CN201342671Y - Robot device for welding for thrust wheels - Google Patents
Robot device for welding for thrust wheels Download PDFInfo
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- CN201342671Y CN201342671Y CNU2009201363242U CN200920136324U CN201342671Y CN 201342671 Y CN201342671 Y CN 201342671Y CN U2009201363242 U CNU2009201363242 U CN U2009201363242U CN 200920136324 U CN200920136324 U CN 200920136324U CN 201342671 Y CN201342671 Y CN 201342671Y
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Abstract
The utility model discloses a robot device for welding for thrust wheels, and the robot device comprises a welding robot, a welding positioner, a mechanical hand, a transfer table and a controller. The controller is used for controlling the operation of the welding robot, the welding positioner and the mechanical hand, thrust wheels subjected to the spot welding are placed on the welding positioner through the mechanical hand, a rotating box of the welding positioner drives a disc to rotate, a turn-over box of the welding positioner enables a disc working table to incline, so that the thrust wheel can be welded at the best angle, and meanwhile, the welding robot strikes the arc for the welding. After the welding is finished, the mechanical hand is used for newly lifting the thrust wheel with the welding being finished on one side and turns over the thrust wheel on the transfer table, and the thrust wheel with the welding being finished on one side is newly placed on the welding positioner for the restart of the welding process, so that the working procedure of manually turning the thrust wheels over in the traditional welding engineering is changed; and the lifting of thrust wheels is finished by the mechanical hand in the entire welding process, so that robot device saves the time and labor, has high welding efficiency and eliminates the safety hazards.
Description
Technical field
The utility model relates to welding robot equipment, relates in particular to thrust wheel welding robot equipment.
Background technology
Engineering machinery uses thrust wheel and does support now, thrust wheel 8 as loading machine, as Fig. 1, shown in Figure 2, comprise an outer ring 81, internal axle sleeve 82 and two blocks of webs 83, described two blocks of webs 83 are nested with on internal axle sleeve 82 by centre bore, by the slit 85 between two blocks of webs, 83 centre bore edges and the internal axle sleeve outer wall is welded from face two webs are fixed on the internal axle sleeve, described two web 83 outward flanges contact with the inwall of outer ring, and are logical to by the slit 84 between the inwall of two web 83 outward flanges and outer ring is welded from face two webs being fixed on the outer ring.The welding procedure of this thrust wheel is: earlier spot welding is carried out in the slit 84 between the inwall of the slit 85 between two blocks of webs, 83 centre bore edges and internal axle sleeve 82 outer walls and two web 83 outward flanges and outer ring 81 and fixed, and then the slit 84 between the inwall of the slit 85 between two blocks of webs, 83 centre bore edges and internal axle sleeve 82 outer walls and two web 83 outward flanges and outer ring 81 welded, after two slits of the one side of having welded thrust wheel 84,85, thrust wheel need be turned over, repeat above-mentioned welding process, thrust wheel could be welded fully at last.Make a general survey of the welding procedure of this thrust wheel; industry is generally finished the turn-over of thrust wheel by artificial or arm; because the weight of thrust wheel is big; labor strength requires high; and potential safety hazard is big; the welding largely still by hand or single automation special plane weld; this causes welding and two technical process of turn-over not to organically combine; production efficiency is low; be difficult to satisfy the scale welding requirements; this just promotes the inventor to develop a kind of thrust wheel welding robot equipment, can finish thrust wheel welding and turn-over.
The utility model content
The utility model purpose provides a kind of thrust wheel welding robot equipment, this equipment can realize that in the thrust wheel welding procedure welding of thrust wheel can realize the turn-over of thrust wheel again, reduce working strength of workers, eliminate to artificial potential safety hazard the welding efficiency height.
For reaching above-mentioned purpose, solution of the present utility model is:
A kind of thrust wheel welding robot equipment comprises welding robot, at least one positioner, manipulator, transfer table and controller; Controller control welding robot, positioner, manipulator work; Welding robot, manipulator, transfer table are around the positioner periphery; Positioner comprises disk workbench, rotating box, inverted box, base, described disk stationary table is on the main shaft of rotating box, the disk workbench is provided with the anchor clamps of clamping thrust wheel, rotating box is provided with on the base by support bracket, inverted box is fixed on the base, is transmitted in back shaft and rotates on base; Described manipulator comprises bearing, chassis, mechanical arm, thrust wheel internal axle sleeve anchor clamps, revolution support, elevating mechanism, rotating mechanism, rotating mechanism, mechanical arm one end is thrust wheel internal axle sleeve anchor clamps fixedly, the other end supports to rotate with revolution and connects, and manipulator rotates on revolution is supported under rotating mechanism drives; Revolution is supported on elevating mechanism and drives lifting moving on bearing down; Bearing rotates on the chassis under rotating mechanism drives, realize mechanical arm conversion back and forth between positioner and transfer table, described transfer table middle part is the section of an opening, the opening of this section is towards the bearing of manipulator, and the extended distance of this section is less than the race diameter of the thrust wheel width greater than mechanical arm.
Above-mentioned welding robot, positioner, manipulator are fixed on the same support.
Above-mentioned welding robot comprises body, interlock arm, welding gun; Interlock arm expanding-contracting action, drive welding gun near or leave the thrust wheel of required welding.
Above-mentioned manipulator is connected and fixed on support by its chassis, and move on support by travel mechanism on the chassis.
Above-mentioned travel mechanism comprises servomotor, pinion, tooth bar, guide rail, gathering sill; The servomotor rotating shaft is pinion fixedly, and servomotor, gathering sill are fixed on the chassis, and tooth bar, guide rail are fixed on the support, and by the engagement of pinion and tooth bar, gathering sill moves on support with the realization manipulator that cooperates of guide rail.
The rotating mechanism of above-mentioned manipulator comprises electric rotating machine, rotary pinion, swivel bearing; Rotary pinion is fixed on the main shaft of electric rotating machine, electric rotating machine is fixed on the bearing, the outer ring of swivel bearing is fixed on the bearing, the inner ring of swivel bearing is fixed on the chassis, the inner ring chamber wall of swivel bearing is provided with the gear teeth, and electric rotating machine rotates by rotary pinion and gear teeth meshing and realize that manipulator rotates on the chassis.
The elevating mechanism of above-mentioned manipulator comprises lifting motor, trapezoidal screw, shaft coupling, slide rail, chute, lifting motor is fixed on the top of bearing, trapezoidal screw is fixed in the rotating shaft of lifting motor, shaft coupling is fixed on revolution and supports, chute is fixed on the bearing both sides, slide rail is realized mechanical arm lifting moving on bearing with revolution support fixation, the engagement that lifting motor rotates by trapezoidal screw and shaft coupling.
The rotating mechanism of above-mentioned manipulator comprises rotary electric machine, rotation pinion, rolling bearing; Rotation pinion is fixed on the main shaft of rotary electric machine, rotary electric machine is fixed on the bearing, the outer ring of rolling bearing is fixed on revolution and supports, the inner ring of rolling bearing is fixed on the mechanical arm, the inner ring chamber wall of rolling bearing is provided with the gear teeth, and rotary electric machine rotates by rotation pinion and gear teeth meshing and realize that mechanical arm rotates on revolution is supported.
Thrust wheel internal axle sleeve anchor clamps comprise cylinder, expansion sleeve on the above-mentioned mechanical arm, the taper pull bar; Cylinder body is fixed on the mechanical arm, and expansion sleeve one end tube arm is branched into expansion piece, and the other end also is fixed on the mechanical arm, and the taper pull bar passes expansion sleeve and connects with cylinder piston rod, and the conical surface of taper pull bar is against expansion piece.
Above-mentioned positioner is fixed on the support by its base.
Above-mentioned positioner quantity is two.
The rotating box of above-mentioned positioner comprises casing, main shaft, worm screw, worm gear, motor; Main shaft is rotatably connected on the case, and main shaft one end is positioned at casing, and the other end stretches out outside the casing, motor is fixed on the casing, worm screw is fixed on the main shaft of motor, and on the main shaft in casing that worm gear is fixed, electronic rotation is rotated on casing by the engagement drive main shaft of worm and wheel.
The inverted box of above-mentioned positioner comprises upset servomotor, upset pinion, and half gear overturns; The upset servomotor is fixed on the base, the upset pinion is fixed on the main shaft of upset servomotor, half gear that overturns is fixed on the back shaft, the upset servomotor rotates the pinion that passes through to overturn and drives the back shaft rotation with upset half gears engaged, the rotation of back shaft drives the rotating box upset again, thereby realizes that the disk workbench is skewed on a base.
The next door of above-mentioned manipulator also is provided with feed mechanism.
Above-mentioned feed mechanism comprises material loading conveying mechanism and blanking conveying mechanism.
The place ahead of above-mentioned feed mechanism is provided with thrust wheel spot welding workbench.
The utility model is in order to realize the turn-over of thrust wheel in welding, with welding robot, positioner, manipulator, transfer table and controller organically combine together, the thrust wheel that the manipulator behavior of controller control manipulator welds point is placed on the positioner, clamp thrust wheel on the disk workbench of positioner, rotating box on the disk workbench of positioner, inverted box begins action, the thrust wheel that rotating box drives on the disk workbench rotates, inverted box tilts the disk workbench, so that thrust wheel obtains preferable soldering angle, the bonding machine people starting the arc meanwhile begins the slit between the inwall of the slit between two web centre bore edges and the internal axle sleeve outer wall and two web outward flanges and outer ring is welded, after welding is finished, welding robot and positioner reset, manipulator behavior rotates to positioner, mechanical arm recurs to the thrust wheel that single-sided welding is finished, mechanical arm is rotating 180 degree simultaneously on revolution is supported under the driving of rotating mechanism, single-sided welding is finished facing down that thrust wheel welded, welding does not face up, manipulator rotates to the transfer table place again, mechanical arm elevating mechanism do with under descend and pass transfer table section opening, the thrust wheel that single-sided welding is finished is placed on the transfer table, manipulator continues action makes mechanical arm lay out from the transfer table below, mechanical arm rises and rotates on revolution is supported, come back to the thrust wheel top that single-sided welding is finished on the transfer table, mechanical arm begins again to descend and grasps the thrust wheel that single-sided welding is finished, and the thrust wheel that single-sided welding is finished is re-applied on the positioner, restart above-mentioned welding process, after the welding of thrust wheel is finished, manipulator begins action again, and the thrust wheel that welding is good is put on the feed mechanism.Need artificial operation in the traditional welding engineering thereby changed, in the whole welding procedure, the extraction of thrust wheel is all finished by manipulator the thrust wheel turn-over, time saving and energy saving, promoted welding efficiency, eliminate artificial potential safety hazard.
Description of drawings
Fig. 1 is a thrust wheel stereogram to be welded;
Fig. 2 is a thrust wheel explosive view to be welded;
Fig. 3 is the utility model stereogram assembly drawing;
Fig. 4 welding robot stereogram;
Fig. 5 is the three-dimensional installation diagram of manipulator;
Fig. 6 be manipulator vertically partly cut open schematic diagram;
Fig. 7 is the front view of manipulator;
Fig. 7-the 1st, manipulator explosive view one;
Fig. 7-the 2nd, manipulator explosive view two;
Fig. 8 is the solid dress signal figure one of positioner;
Fig. 8-the 1st, the solid assembling schematic diagram two of positioner;
Fig. 9 is the front view of positioner;
Figure 10 be positioner vertically partly cut open schematic diagram;
Figure 11 is the three-dimensional installation diagram of feed mechanism;
Figure 12 is the front view of feed mechanism;
Figure 13 is the left view of feed mechanism;
Figure 14 is the vertical view of feed mechanism;
Figure 15 is the three-dimensional installation diagram of a welding stage;
Figure 16 is the front view of a welding stage;
Figure 17 is the vertical view of a welding stage;
Figure 18 is the stereogram of transfer table.
The specific embodiment
A kind of embodiment that the utility model that above-mentioned accompanying drawing provides is preferable below is elaborated:
As shown in Figure 3, a kind of thrust wheel welding robot of the utility model equipment comprises welding robot 1, two positioners 2, manipulator 3, transfer table 4 and controllers (figure does not go out); Controller control welding robot 1, positioner 2, manipulator 3 work; Welding robot 1, manipulator 3, transfer table 4 are around positioner 2 periphery; Above-mentioned welding robot 1, positioner 2, manipulator 3 are fixed on the same support 10, and above-mentioned welding robot 1, positioner 2, manipulator 3 also can fix on the ground separately, as long as mutually near working.
As shown in Figure 3, Figure 4, above-mentioned welding robot adopts the ABB robot, the ABB robot is a kind of common robot welder in the welding equipment, it mainly comprises body 11, interlock arm 12, welding gun 13 compositions, interlock arm 12 expanding-contracting actions, can make welding gun 13 near or leave the thrust wheel 8 of required welding.
Shown in Fig. 3, Fig. 5, Fig. 6, Fig. 7, Fig. 7-1, Fig. 7-2, above-mentioned manipulator 3 comprises bearing 31, chassis 32, mechanical arm 33, thrust wheel internal axle sleeve anchor clamps 34, revolution support 35, elevating mechanism 36, rotating mechanism 37, rotating mechanism 38; Manipulator 3 is connected and fixed on support 10 by its chassis 32.
Move on support 10 by travel mechanism 39 on above-mentioned chassis 32, and above-mentioned travel mechanism 39 comprises servomotor 391, pinion 392, tooth bar 394, guide rail 395, gathering sill 396; Servomotor 391 rotating shafts are pinion 392 fixedly, servomotor 391, gathering sill 396 are fixed on the chassis 32, tooth bar 394, guide rail 396 are fixed on the bearing 31, servomotor 391 rotates by the engagement of pinion 392 with tooth bar 394, and gathering sill 396 moves on support 10 with the realization manipulator 3 that cooperates of guide rail 396.
Above-mentioned bearing 31 rotates on chassis 32 under rotating mechanism 38 drives, and rotating mechanism 38 comprises electric rotating machine 381, rotary pinion 382, swivel bearing 383; Rotary pinion 382 is fixed on the main shaft of electric rotating machine, electric rotating machine 381 is fixed on the bearing 31, the outer ring of swivel bearing 383 is fixed on the bearing 31, the inner ring of swivel bearing 383 is fixed on the chassis 32, the inner ring chamber wall of swivel bearing 383 is provided with the gear teeth 384, electric rotating machine 381 rotates by rotary pinion 382 and the gear teeth 384 engagements and realize that manipulator 33 rotates on chassis 32, thereby realizes mechanical arm 33 conversion back and forth between positioner 1 and transfer table 4.
Above-mentioned revolution support 35 under elevating mechanism 36 drives on bearing 31 lifting moving; Elevating mechanism 36 comprises lifting motor 361, trapezoidal screw 362, shaft coupling 363, slide rail 364, chute 365, lifting motor 361 is fixed on the top of bearing 31, trapezoidal screw 362 is fixed in the rotating shaft of lifting motor 361, shaft coupling 363 is fixed on revolution and supports on 35, chute 365 is fixed on bearing 31 both sides, slide rail 364 is fixing with revolution support 35, and lifting motor 361 rotates by engagement realization mechanical arm 33 on bearing 31 lifting moving of trapezoidal screw 362 with shaft coupling 363.
Above-mentioned mechanical arm 33 1 ends are thrust wheel internal axle sleeve anchor clamps 34 fixedly, and the other end supports 35 rotations with revolution and connects, and mechanical arm 33 rotates on revolution is supported under rotating mechanism 37 drives; Rotating mechanism 37 comprises rotary electric machine 371, rotation pinion 372, rolling bearing 373; Rotation pinion 372 is fixed on the main shaft of rotary electric machine 371, rotary electric machine 371 is fixed on the bearing 31, the outer ring of rolling bearing 373 is fixed on revolution and supports on 35, the inner ring of rolling bearing 373 is fixed on the mechanical arm 33, the inner ring chamber wall of rolling bearing 373 is provided with the gear teeth 374, and rotary electric machine 371 rotates by rotation pinion 372 and the gear teeth 374 engagements and realizes that mechanical arms 33 support rotation on 35 in revolution.
Above-mentioned thrust wheel internal axle sleeve anchor clamps 34 comprise cylinder 341, expansion sleeve 342, taper pull bar 343; Cylinder 341 bodies are fixed on the mechanical arm 33, expansion sleeve 342 1 end tube arms are branched into expansion piece, the other end also is fixed on the mechanical arm 33, and taper pull bar 343 passes expansion sleeve 342 and connects with cylinder 341 piston rods, and the conical surface of taper pull bar 343 is against expanding six.
As Fig. 3, Fig. 8, Fig. 8-1, Fig. 9, shown in Figure 10, above-mentioned positioner 2 is fixed on the support 10 by its base 27, and described positioner 2 comprises disk workbench 21, rotating box 24, inverted box 26, base 27; Described disk workbench 21 is fixed on the main shaft of rotating box 24 242, disk workbench 21 is provided with the anchor clamps 22 and the filler strip 23 of clamping thrust wheel, rotating box 24 has set up on the base 27 by back shaft 25, and inverted box 26 is fixed on the base 27, is transmitted in back shaft 25 and rotates on base 27.
Above-mentioned rotating box 24 comprises casing 241, main shaft 242, worm screw 243, worm gear 244, motor 247; Motor 247 is fixed on casing 241 belows, save the space to utilize, therefore increased transition worm screw 245, transition worm gear 246, worm screw 243 is positioned at casing 248 and is fixed on the main shaft of motor 247, on fixing 248 the transition worm screw 245 in casing of worm gear 244, transition worm gear 246 is fixed on the main shaft 242, main shaft 242 is rotatably connected on the case 241, main shaft 242 1 ends are positioned at casing 241, the other end stretches out outside the casing and connects with the center of disk workbench 21, thereby electronic 247 rotations are rotated on casing 241 by worm screw 243 and the engagement of worm gear 244 and the engagement drive main shaft 242 of transition worm screw 245 and transition worm gear 246, and the moving disk workbench 21 of main shaft 242 rotation biobelts rotates.
Above-mentioned inverted box 26 comprises upset servomotor 261, upset pinion 262, and half gear 263 overturns; Upset servomotor 261 is fixed on the base 27, upset pinion 262 is fixed on the main shaft of upset servomotor 261, half gear 263 that overturns is fixed on the back shaft 25, upset servomotor 261 rotates by the pinion 262 that overturns and drives back shaft 25 rotations with 263 engagements of upset half gear, the rotation of back shaft 25 drives flipping an angle of rotating box 24 again, thereby realize being skewed when disk workbench 21 is worked on base 27, contact with welding gun 13 so that thrust wheel 8 obtains preferable angle.
As Fig. 3, shown in Figure 180, above-mentioned transfer table 4 comprises support 43, conversion table top 42, conversion table top 42 middle parts are the section 41 of an opening, the opening of this section 41 is towards the bearing 31 of manipulator 3, the extended distance of this section 41 is less than outer ring 81 diameters of thrust wheel 8 width greater than mechanical arm 33, so mechanical arm 33 can pass through from the opening of section 41, thereby thrust wheel 8 can be placed on the conversion table top 42.
As Fig. 3, Figure 11, Figure 12, Figure 13, shown in Figure 14, the upper and lower material of thrust wheel also is provided with feed mechanism 6 on the next door of above-mentioned manipulator 3 for convenience, and above-mentioned feed mechanism 6 comprises material loading conveying mechanism 61 and blanking conveying mechanism 62.
Above-mentioned material loading conveying mechanism 61 mainly is made up of cylinder 611, bearing 613, sensor 614, link stopper 615, gripper shoe 616 and frame 612; Cylinder 611 axises hold 613 rotations and are fixed on side by side on the frame 612, gripper shoe 616 is fixed on the end of frame 612, link stopper 615 is V-shape, the opening of V-shape link stopper 615 is towards cylinder 611, sensor 614 is fixed on the opening arm face of V-shape link stopper 615, described material loading conveying mechanism 61 also can be dynamic conveying mechanism for unpowered conveying mechanism, is mainly used in the position to manipulator 3 of thrust wheel 8 in the weldering process that point is welded and carries; Because its participation has alleviated workman's material loading labour intensity greatly.
Above-mentioned blanking conveying mechanism 62 mainly is made up of cylinder 621, bearing 623, frame 622; Cylinder 621 axises hold 623 rotations and are fixed on side by side on the frame 622, described blanking conveying mechanism 62 also can be dynamic conveying mechanism for unpowered conveying mechanism, be mainly used in the thrust wheel 8 that welding is finished and be transported to next process, because the participation of blanking conveying mechanism 62 has alleviated imperial material labour intensity of workman greatly.
The place ahead of above-mentioned feed mechanism 6 is provided with thrust wheel spot welding workbench 7, as Figure 15, Figure 16, shown in Figure 17, is mainly used in the assembly unit spot welding (non-this case purpose is essential, does not launch narration) of thrust wheel.
For better safety of protecting the workman, safe fence 9 fences up welding robot 1, positioner 2, manipulator 3, transfer table 4, support 10 three partss, another evolution is placed with material loading conveying mechanism 61 and blanking conveying mechanism 62 respectively, described safe fence 9 is provided with hurdle wall 92 and safety door 91, all cover with iron plate the bottom of safety door 91, coffee-like acrylic plate is adopted on top, the sensor (not shown) is installed on the bottom of safety door 91, in case safety door 91 is opened, welding robot 1 just quits work, and has guaranteed workman's handling safety.
The utility model course of work is as follows:
1, thrust wheel 8 is carried out spot welding, elder generation is with the outer ring 11 of thrust wheel 8, internal axle sleeve 12 and two blocks of webs 13 are placed on the welding stage 7 by the assembly of spot-welding technology order, finish and spot welding is carried out in the slit 14 between the inwall of the slit 15 between two blocks of webs, 13 centre bore edges and the internal axle sleeve outer wall and two web 13 outward flanges and outer ring fixed, after spot welding is finished, re-using cantilever hangs (user provides for oneself) thrust wheel 8 is lifted on the motorless material loading conveying mechanism 61, promote thrust wheel 8 manually and arrive V-shape link stopper 615 places, judge by sensor 614 whether thrust wheel arrives mechanical arm 33 operating positions.
2, thrust wheel 8 is put positioner 2, sensor 614 is judged the thrust wheel that a little welds and is arrived mechanical arm 33 operating positions, electric rotating machine 381 rotates by rotary pinion 382 and the gear teeth 384 engagements and realize that manipulator 33 rotates on chassis 32 in the manipulator 3, thereby thrust wheel 8 tops that mechanical arm 33 is arrived on the V-shape link stopper 615, lifting motor 361 actions of elevating mechanism 36 in the manipulator 3 simultaneously, move down on bearing 31 by the engagement driving device arm 33 of trapezoidal screw 362 with shaft coupling 363, when mechanical arm 33 drops to desired location, the expansion sleeve 342 of thrust wheel internal axle sleeve anchor clamps 34 just is set in the internal axle sleeve 82 of thrust wheel 8 on the mechanical arm 33, cylinder 341 actions swell expansion sleeve 342 against expansion piece by the conical surface of taper pull bar 343, thereby clamp thrust wheel 8.
Lifting motor 361 actions of elevating mechanism 36 then, move up on bearing 31 by the engagement driving device arm 33 of trapezoidal screw 362 with shaft coupling 363, electric rotating machine 381 actions simultaneously, rotate by rotary pinion 382 and the gear teeth 384 engagements by rotary pinion 382 and electric rotating machine 381 and to realize that manipulators 33 realize that in rotation on the chassis 32 manipulator 3 rotates on chassis 31, thereby make mechanical arm 33 arrive the top of the disk workbench 21 of positioner 2, the lifting motor 361 of elevating mechanism 36 moves again, engagement driving device arm 33 by trapezoidal screw 362 and shaft coupling 363 is on the filler strip 23 that moves down the disk workbench 21 that thrust wheel is placed on positioner 2 on the bearing 31, cylinder 341 moves again and leaves expansion piece by the conical surface that promotes taper pull bar 343, expansion sleeve 342 resets, thereby unclamp thrust wheel 8, manipulator 3 is got back to the home position.
3, to thrust wheel 8 single-sided weldings: anchor clamps 22 actions of the thrust wheel on the disk workbench 21 clamp thrust wheels 8, servomotor 261 actions of overturning this moment drive back shaft 25 by upset pinion 262 with 263 engagements of upset half gear and rotate, the rotation of back shaft 25 drives flipping an angle of rotating box 24 again and reaches when being allocation, robot body 11 actions, from welding gun 13 is moved to weld seam 84, thereby meanwhile electronic 247 rotations are rotated on casing 241 by worm screw 243 and the engagement of worm gear 244 and the engagement drive main shaft 242 of transition worm screw 245 and transition worm gear 246, main shaft 242 rotates the moving disk workbench 21 of biobelt and rotates, while welding gun 13 starting the arc welded seam 84, after weld seam 84 welding are finished, robot body 11 moves again, welding gun 13 is moved to weld seam 85 places to be welded, after weld seam 85 welding are finished, welding robot 1 and positioner 2 reset, and promptly finish the single-sided welding operation of thrust wheel 8.
4, the thrust wheel 8 that single-sided welding is finished carries out the turn-over welding: mechanical arm 33 comes back to the place, top of the disk workbench 21 of positioner 2, thrust wheel 8 is picked up in anchor clamps 22 actions by thrust wheel, while rotating mechanism 37 comprises that rotary electric machine 371 actions are meshed with rotary fluted disc 373 by rotation pinion 372 and thereby rotation slot 374 supports rotation upset thrust wheel 8 on 35 with the realization mechanical arm 33 that cooperates that rotates guide rail 375 in revolution, good that of thrust wheel 8 welding faced down, what welding was not good faces up, rotating mechanism 38 electric rotating machines 381 actions meanwhile cooperate realization manipulator 3 to rotate on chassis 31 by rotary pinion 382 with 383 engagements of rotation fluted disc and swivelling chute 384 with rotary rail 385, thereby make mechanical arm 33 arrive the top of transfer table 4, mechanical arm 33 descends and passes through from the opening of the section 41 of transfer table 4, thereby thrust wheel 8 can be placed on the conversion table top 42, mechanical arm turns back original position then, again grasp thrust wheel on the transfer table 4, and under travel mechanism's 39 actions, manipulator 2 moves on another positioner 2, by the mode in the above-mentioned operation 2 thrust wheel 8 of turn-over is placed on another positioner 2, carry out the in addition welding of one side, the horn arm was returned to original position again the thrust wheel 8 of another spot welding was placed on the untapped positioner 2 this moment.
5, the thrust wheel of welding being finished 8 is driven material, after thrust wheel 8 welding are finished, bonding machine human body 11 is moving, welding gun 12 is moved the thrust wheel that on the positioner 2 of going up honest material point is welded to be welded, manipulator 2 will move wheel 8 place of having welded again, the thrust wheel 8 that has welded picked up be put on the blanking conveying mechanism 62, enter next operation.
Use of the present utility model has changed needs artificial operation to the thrust wheel turn-over in the traditional welding engineering, in the whole welding procedure, extraction to thrust wheel is all finished by manipulator, time saving and energy saving, promoted welding efficiency, elimination is to artificial potential safety hazard, and the utility model can also satisfy the thrust wheel welding requirements of diversification to satisfying the different thrust wheel welding of size specification.
Claims (10)
1, a kind of thrust wheel welding robot equipment is characterized in that: comprise welding robot, at least one positioner, manipulator, transfer table and controller; Controller control welding robot, positioner, manipulator work; Welding robot, manipulator, transfer table are around the positioner periphery; Positioner comprises disk workbench, rotating box, inverted box, base, described disk stationary table is on the main shaft of rotating box, the disk workbench is provided with the anchor clamps of clamping thrust wheel, rotating box is provided with on the base by support bracket, inverted box is fixed on the base, is transmitted in back shaft and rotates on base; Described manipulator comprises bearing, chassis, mechanical arm, thrust wheel internal axle sleeve anchor clamps, revolution support, elevating mechanism, rotating mechanism, rotating mechanism, mechanical arm one end is thrust wheel internal axle sleeve anchor clamps fixedly, the other end supports to rotate with revolution and connects, and manipulator rotates on revolution is supported under rotating mechanism drives; Revolution is supported on elevating mechanism and drives lifting moving on bearing down; Bearing rotates on the chassis under rotating mechanism drives, realize mechanical arm conversion back and forth between positioner and transfer table, described transfer table middle part is the section of an opening, the opening of this section is towards the bearing of manipulator, and the extended distance of this section is less than the race diameter of the thrust wheel width greater than mechanical arm.
2, thrust wheel welding robot equipment as claimed in claim 1, it is characterized in that: above-mentioned welding robot, positioner, manipulator are fixed on the same support.
3, thrust wheel welding robot equipment as claimed in claim 1 is characterized in that: described welding robot comprises body, interlock arm, welding gun; Interlock arm expanding-contracting action, drive welding gun near or leave the thrust wheel of required welding.
4, thrust wheel welding robot equipment as claimed in claim 1, it is characterized in that: described manipulator is connected and fixed on support by its chassis, move on support by travel mechanism on the chassis, and above-mentioned travel mechanism comprises servomotor, pinion, tooth bar, guide rail, gathering sill; The servomotor rotating shaft is pinion fixedly, and servomotor, gathering sill are fixed on the chassis, and tooth bar, guide rail are fixed on the support, and by the engagement of pinion and tooth bar, gathering sill moves on bearing with the realization manipulator that cooperates of guide rail.
5, thrust wheel welding robot equipment as claimed in claim 1, it is characterized in that: rotating mechanism comprises electric rotating machine, rotary pinion, swivel bearing; Rotary pinion is fixed on the main shaft of electric rotating machine, electric rotating machine is fixed on the bearing, the outer ring of swivel bearing is fixed on the bearing, the inner ring of swivel bearing is fixed on the chassis, the inner ring chamber wall of swivel bearing is provided with the gear teeth, and electric rotating machine rotates by rotary pinion and gear teeth meshing and realize that manipulator rotates on the chassis; Elevating mechanism comprises lifting motor, trapezoidal screw, shaft coupling, slide rail, chute, lifting motor is fixed on the top of bearing, trapezoidal screw is fixed in the rotating shaft of lifting motor, shaft coupling is fixed on revolution and supports, chute is fixed on the bearing both sides, slide rail is realized mechanical arm lifting moving on bearing with revolution support fixation, the engagement that lifting motor rotates by trapezoidal screw and shaft coupling; Rotating mechanism comprises rotary electric machine, rotation pinion, rolling bearing; Rotation pinion is fixed on the main shaft of rotary electric machine, rotary electric machine is fixed on the bearing, the outer ring of rolling bearing is fixed on revolution and supports, the inner ring of rolling bearing is fixed on the mechanical arm, the inner ring chamber wall of rolling bearing is provided with the gear teeth, and rotary electric machine rotates by rotation pinion and gear teeth meshing and realize that mechanical arm rotates on revolution is supported.
6, thrust wheel welding robot equipment as claimed in claim 1, it is characterized in that: thrust wheel internal axle sleeve anchor clamps comprise cylinder, expansion sleeve on the above-mentioned mechanical arm, the taper pull bar; Cylinder body is fixed on the mechanical arm, and expansion sleeve one end tube arm is branched into expansion piece, and the other end also is fixed on the mechanical arm, and the taper pull bar passes expansion sleeve and connects with cylinder piston rod, and the conical surface of taper pull bar is against expansion piece.
7, thrust wheel welding robot equipment as claimed in claim 1, it is characterized in that: described rotating box comprises casing, main shaft, worm screw, worm gear, motor; Main shaft is rotatably connected on the case, and main shaft one end is positioned at casing, and the other end stretches out outside the casing, motor is fixed on the casing, worm screw is fixed on the main shaft of motor, and on the main shaft in casing that worm gear is fixed, electronic rotation is rotated on casing by the engagement drive main shaft of worm and wheel.
8, thrust wheel welding robot equipment as claimed in claim 1 is characterized in that: described inverted box comprises upset servomotor, upset pinion, and half gear overturns; The upset servomotor is fixed on the base, the upset pinion is fixed on the main shaft of upset servomotor, half gear that overturns is fixed on the back shaft, the upset servomotor rotates the pinion that passes through to overturn and drives the back shaft rotation with upset half gears engaged, the rotation of back shaft drives the rotating box upset again, thereby realizes that the disk workbench is skewed on a base.
9, thrust wheel welding robot equipment as claimed in claim 1, it is characterized in that: the next door of described manipulator also is provided with feed mechanism.
10, thrust wheel welding robot equipment as claimed in claim 9, it is characterized in that: the place ahead of above-mentioned feed mechanism is provided with thrust wheel spot welding workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201363242U CN201342671Y (en) | 2009-01-09 | 2009-01-09 | Robot device for welding for thrust wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201363242U CN201342671Y (en) | 2009-01-09 | 2009-01-09 | Robot device for welding for thrust wheels |
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| CN201342671Y true CN201342671Y (en) | 2009-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009201363242U Expired - Lifetime CN201342671Y (en) | 2009-01-09 | 2009-01-09 | Robot device for welding for thrust wheels |
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| CN (1) | CN201342671Y (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601535A (en) * | 2012-03-13 | 2012-07-25 | 广州永日电梯有限公司 | Welding method for car bottom of elevator based on welding robot |
| CN102848109A (en) * | 2012-10-19 | 2013-01-02 | 诸城盛丰气动设备有限公司 | Machine for welding border angle steel and connection sleeve of standard section of tower crane |
| CN103358080A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Robot welding device |
| CN103358081A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Swing arm bi-rotation robot welding device |
| CN103753061A (en) * | 2013-12-25 | 2014-04-30 | 安徽好运机械有限公司 | Machining method for forklift fork arm carrier |
| CN104858586A (en) * | 2015-06-09 | 2015-08-26 | 杨帆 | Numerical control welding machine |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN106077865A (en) * | 2016-08-01 | 2016-11-09 | 昆山土山***件有限公司 | A kind of welder of thrust wheel |
| CN107138885A (en) * | 2017-06-19 | 2017-09-08 | 山东泰开机器人有限公司 | The welding robot system welded applied to oil tank of transformer bellows wall and skeleton |
| CN107309516A (en) * | 2017-07-04 | 2017-11-03 | 漳州立达信光电子科技有限公司 | A kind of stitch welding machine and its automatic spot welding method |
| CN108637709A (en) * | 2016-03-31 | 2018-10-12 | 泉州市华茂机械设备有限公司 | A kind of improved thrust wheel side cover processing roll-over table |
| CN109530983A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot welding system and welding method |
| CN112894086A (en) * | 2021-04-13 | 2021-06-04 | 郑州越达科技装备有限公司 | Three-eccentric valve welding system based on welding robot |
| CN114147601A (en) * | 2021-12-27 | 2022-03-08 | 山推工程机械股份有限公司 | Turbine machining manipulator assembly and machining unit thereof |
| WO2024103839A1 (en) * | 2022-11-18 | 2024-05-23 | 徐州徐工履带底盘有限公司 | Track roller welding and positioning tool, welding system, and welding method |
-
2009
- 2009-01-09 CN CNU2009201363242U patent/CN201342671Y/en not_active Expired - Lifetime
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601535A (en) * | 2012-03-13 | 2012-07-25 | 广州永日电梯有限公司 | Welding method for car bottom of elevator based on welding robot |
| CN102848109A (en) * | 2012-10-19 | 2013-01-02 | 诸城盛丰气动设备有限公司 | Machine for welding border angle steel and connection sleeve of standard section of tower crane |
| CN103358080A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Robot welding device |
| CN103358081A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Swing arm bi-rotation robot welding device |
| CN103753061A (en) * | 2013-12-25 | 2014-04-30 | 安徽好运机械有限公司 | Machining method for forklift fork arm carrier |
| CN103753061B (en) * | 2013-12-25 | 2015-07-15 | 安徽好运机械有限公司 | Machining method for forklift fork arm carrier |
| CN104858586A (en) * | 2015-06-09 | 2015-08-26 | 杨帆 | Numerical control welding machine |
| CN104858586B (en) * | 2015-06-09 | 2017-08-08 | 杨帆 | Numerical control bonding machine |
| CN108637709A (en) * | 2016-03-31 | 2018-10-12 | 泉州市华茂机械设备有限公司 | A kind of improved thrust wheel side cover processing roll-over table |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN105855769B (en) * | 2016-06-08 | 2019-06-25 | 江门金力五金实业有限公司 | A kind of Intelligent welding robot |
| CN106077865A (en) * | 2016-08-01 | 2016-11-09 | 昆山土山***件有限公司 | A kind of welder of thrust wheel |
| CN107138885A (en) * | 2017-06-19 | 2017-09-08 | 山东泰开机器人有限公司 | The welding robot system welded applied to oil tank of transformer bellows wall and skeleton |
| CN107138885B (en) * | 2017-06-19 | 2023-01-24 | 山东泰开电力电子有限公司 | Welding robot system applied to welding of corrugated wall and framework of transformer oil tank |
| CN107309516A (en) * | 2017-07-04 | 2017-11-03 | 漳州立达信光电子科技有限公司 | A kind of stitch welding machine and its automatic spot welding method |
| CN107309516B (en) * | 2017-07-04 | 2022-12-09 | 漳州立达信光电子科技有限公司 | Automatic spot welding machine and automatic spot welding method thereof |
| CN109530983A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot welding system and welding method |
| CN112894086A (en) * | 2021-04-13 | 2021-06-04 | 郑州越达科技装备有限公司 | Three-eccentric valve welding system based on welding robot |
| CN114147601A (en) * | 2021-12-27 | 2022-03-08 | 山推工程机械股份有限公司 | Turbine machining manipulator assembly and machining unit thereof |
| CN114147601B (en) * | 2021-12-27 | 2023-08-08 | 山推工程机械股份有限公司 | Turbine machining manipulator assembly and machining unit thereof |
| WO2024103839A1 (en) * | 2022-11-18 | 2024-05-23 | 徐州徐工履带底盘有限公司 | Track roller welding and positioning tool, welding system, and welding method |
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Address after: 361000 Xiamen City, Fujian Province, Jinlong Road, Jimei District, No. 893 Patentee after: XIAMEN AEROSPACE SIERTE ROBOT SYSTEM CO.,LTD. Address before: 361000 Xiamen City, Fujian Province, Jinlong Road, Jimei District, No. 893 Patentee before: XIAMEN SIERT ROBOT SYSTEM Co.,Ltd. Address after: 361000 Xiamen City, Fujian Province, Jinlong Road, Jimei District, No. 893 Patentee after: XIAMEN SIERT ROBOT SYSTEM Co.,Ltd. Address before: 361000 Xiamen City, Fujian Province, Jinlong Road, Jimei District, No. 893 Patentee before: Xiamen Siert Robot System Co.,Ltd. |
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Granted publication date: 20091111 |
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