CN113953664A - Gantry type laser welding robot - Google Patents
Gantry type laser welding robot Download PDFInfo
- Publication number
- CN113953664A CN113953664A CN202111469471.3A CN202111469471A CN113953664A CN 113953664 A CN113953664 A CN 113953664A CN 202111469471 A CN202111469471 A CN 202111469471A CN 113953664 A CN113953664 A CN 113953664A
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- Prior art keywords
- guide rail
- moving guide
- laser
- swing mechanism
- welding
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- 238000003466 welding Methods 0.000 title claims abstract description 61
- 229910001220 stainless steel Inorganic materials 0.000 claims description 22
- 239000010935 stainless steel Substances 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 229910052705 radium Inorganic materials 0.000 description 2
- HCWPIIXVSYCSAN-UHFFFAOYSA-N radium atom Chemical compound [Ra] HCWPIIXVSYCSAN-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention provides a gantry type laser welding robot which mainly comprises a laser, a laser vertical moving guide rail, a laser horizontal moving guide rail, a frame, a swing mechanism front-back moving guide rail, a swing mechanism front side plate, a swing mechanism rear side plate, a hand wheel and a T-shaped plate, wherein the laser vertical moving guide rail is arranged on the front side of the frame; the laser device is connected to a laser device vertical moving guide rail, the laser device vertical moving guide rail is connected to a laser device horizontal moving guide rail, the laser device horizontal moving guide rail is fixed on a rack, the rack is vertically fixed on a swing mechanism front-back moving guide rail, and the swing mechanism is also connected to the swing mechanism front-back moving guide rail; the front side plate, the rear side plate, the hand wheel and the T-shaped plate are all arranged on the swing mechanism; the invention can realize linkage deflection of products, can ensure consistent linear velocity during linkage operation, uniform welding seam, consistent distance between the welding position and the laser all the time, good welding effect and small occupied space; simple structure, good manufacturability and popularization and application value.
Description
Technical Field
The invention designs a gantry type laser welding robot which can be used for industrial processing and manufacturing, particularly for high-precision welding process research, and belongs to the technical field of robots, industrial manufacturing and laser welding.
Background
Laser welding is an efficient precision welding method using a laser beam with high energy density as a heat source. Laser welding is one of the important aspects of the application of laser material processing techniques. The welding device has the characteristics of high energy density, concentrated heating, high welding speed, small welding deformation and the like, and is successfully applied to the precise welding of micro and small parts.
However, the existing laser welding machine has a poor butt welding effect, so that a novel laser welding robot needs to be designed to realize linkage deflection of products and ensure consistent linear speed during linkage operation; meanwhile, the welding position is required to be consistent with the laser position all the time.
Disclosure of Invention
(1) Purpose(s) to
The invention aims to provide a gantry type laser welding robot, which improves the welding precision in a linkage mode, reduces the space of the device and can provide a theoretical basis for the optimal design of an industrial robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
(2) technical scheme
The invention relates to a gantry type laser welding robot, which comprises a moving guide rail assembly and a welding assembly, wherein the mutual position relation of the moving guide rail assembly and the welding assembly is as follows: the welding assembly is positioned at the front end of the moving guide rail assembly and is connected with the moving guide rail assembly through a groove;
the moving guide rail component comprises a laser vertical moving guide rail (1), a laser horizontal moving guide rail (2), a machine frame (3) and a swing mechanism front-back moving guide rail (4), and the relation between the two guide rails is as follows: the laser vertical moving guide rail (1) and the laser horizontal moving guide rail (2) adopt a sliding connection mode, and the machine frame (3) and the swing mechanism front-back moving guide rail (4) are fixed in a welding mode;
the shape structure of the laser vertical moving guide rail (1) is as follows: a stainless steel square plate;
the shape and structure of the laser horizontal moving guide rail (2) are as follows: a rectangular stainless steel sheet;
the shape structure of the frame (3) is as follows: stainless steel material, H-type portal frame;
the shape structure of the front-back moving guide rail (4) of the rotary mechanism is as follows: the middle of the stainless steel square plate is provided with two rectangular grooves;
the welding assembly comprises a rotary mechanism fixing plate (5), a rotary mechanism (6), a rotary mechanism fixing table (7), a laser (8), a hand wheel (9) and a rotary mechanism front side plate (10), and the mutual relation of the laser, the hand wheel and the rotary mechanism front side plate is as follows: the rotary mechanism fixing plate (5) is fixed with the rotary mechanism fixing table (7) in a welding mode, the rotary mechanism (6) is connected with the rotary mechanism fixing table (7) through threads, the laser (8) and the laser vertical guide rail (1) are in a sliding connection mode, the hand wheel (9) is connected with the rotary mechanism fixing plate (5) through threads, and the rotary mechanism front side plate (10) is connected with the hand wheel (9) through threads;
the shape structure of the rotary mechanism fixing plate (5) is as follows: the stainless steel material arch-shaped plate plays a role in clamping and positioning a workpiece;
the shape structure of the rotating mechanism (6) is as follows: the stainless steel disc can move back and forth through the groove;
the shape structure of the rotary mechanism fixing table (7) is as follows: the middle of the front surface of the stainless steel rectangular block is provided with a threaded hole, and the bottom of the stainless steel rectangular block is provided with two parallel grooves;
the laser (8) is selected from the existing products; the model is as follows: the China Changchun radium photoelectric technology MW-ZL-405 can move on the moving guide rail in the horizontal and vertical directions;
the hand wheel (9) adopts the existing product; the model is as follows: the distance between the swing mechanism fixing plate (5) and the swing mechanism fixing table (7) can be adjusted according to different welding pieces by using the Missimi C-PHLK 100;
the shape structure of the front side plate (10) of the rotary mechanism is as follows: the middle of the stainless steel cuboid thin plate is provided with a threaded hole, and the stainless steel cuboid thin plate plays a role in positioning a workpiece and pressing a supporting plate;
(3) advantages and effects
1. The four-axis motion scheme adopted by the invention has mature layout and is easy to realize, and can be realized by adopting a pneumatic support and linear motor mode if the requirement is higher.
2. The invention can realize linkage deflection of products, can ensure consistent linear velocity and uniform welding seam during linkage operation, keeps consistent distance between the welding position and the laser all the time, and has good welding effect and small occupied space.
3. The invention has simple structure, good manufacturability and popularization and application value.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of a front view structure of the present invention.
Fig. 3 is a top view of the revolving mechanism of the present invention.
Numbered in the figures:
1-the laser moves the guide rail vertically; 2-the laser moves the guide rail horizontally; 3-a frame;
4-moving the guide rail back and forth by the swing mechanism; 5-fixing a swing mechanism; 6-a slewing mechanism;
7-a fixed table of a slewing mechanism; 8-a laser; 9-a hand wheel; 10-front side plate of slewing mechanism.
Detailed Description
Referring to fig. 1 to 3, the gantry type laser welding robot of the present invention is a gantry type structure, and can realize four-axis linkage motion; the device comprises a motion guide rail assembly and a welding assembly; their positional relationship to each other is: the welding assembly is positioned at the front end of the moving guide rail assembly and is connected with the moving guide rail assembly through a groove;
referring to fig. 1 and 2, the moving guide rail assembly comprises a laser vertical moving guide rail (1), a laser horizontal moving guide rail (2), a machine frame (3) and a swing mechanism front-back moving guide rail (4); their relationship to each other is: the laser vertical moving guide rail (1) and the laser horizontal moving guide rail (2) adopt a sliding connection mode, and the machine frame (3) and the swing mechanism front-back moving guide rail (4) are fixed in a welding mode;
the shape structure of the laser vertical moving guide rail (1) is as follows: a stainless steel square plate;
the shape and structure of the laser horizontal moving guide rail (2) are as follows: a rectangular stainless steel sheet;
the shape structure of the machine armor (3) is as follows: stainless steel material, H-type portal frame;
the shape structure of the front-back moving guide rail (4) of the rotary mechanism is as follows: the middle of the stainless steel square plate is provided with two rectangular grooves;
referring to fig. 1-3, the welding assembly comprises a rotary mechanism fixing plate (5), a rotary mechanism (6), a rotary mechanism fixing table (7), a laser (8), a hand wheel (9) and a rotary mechanism front side plate (10); their relationship to each other is: the rotary mechanism fixing plate (5) is fixed with the rotary mechanism fixing table (7) in a welding mode, the rotary mechanism (6) is connected with the rotary mechanism fixing table (7) through threads, the laser (8) and the laser vertical guide rail (1) are in a sliding connection mode, the hand wheel (9) is connected with the rotary mechanism fixing plate (5) through threads, and the rotary mechanism front side plate (10) is connected with the hand wheel (9) through threads;
the shape structure of the rotary mechanism fixing plate (5) is as follows: the stainless steel material arch-shaped plate plays a role in clamping and positioning a workpiece;
the shape structure of the rotating mechanism (6) is as follows: the stainless steel disc can move back and forth through the groove;
the shape structure of the rotary mechanism fixing table (7) is as follows: the middle of the front surface of the stainless steel rectangular block is provided with a threaded hole, and the bottom of the stainless steel rectangular block is provided with two parallel grooves;
this laser instrument (8) chooses for use current product, and the model is: the China Changchun radium photoelectric technology MW-ZL-405 can move on the moving guide rail in the horizontal and vertical directions;
the hand wheel (9) selects the existing products, and the models are as follows: the distance between the swing mechanism fixing plate (5) and the swing mechanism fixing table (7) can be adjusted according to different welding pieces by using the Missimi C-PHLK 100;
the shape structure of the front side plate (10) of the rotary mechanism is as follows: the middle of the stainless steel cuboid thin plate is provided with a threaded hole, and the stainless steel cuboid thin plate plays a role in positioning a workpiece and pressing a supporting plate;
the specific experimental method mainly comprises the following steps:
firstly, fixing the grooves of the welding parts on a rotary mechanism fixing plate (5) and a rotary mechanism fixing table (7) respectively, and adjusting the distance between the two welding parts to be coincident by rotating a hand wheel (9).
Secondly, the swing mechanism (6) moves on the swing mechanism front-back moving guide rail (4), the laser (8) moves on the laser horizontal moving guide rail (2) and the laser vertical moving guide rail (1), and the laser (8) and the workpiece are adjusted to be at proper positions to start welding.
The third step: in the welding process, the rotary mechanism (6) rotates the workpiece, and the laser (8) moves on the laser horizontal moving guide rail (2) and the laser vertical moving guide rail (1) along with the workpiece, so that the linear speed is consistent in linkage operation, and the welding position of the workpiece is consistent with the distance of the laser at all times.
Fourthly, after the welding process is finished, moving the swing mechanism (6) on the swing mechanism front-and-back moving guide rail (4), moving the laser (8) on the laser horizontal moving guide rail (2) and the laser vertical moving guide rail (1), moving the laser (8) to a safe position, rotating the hand wheel (9), and taking out the welded workpiece after the distance between the swing mechanism fixing plate (5) and the swing mechanism fixing table (7) reaches a proper position.
The mode of adjusting the distance between the rotating mechanism fixing plate (5) and the rotating mechanism fixing table (7) is not limited to a hand wheel (9), such as a screw and a spring.
The gantry laser welding robot has the advantages that the installation mode, the connection mode or the arrangement mode are common mechanical modes, and the gantry laser welding robot can be implemented as long as the beneficial effects of the gantry laser welding robot are achieved. The motor of the gantry laser welding robot is purchased from the market, and technicians in the industry only need to install and operate the gantry laser welding robot according to the use specifications.
Although the present invention has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that modifications may be made to the above embodiments or to some features of the invention.
Claims (3)
1. The utility model provides a planer-type laser welding robot which characterized in that: the device comprises a motion guide rail assembly and a welding assembly; the welding assembly is positioned at the front end of the moving guide rail assembly and is connected with the moving guide rail assembly through a groove;
the moving guide rail component comprises a laser vertical moving guide rail (1), a laser horizontal moving guide rail (2), a machine frame (3) and a swing mechanism front-back moving guide rail (4); the laser vertical moving guide rail (1) and the laser horizontal moving guide rail (2) adopt a sliding connection mode, and the machine frame (3) and the swing mechanism front-back moving guide rail (4) are fixed in a welding mode;
the shape of the laser vertical moving guide rail (1) is as follows: a square plate;
the laser horizontal moving guide rail (2) is as follows: a rectangular parallelepiped sheet;
the shape of the frame (3) is: an H-shaped portal frame;
the front-back moving guide rail (4) of the slewing mechanism is a square plate, and two rectangular grooves are formed in the middle of the slewing mechanism;
the welding assembly comprises a rotary mechanism fixing plate (5), a rotary mechanism (6), a rotary mechanism fixing table (7), a laser (8), a hand wheel (9) and a rotary mechanism front side plate (10); the rotary mechanism fixing plate (5) is fixed with the rotary mechanism fixing table (7) in a welding mode, the rotary mechanism (6) is connected with the rotary mechanism fixing table (7) through threads, the laser (8) and the laser vertical guide rail (1) adopt a sliding connection mode, the hand wheel (9) is connected with the rotary mechanism fixing plate (5) through threads, and the rotary mechanism front side plate (10) is connected with the hand wheel (9) through threads;
the shape of the rotary mechanism fixing plate (5) is as follows: the arch-shaped plate plays a role in clamping a workpiece and positioning;
the shape of the rotating mechanism (6) is as follows: a disc capable of moving back and forth through the groove;
the shape of the rotary mechanism fixing table (7) is as follows: the middle of the front surface of the rectangular block is provided with a threaded hole, and the bottom of the rectangular block is provided with two parallel grooves;
the laser (8) can move on the moving guide rail in the horizontal and vertical directions;
the hand wheel (9) can adjust the distance between the swing mechanism fixing plate (5) and the swing mechanism fixing table (7) according to different welding pieces;
the front side plate (10) of the rotary mechanism has the following shape: the middle of the cuboid thin plate is provided with a threaded hole, and the cuboid thin plate plays a role in positioning a workpiece and compressing a supporting plate.
2. The gantry type laser welding robot of claim 1, wherein: the moving guide rail assembly comprises a laser vertical moving guide rail (1), a laser horizontal moving guide rail (2), a rack (3) and a swing mechanism front-back moving guide rail (4), and the moving guide rail assembly is made of stainless steel materials.
3. The gantry type laser welding robot of claim 1, wherein: and a swing mechanism fixing plate (5), a swing mechanism (6), a swing mechanism fixing table (7) and a swing mechanism front side plate (10) in the welding assembly are all made of stainless steel materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111469471.3A CN113953664A (en) | 2021-12-03 | 2021-12-03 | Gantry type laser welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111469471.3A CN113953664A (en) | 2021-12-03 | 2021-12-03 | Gantry type laser welding robot |
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| Publication Number | Publication Date |
|---|---|
| CN113953664A true CN113953664A (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111469471.3A Pending CN113953664A (en) | 2021-12-03 | 2021-12-03 | Gantry type laser welding robot |
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| CN (1) | CN113953664A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101690994A (en) * | 2009-09-30 | 2010-04-07 | 华中科技大学 | Numerical control laser processing device |
| CN204470781U (en) * | 2015-01-19 | 2015-07-15 | 中国科学院宁波材料技术与工程研究所 | A kind of Five-axis linkage laser processing machine based on speculum leaded light |
| CN110640321A (en) * | 2019-09-16 | 2020-01-03 | 上海航天精密机械研究所 | Aerospace thin-wall product laser welding equipment |
| CN210387949U (en) * | 2019-05-14 | 2020-04-24 | 深圳市牧激科技有限公司 | Laser welding device |
| CN213888668U (en) * | 2020-09-23 | 2021-08-06 | 奇瑞汽车河南有限公司 | Multi-station laser welding equipment for automobile parts |
-
2021
- 2021-12-03 CN CN202111469471.3A patent/CN113953664A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101690994A (en) * | 2009-09-30 | 2010-04-07 | 华中科技大学 | Numerical control laser processing device |
| CN204470781U (en) * | 2015-01-19 | 2015-07-15 | 中国科学院宁波材料技术与工程研究所 | A kind of Five-axis linkage laser processing machine based on speculum leaded light |
| CN210387949U (en) * | 2019-05-14 | 2020-04-24 | 深圳市牧激科技有限公司 | Laser welding device |
| CN110640321A (en) * | 2019-09-16 | 2020-01-03 | 上海航天精密机械研究所 | Aerospace thin-wall product laser welding equipment |
| CN213888668U (en) * | 2020-09-23 | 2021-08-06 | 奇瑞汽车河南有限公司 | Multi-station laser welding equipment for automobile parts |
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