CN107855704A - Rush-harvesting and rush-planting coordinate welding robot - Google Patents
Rush-harvesting and rush-planting coordinate welding robot Download PDFInfo
- Publication number
- CN107855704A CN107855704A CN201711247695.3A CN201711247695A CN107855704A CN 107855704 A CN107855704 A CN 107855704A CN 201711247695 A CN201711247695 A CN 201711247695A CN 107855704 A CN107855704 A CN 107855704A
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- China
- Prior art keywords
- axles
- rush
- harvesting
- welding
- servomotor
- 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
- 238000003466 welding Methods 0.000 title claims abstract description 45
- 238000003306 harvesting Methods 0.000 title claims abstract description 10
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
Rush-harvesting and rush-planting coordinate welding robot, it is related to production automation equipment technical field；X1 axles and X2 axles are provided with base, Z1 axles and Z2 axles are respectively fixed with X1 axles and X2 axles, Y1 axles and Y2 axles are respectively fixed with Z1 axles and Z2 axles；Pinion and rack is respectively arranged with described X1 axles and X2 axles；R1 axles and R2 axles are respectively arranged with described Y1 axles and Y2 axles；Ball screw framework is respectively arranged with described Y1 axles, Y2 axles, Z1 axles and Z2 axles；Servomotor is connected with by reductor respectively on described R1 axles and R2 axles, R1 axles and R2 shaft ends are connected with welding gun；Described Y1 axles and Y2 shaft ends is connected with wire-feed motor, and magnetic valve is connected with wire-feed motor.The present invention realizes the welding of fast accurate, greatly improves welding efficiency, reduces unnecessary idle stroke, greatly ensure that the safety of operating personnel, the safety with equipment operation.
Description
Technical field
The present invention relates to production automation equipment technical field, and in particular to rush-harvesting and rush-planting coordinate welding robot.
Background technology
The operation principle of the existing welding robot of in the market all adds a rotary shaft R axle to form by tri- axles of X, Y, Z
Four axle rectangular robots.Kinematic axis is all the pattern for adding servomotor or stepper motor using ball screw, and rotary shaft is used and watched
Take motor acceleration and deceleration machine.Add a welding gun on the rotary shaft R axles of four axle Cartesian robots, passing through four-axle linked control is
System and outside welding machine I/O input/output signals, automatic welding may finally be completed by teaching machine pilot teaching programming.
The shortcomings that prior art：1st, X-axis is typically all to use timing belt or rack-and-pinion knot in 3m or so equipment X-axis
Structure, due to the fast ratio of reductor, the maximum (top) speed of motor is no more than 3000r/min, limits the movement velocity of X-axis, result in
The efficiency comparison of whole welding process is low, and X-axis stroke working range when 3m is increased, but operating efficiency compares
It is low, the welding process most of the time be equipment come the work of running that makes the return trip empty, the real welding job time is too short not to have the market advantage；2nd, weld
When termination process occurs surprisingly to hit rifle such as operating personnel can not react in time, and equipment will not be stopped at once, exist very big
Hazards.
The content of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide one kind greatly improve welding efficiency,
Reduce unnecessary idle stroke, improve the rush-harvesting and rush-planting coordinate welding robot of automaticity.
To achieve the above object, the technical solution adopted by the present invention is：It include base, X1 axles, Y1 axles, Z1 axles, R1 axles,
X2 axles, Y2 axles, Z2 axles, R2 axles, pinion and rack, ball screw framework, servomotor, reductor, wire-feed motor, magnetic valve,
Welding gun；X1 axles and X2 axles are provided with described base, Z1 axles and Z2 axles, Z1 axles and Z2 axles are respectively fixed with X1 axles and X2 axles
On be respectively fixed with Y1 axles and Y2 axles；Pinion and rack is respectively arranged with described X1 axles and X2 axles；Described Y1 axles and
R1 axles and R2 axles are respectively arranged with Y2 axles；Ball-screw machine is respectively arranged with described Y1 axles, Y2 axles, Z1 axles and Z2 axles
Structure；It is connected on described pinion and rack by reductor with servomotor；It is connected with and watches on described ball screw framework
Take motor；Servomotor is connected with by reductor respectively on described R1 axles and R2 axles, R1 axles and R2 shaft ends are connected with welding gun；
Described Y1 axles and Y2 shaft ends is connected with wire-feed motor, and magnetic valve is connected with wire-feed motor.
Preferably, it is connected with obstacle avoidance sensor on described welding gun.
Preferably, described X1 axles, Y1 axles, Z1 axles, X2 axles, Y2 axles and Z2 axles are made of Special aluminium profile.
Preferably, described obstacle avoidance sensor, when robotic gun and barrier collide, can be provided reliable
Automatic stoppage in transit function.
The present invention operation principle be：Using 8 axle coordinated control systems, it is corresponding have 8 high-accuracy privates take motor work
For power output, system can distribute 4 motors as one group.The instruction that each motor can be sent according to system reaches predetermined position
Put, pass through the recordable lower position of the button above pilot teaching device.After each axle all reaches presetting position and record, you can complete
Paired default programing work.Then equipment is adjusted to auto state and presses the i.e. solderable required product of station button, journey
Sequence number can be allocated nearby according to the position of station box button, convenient and swift.
After said structure, had the beneficial effect that caused by the present invention：Rush-harvesting and rush-planting coordinate welding robot of the present invention,
Realize the welding of fast accurate, double welding gun equipment can two welding guns work simultaneously, greatly improve welding efficiency, reduction need not
The idle stroke wanted, welding efficiency are three times of single welding gun, while are that eight axles that a system controls move, automaticity
It is greatly improved, obstacle avoidance sensor protects system from machine mechanical damage, greatly ensure that the safety of operating personnel,
With the safety of equipment operation；Larger load on spring and higher performance accuracy are its distinguishing features.
Brief description of the drawings
Fig. 1 is the structure chart of the present invention.
Description of reference numerals：
Base 1, X1 axles 2, Y1 axles 3, Z1 axles 4, R1 axles 5, X2 axles 6, Y2 axles 7, Z2 axles 8, R2 axles 9, pinion and rack 10,
Ball screw framework 11, servomotor 12, reductor 13, wire-feed motor 14, magnetic valve 15, welding gun 16, obstacle avoidance sensor 17.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Referring to as shown in figure 1, present embodiment adopts the following technical scheme that：It include base 1, X1 axles 2, Y1 axles 3,
Z1 axles 4, R1 axles 5, X2 axles 6, Y2 axles 7, Z2 axles 8, R2 axles 9, pinion and rack 10, ball screw framework 11, servomotor 12,
Reductor 13, wire-feed motor 14, magnetic valve 15, welding gun 16；X1 axles 2 and X2 axles 6, X1 axles 2 and X2 axles are provided with described base 1
Z1 axles 4 and Z2 axles 8 are respectively fixed with 6, Y1 axles 3 and Y2 axles 7 are respectively fixed with Z1 axles 4 and Z2 axles 8；The described He of X1 axles 2
Pinion and rack 10 is respectively arranged with X2 axles 6；R1 axles 5 and R2 axles 9 are respectively arranged with described Y1 axles 3 and Y2 axles 7；Institute
Ball screw framework 11 is respectively arranged with Y1 axles 3, Y2 axles 7, Z1 axles 4 and the Z2 axles 8 stated；On described pinion and rack 10
It is connected by reductor 13 with servomotor 12；Servomotor 12 is connected with described ball screw framework 11；Described R1
Servomotor 12 is connected with by reductor 13 respectively on axle 5 and R2 axles 9, R1 axles 5 and the end of R2 axles 9 are connected with welding gun 16；It is described
Y1 axles 3 and the end of Y2 axles 7 be connected with wire-feed motor 14, magnetic valve 15 is connected with wire-feed motor 14.
Preferably, it is connected with obstacle avoidance sensor 17 on described welding gun 16.
Preferably, described X1 axles 2, Y1 axles 3, Z1 axles 4, X2 axles 6, Y2 axles 7 and Z2 axles 8 use Special aluminium profile system
Into.
Preferably, described obstacle avoidance sensor, when robotic gun and barrier collide, can be provided reliable
Automatic stoppage in transit function.
The operation principle of present embodiment is：It is corresponding to have 8 high-accuracy privates using 8 axle coordinated control systems
Motor is taken as power output, system can distribute 4 motors as one group.Each motor can reach pre- according to the instruction that system is sent
Fixed position, pass through the recordable lower position of the button above pilot teaching device.After each axle all reaches presetting position and record,
It can complete to default programing work.Then equipment is adjusted to auto state and presses the i.e. solderable required production of station button
Product, program number can be allocated nearby according to the position of station box button, convenient and swift.
Pinion and rack 10 and ball screw framework 11 described in present embodiment are prior art, are not done herein
Repeat.
After said structure, had the beneficial effect that caused by present embodiment：It is double described in present embodiment
Rifle coordinate welding robot, realizes the welding of fast accurate, double welding gun equipment can two welding guns work simultaneously, greatly improve
Welding efficiency, unnecessary idle stroke is reduced, welding efficiency is three times of single welding gun, while is eight axles of a system control
Motion, automaticity are also greatly improved, and obstacle avoidance sensor protects system from machine mechanical damage, greatly ensures
The safety of operating personnel, the safety with equipment operation；Larger load on spring and higher performance accuracy are its distinguishing features.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The skill of the industry
For art personnel it should be appreciated that the present invention is not limited to the above embodiments, described in above-described embodiment and specification is explanation
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent thereof.
Claims (4)
1. rush-harvesting and rush-planting coordinate welding robot, it is characterised in that：It include base, X1 axles, Y1 axles, Z1 axles, R1 axles, X2 axles, Y2 axles,
Z2 axles, R2 axles, pinion and rack, ball screw framework, servomotor, reductor, wire-feed motor, magnetic valve, welding gun；Described
X1 axles and X2 axles are provided with base, Z1 axles and Z2 axles are respectively fixed with X1 axles and X2 axles, is fixed respectively on Z1 axles and Z2 axles
There are Y1 axles and Y2 axles；Pinion and rack is respectively arranged with described X1 axles and X2 axles；On described Y1 axles and Y2 axles respectively
It is provided with R1 axles and R2 axles；Ball screw framework is respectively arranged with described Y1 axles, Y2 axles, Z1 axles and Z2 axles；Described tooth
It is connected on wheel rackwork by reductor with servomotor；Servomotor is connected with described ball screw framework；It is described
R1 axles and R2 axles on servomotor is connected with by reductor respectively, R1 axles and R2 shaft ends are connected with welding gun；Described Y1 axles
Wire-feed motor is connected with Y2 shaft ends, magnetic valve is connected with wire-feed motor.
2. rush-harvesting and rush-planting coordinate welding robot according to claim 1, it is characterised in that：Anticollision is connected with described welding gun
Sensor.
3. rush-harvesting and rush-planting coordinate welding robot according to claim 1, it is characterised in that：Described X1 axles, Y1 axles, Z1 axles,
X2 axles, Y2 axles and Z2 axles are made of Special aluminium profile.
4. rush-harvesting and rush-planting coordinate welding robot according to claim 2, it is characterised in that：Described obstacle avoidance sensor, in machine
When device people welding gun collides with barrier, reliable automatic stoppage in transit function can be provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247695.3A CN107855704A (en) | 2017-12-01 | 2017-12-01 | Rush-harvesting and rush-planting coordinate welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247695.3A CN107855704A (en) | 2017-12-01 | 2017-12-01 | Rush-harvesting and rush-planting coordinate welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107855704A true CN107855704A (en) | 2018-03-30 |
Family
ID=61704490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711247695.3A Pending CN107855704A (en) | 2017-12-01 | 2017-12-01 | Rush-harvesting and rush-planting coordinate welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107855704A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111299886A (en) * | 2019-12-06 | 2020-06-19 | 湖南金诺动力设备制造有限公司 | Fireproof valve welding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203426577U (en) * | 2013-08-28 | 2014-02-12 | 山西平阳重工机械有限责任公司 | Special welding machine for main reinforcement stiffening plates of hydraulic support structural components |
| CN204725047U (en) * | 2015-07-06 | 2015-10-28 | 青岛博智达自动化技术有限公司 | A kind of intelligent five axle welding robots |
| CN105436765A (en) * | 2014-09-25 | 2016-03-30 | 李苗 | Automatic two-gun welding for heating stove |
| CN205798660U (en) * | 2016-06-30 | 2016-12-14 | 苏州东金机械金属有限公司 | A kind of welding gun |
| CN106271285A (en) * | 2016-10-10 | 2017-01-04 | 山东科技大学 | Welding robot |
| CN205989140U (en) * | 2016-07-27 | 2017-03-01 | 广州花都通用集团有限公司 | A kind of Novel welding gun position adjusting mechanism |
| CN206578414U (en) * | 2017-02-27 | 2017-10-24 | 北京宝都钢结构工程有限公司 | A kind of full-automatic bottoming welding machine |
| CN206662593U (en) * | 2017-03-30 | 2017-11-24 | 广东朗亚铁艺有限公司 | A kind of double four axle rush-harvesting and rush-planting bonding machines |
| CN206677437U (en) * | 2017-05-08 | 2017-11-28 | 海汇集团有限公司 | Co-ordinate-type numerical control four-axis welding manipulator |
| CN207563995U (en) * | 2017-12-01 | 2018-07-03 | 河南宝盛精密机械有限公司 | Rush-harvesting and rush-planting coordinate welding robot |
-
2017
- 2017-12-01 CN CN201711247695.3A patent/CN107855704A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203426577U (en) * | 2013-08-28 | 2014-02-12 | 山西平阳重工机械有限责任公司 | Special welding machine for main reinforcement stiffening plates of hydraulic support structural components |
| CN105436765A (en) * | 2014-09-25 | 2016-03-30 | 李苗 | Automatic two-gun welding for heating stove |
| CN204725047U (en) * | 2015-07-06 | 2015-10-28 | 青岛博智达自动化技术有限公司 | A kind of intelligent five axle welding robots |
| CN205798660U (en) * | 2016-06-30 | 2016-12-14 | 苏州东金机械金属有限公司 | A kind of welding gun |
| CN205989140U (en) * | 2016-07-27 | 2017-03-01 | 广州花都通用集团有限公司 | A kind of Novel welding gun position adjusting mechanism |
| CN106271285A (en) * | 2016-10-10 | 2017-01-04 | 山东科技大学 | Welding robot |
| CN206578414U (en) * | 2017-02-27 | 2017-10-24 | 北京宝都钢结构工程有限公司 | A kind of full-automatic bottoming welding machine |
| CN206662593U (en) * | 2017-03-30 | 2017-11-24 | 广东朗亚铁艺有限公司 | A kind of double four axle rush-harvesting and rush-planting bonding machines |
| CN206677437U (en) * | 2017-05-08 | 2017-11-28 | 海汇集团有限公司 | Co-ordinate-type numerical control four-axis welding manipulator |
| CN207563995U (en) * | 2017-12-01 | 2018-07-03 | 河南宝盛精密机械有限公司 | Rush-harvesting and rush-planting coordinate welding robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111299886A (en) * | 2019-12-06 | 2020-06-19 | 湖南金诺动力设备制造有限公司 | Fireproof valve welding system |
| CN111299886B (en) * | 2019-12-06 | 2021-09-24 | 湖南金诺动力设备制造有限公司 | Fireproof valve welding system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180330 |
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| RJ01 | Rejection of invention patent application after publication |