feathering axis 24 rotation
Rotary drive motor 26.The 3rd rotary drive motor 27, the 3rd rotation driving are provided with the welding activity on arm 21
The axial direction for being axially perpendicular to second feathering axis 24 of motor 27, and the 3rd rotary drive motor 27 includes driving
Motor stator and motor rotor, the motor stator are fixedly installed in the welding activity on arm 21, the weldering
The take over a job end that is fixedly connected of dynamic forearm 22 is fixedly and coaxially connected the motor rotor.
During work, the rotary moveable seat 11 can be rotated according to the position of workpiece and direction, then by the welding
The linkage of arm 21 and the welding activity forearm 22 in movable postbrachium 20, the welding activity adjusts welding position, when welding angle
When degree needs adjustment, drive the activity that welding gun 33 is installed by the Spin welding gun platform 30 and rotate.Carrying out circular arc
During the weld job of welding track, the joint of as shown in Figure 2 four is selected to install according to the radius of circular arc welding track
One in screw 34 is used to install the fixation welding gun erection joint 32, due to the axis of four joint installation screws 34
And spacing R1, R2, R3, R4 between the axis of the Spin welding gun platform 30 increases successively, therefore rotation can be selected as needed
Turn radius, and the welding gun installation end of the activity installation welding gun 33 can surround the axis rotation of the welding gun erection joint 32,
And the welding gun operation end of the activity installation welding gun 33 is bending structure, therefore can be by rotating the activity installation welding gun 33
Further to finely tune, the radius of turn of the welding gun operation end end of welding gun 33 is installed in the activity；When welding gun is installed in the activity
After the radius of turn of 33 welding gun operation end end is regulated, when the weld job of circular arc welding track is carried out, it is only necessary to
Rotate the Spin welding gun platform 30 and be capable of achieving the circular arc welding fortune that the welding gun operation end end of welding gun 33 is installed in the activity
It is dynamic.
Above to the present invention preferable enforcement illustrated, certainly, the present invention can also using with above-mentioned enforcement
The different form of mode, the conversion of the equivalent made on the premise of without prejudice to spirit of the invention by those of ordinary skill in the art
Or corresponding change, should all belong in protection scope of the present invention.
Claims (4)
1. a kind of coiled spring motor sub-unit arc track welding robot, it is characterised in that：Including being welded and fixed base（10）
Described base is welded and fixed with being arranged at（10）On rotary moveable seat（11）, the rotary moveable seat（11）Can be around vertical
Axially free rotation, the rotary moveable seat（11）On be provided with welding activity postbrachium（20）, arm in welding activity（21）With
Welding activity forearm（22）, the welding activity postbrachium（20）Lower end pass through first level rotary shaft（23）Live with the rotation
Dynamic seat（11）Top be hinged, the welding activity postbrachium（20）Upper end pass through the second feathering axis（24）With the weldering
Take over a job and move middle arm（21）It is hinged；The welding activity forearm（22）Hold and weld job end including being fixedly connected, the welding
Movable forearm（22）Be fixedly connected arm in the connection welding activity of end（21）, the welding activity forearm（22）Welding make
Industry end is provided with Spin welding gun platform（30）, the Spin welding gun platform（30）By welding gun seat rotating shaft（31）Connect the welding activity
Forearm（22）Weld job end, the Spin welding gun platform（30）The welding gun seat rotating shaft can be surrounded（31）Rotation, and the weldering
Gun platform rotating shaft（31）Perpendicular to the welding activity forearm（22）, the Spin welding gun platform（30）On be additionally provided with parallel to described
Welding gun seat rotating shaft（31）Welding gun erection joint（32）, the welding gun erection joint（32）On be coaxially arranged with activity install welding gun
（33）.
2. a kind of coiled spring motor sub-unit arc track welding robot according to claim 1, it is characterised in that：Institute
State Spin welding gun platform（30）On be provided with several for fixedly mounting the welding gun erection joint（32）Joint installation screw
（34）, several described joint installation screws（34）Axis and the Spin welding gun platform（30）Axis between spacing it is each not
It is identical；Welding gun is installed in the activity（33）Including welding gun installation end and welding gun operation end, welding gun is installed in the activity（33）Weldering
Rifle installation end is fixedly connected the welding gun erection joint（32）And the welding gun erection joint can be surrounded（32）Axis rotation,
Welding gun is installed in the activity（33）Welding gun operation end be bending structure.
3. a kind of coiled spring motor sub-unit arc track welding robot according to claim 1, it is characterised in that：Institute
State first level rotary shaft（23）Place is provided with the driving welding activity postbrachium（20）Around the first level rotary shaft
（23）First rotary drive motor of rotation（25）, second feathering axis（24）Place is provided with the driving welding activity
Middle arm（21）Around second feathering axis（24）Second rotary drive motor of rotation（26）.
4. a kind of coiled spring motor sub-unit arc track welding robot according to claim 1, it is characterised in that：Institute
State arm in welding activity（21）On be provided with the 3rd rotary drive motor（27）, the 3rd rotary drive motor（27）Axial direction
Perpendicular to second feathering axis（24）Axial direction, and the 3rd rotary drive motor（27）Including motor stator
With motor rotor, the motor stator is fixedly installed on arm in the welding activity（21）On, the welding activity
Forearm（22）The end that is fixedly connected be fixedly and coaxially connected the motor rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611096077.9A CN106514078A (en) | 2016-12-02 | 2016-12-02 | Circular arc track welding robot for automobile spring plate subassembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611096077.9A CN106514078A (en) | 2016-12-02 | 2016-12-02 | Circular arc track welding robot for automobile spring plate subassembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106514078A true CN106514078A (en) | 2017-03-22 |
Family
ID=58354459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611096077.9A Pending CN106514078A (en) | 2016-12-02 | 2016-12-02 | Circular arc track welding robot for automobile spring plate subassembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514078A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117548814A (en) * | 2023-09-27 | 2024-02-13 | 深圳市锐豪科技有限公司 | Precision piece welding installation equipment for artificial intelligent equipment assembly |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003094168A (en) * | 2001-09-25 | 2003-04-02 | Daihen Corp | Welding robot |
| JP2005297069A (en) * | 2005-05-30 | 2005-10-27 | Daihen Corp | Feed mechanism of welding wire in arc welding robot |
| JP2006088207A (en) * | 2004-09-27 | 2006-04-06 | Daihen Corp | Welding robot |
| JP2010036253A (en) * | 2008-07-31 | 2010-02-18 | Daihen Corp | Welding robot |
| JP2011002888A (en) * | 2009-06-16 | 2011-01-06 | Daihen Corp | Method and apparatus for controlling arc welding robot |
| JP2011067893A (en) * | 2009-09-25 | 2011-04-07 | Daihen Corp | Installing structure of wire feeding device in welding robot |
| EP2851164A1 (en) * | 2013-09-19 | 2015-03-25 | Kabushiki Kaisha Yaskawa Denki | Welding robot comprising a welding wire feeder placed on the forearm |
| EP2851163A1 (en) * | 2013-09-19 | 2015-03-25 | Kabushiki Kaisha Yaskawa Denki | Welding robot comprising a welding wire feeder placed on the forearm |
| CN104476049A (en) * | 2014-12-11 | 2015-04-01 | 重庆宏立至信汽车部件制造有限公司 | Special rotary horizontal pipe welding machine |
| JP2015085380A (en) * | 2013-11-01 | 2015-05-07 | 株式会社安川電機 | Robot |
| CN204339156U (en) * | 2014-12-11 | 2015-05-20 | 重庆宏立至信汽车部件制造有限公司 | For the welding gun governor motion of automatic welding device |
| CN104858586A (en) * | 2015-06-09 | 2015-08-26 | 杨帆 | Numerical control welding machine |
| CN205200880U (en) * | 2015-12-22 | 2016-05-04 | 天津泰思克机械设备有限公司 | Welder rotation type automatic welder |
-
2016
- 2016-12-02 CN CN201611096077.9A patent/CN106514078A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003094168A (en) * | 2001-09-25 | 2003-04-02 | Daihen Corp | Welding robot |
| JP2006088207A (en) * | 2004-09-27 | 2006-04-06 | Daihen Corp | Welding robot |
| JP2005297069A (en) * | 2005-05-30 | 2005-10-27 | Daihen Corp | Feed mechanism of welding wire in arc welding robot |
| JP2010036253A (en) * | 2008-07-31 | 2010-02-18 | Daihen Corp | Welding robot |
| JP2011002888A (en) * | 2009-06-16 | 2011-01-06 | Daihen Corp | Method and apparatus for controlling arc welding robot |
| JP2011067893A (en) * | 2009-09-25 | 2011-04-07 | Daihen Corp | Installing structure of wire feeding device in welding robot |
| EP2851164A1 (en) * | 2013-09-19 | 2015-03-25 | Kabushiki Kaisha Yaskawa Denki | Welding robot comprising a welding wire feeder placed on the forearm |
| EP2851163A1 (en) * | 2013-09-19 | 2015-03-25 | Kabushiki Kaisha Yaskawa Denki | Welding robot comprising a welding wire feeder placed on the forearm |
| JP2015085380A (en) * | 2013-11-01 | 2015-05-07 | 株式会社安川電機 | Robot |
| CN104476049A (en) * | 2014-12-11 | 2015-04-01 | 重庆宏立至信汽车部件制造有限公司 | Special rotary horizontal pipe welding machine |
| CN204339156U (en) * | 2014-12-11 | 2015-05-20 | 重庆宏立至信汽车部件制造有限公司 | For the welding gun governor motion of automatic welding device |
| CN104858586A (en) * | 2015-06-09 | 2015-08-26 | 杨帆 | Numerical control welding machine |
| CN205200880U (en) * | 2015-12-22 | 2016-05-04 | 天津泰思克机械设备有限公司 | Welder rotation type automatic welder |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117548814A (en) * | 2023-09-27 | 2024-02-13 | 深圳市锐豪科技有限公司 | Precision piece welding installation equipment for artificial intelligent equipment assembly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210229265A1 (en) | Movable Hybrid Machining Robot based on Three-Degree-of-Freedom Force-Controlled Parallel Module | |
| CN102785565B (en) | Macpherson suspension wheel rim electric driving system for steering wheel | |
| CN106392357B (en) | A kind of barrel-type casing automatic welding machine people | |
| CN106514078A (en) | Circular arc track welding robot for automobile spring plate subassembly | |
| CN103978483B (en) | Industrial joint robot body | |
| CN207223182U (en) | A kind of new pattern laser processes three-dimensional oscillating head | |
| CN208895364U (en) | Coping device bindiny mechanism | |
| CN109249162A (en) | A kind of welding robot with shock-absorbing function | |
| CN208600974U (en) | Double mass flywheel welds auxiliary body | |
| CN106624507A (en) | Automotive front subframe welding robot with improved pedestal | |
| CN106563903B (en) | A kind of automobile chassis robot welding system | |
| CN106378562A (en) | Automatic welding robot for automobile corbel assembly | |
| CN106181170A (en) | Sheet material welding positioner, system and method | |
| CN207695250U (en) | A kind of hand-held laser cleaning rifle with dust exhaust apparatus | |
| CN105235465A (en) | Automobile shock absorber power generation mechanism based on mechanical transmission | |
| CN220612818U (en) | Welding positioning tool for air chamber base assembly on air suspension | |
| CN107179279A (en) | A kind of three axle test tables for mobile phone screen automatic detection streamline | |
| CN210882379U (en) | Four-wheel drive robot motion chassis for outdoor inspection | |
| CN210173493U (en) | Automobile body assembly processing positioning seat | |
| CN204913943U (en) | Damping balancing unit with balanced cam block | |
| CN205869807U (en) | Panel welding positioner and system | |
| CN215316582U (en) | Welding robot special for shock absorber | |
| CN110985827B (en) | A shock attenuation support for testing industrial robot repeated positioning accuracy | |
| CN221320089U (en) | Rotary laser cladding head and laser cladding equipment | |
| CN210968966U (en) | 360-degree rotation damping mechanism of inspection robot, vehicle chassis and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170322 |