CN203265978U - Five-axis linkage welding mechanical hand - Google Patents
Five-axis linkage welding mechanical hand Download PDFInfo
- Publication number
- CN203265978U CN203265978U CN 201320269616 CN201320269616U CN203265978U CN 203265978 U CN203265978 U CN 203265978U CN 201320269616 CN201320269616 CN 201320269616 CN 201320269616 U CN201320269616 U CN 201320269616U CN 203265978 U CN203265978 U CN 203265978U
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Abstract
The utility model belongs to the field of welding devices and discloses a five-axis linkage welding mechanical hand which comprises X-axis, Y-axis and Z-axis horizontally-moving mechanisms. A fixing support is arranged on a Z-axis guiding track. A first servo motor and a hollow rotating mechanism are arranged on the fixing support. The hollow rotating mechanism comprises a shell body with a penetrating hole. A driving belt wheel and a driven belt wheel are arranged in the shell body through bearings. A through hole which shares the axis with the penetrating hole is formed in the center of the driven belt wheel. A rotating support is connected to the lower end face of the driven belt wheel. A rotating clamping block is connected to the lower end of the rotating support. A welding gun is clamped on the rotating clamping block. The rotating axis of the rotating clamping block is perpendicular to the axis of the through hole. A connecting cable of the welding gun penetrates through the through hole and is connected with the welding gun. During working, the first servo motor can drive the welding gun to rotate by 360 degrees, interference cannot happen between the cable and the fixing support, the fact that the service life of the cable is long can be guaranteed, and device working is reliable. The five-axis linkage welding mechanical hand can be used for numerical control welding machining of various workpieces.
Description
Technical field
The utility model relates to a kind of welding processing device, particularly a kind of welding manipulator of five-axle linkage.
Background technology
In prior art, a kind of 5-shaft linkage numerical control bonding machine is arranged, it adopts the CAD/CAM technology to set up the welding work pieces model, the specific solder joint sequence data of planning output, then using specific Machine kinematics formula carries out Coordinate Conversion and generates G code numerical control program file it, the specific weld spot data linkage of machine driven system five axles after according to this conversion with reach when optimizing the welding gun welding and solder joint between the position, guarantee that the welding product quality conformance is good, the advantages such as repeatable accuracy is high, and motion and power performance are good; Its machine driven system comprises that the rotating shaft composition of X, Y, Z axis traveling priority guide rail and two driving welding gun rotations occurs respectively three driving welding guns, welding gun is fixed therein on a rotating shaft, wherein the traveling priority guide rail can guarantee that any position translation occurs rotating shaft in working space, and the rotating shaft of two driving welding gun rotations can guarantee that welding gun rotates around solder joint, understand that this machine tool travel is large although write in this technological document, without the dead band, the advantage that versatility is good.Rotating shaft but still has following weak point: although can be done 360 ° of rotations, but the high voltage cable that connects welding gun but can interfere or rub with the fixing mechanism of rotating shaft in rotary course, to such an extent as to can not really realize 360 ° rotates freely, friction also easily causes the cable epidermis damaged, reduce voltage withstand class, shorten the cable life-span.
The utility model content
The purpose of this utility model is to provide a kind of five-axle linkage welding manipulator, makes 360 ° of rotations of welding gun energy, and between cable and support, nothing is interfered, to guarantee the cable long service life.
the purpose of this utility model is achieved in that a kind of five-axle linkage welding manipulator, comprise frame, be arranged with two X-axis guide rails on frame in parallel, be respectively equipped with the X-axis slide block on two X-axis guide rails, the X-axis slide block is fixed on two corresponding column lower ends, be fixed with the Y-axis guide rail between two column upper ends, the Y-axis guide rail is provided with the Y-axis slide block, Y-axis slide block and Z axis slide block fix, described Z axis slide block is arranged on the Z axis guide rail, on described Z axis guide rail, fixed support is installed, fixed support is provided with servomotor one and hollow rotating mechanism, described hollow rotating mechanism comprises the housing with through hole, through bearing, driving pulley and driven pulley are installed in housing, connect through toothed belt transmission between driving pulley and driven pulley, the output of servomotor one is connected with the active synchronization belt wheel, described driven pulley center is provided with the through hole with described through hole coaxial line, the axis of through hole parallels with Z axis, driven pulley is connected with runing rest on the lower surface, the lower end of runing rest is connected with the rotation fixture block that drives through servomotor two, welding gun clip is held on the rotation fixture block, the rotation of rotation fixture block is perpendicular to the through-bore axis setting, the connection cable of welding gun passes described through hole and is connected with welding gun.
During the utility model work, by corresponding numerical control transmission mechanism, can drive welding gun and move along X-axis, Y-axis, Z axis, this motion mode and structure are same as the prior art, in addition, servomotor one can drive 360 ° of rotations of welding gun, this rotation is that carry out at the center of coiling cable, not can and fixed support between produce to interfere, compared with prior art, the beneficial effects of the utility model are the cable long service life, and device work is more reliable.The utility model can be used for the numerical control welding processing of various workpiece.
For convenience of welding gun is locked, described rotation fixture block is provided with bellmouth, welding gun is inserted in described bellmouth, be provided with taper sheath between bellmouth and welding gun periphery, described taper sheath comprises conical surface section and thread segment, the periphery of conical surface section offers axial notch, the installation that is complementary of described conical surface section and bellmouth, and thread segment stretches out from the end of bellmouth and is connected with locking nut.By tightening locking nut, make the distortion of conical surface section compress welding gun, can guarantee that welding gun is fixing reliable, quick, simultaneously easy accessibility.
As further improvement of the utility model, described servomotor two is connected with the rotation fixture block through reducing gear.
Description of drawings
Fig. 1 is the utility model three-dimensional structure diagram.
Fig. 2 is top view of the present utility model.
Fig. 3 is the utility model dress figure of section.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the partial enlarged drawing of A in Fig. 3.
Wherein, 1X axis rail, 2 columns, 3Y axis rail, 4Y axle slide block, 5Z axle slide block, 6Z axis rail, 7 control cabinets, 8 fixed supports, 9 cables, 10 servomotor one, 11 runing rests, 12 servomotor two, 13 welding guns, 14 frames, 15 workpiece, 16 driving pulleys, 17 Timing Belts, 18 driven pulleys, 19 bearings, 20 rotation fixture blocks, 21 housings, 22 reducing gears, 23 locking nuts, 24 taper sheaths, 25 axial notch, 26 bellmouths.
The specific embodiment
as shown in the figure, be the five-axle linkage welding manipulator, comprise frame 14, control cabinet 7 is arranged on frame 14 sides, be arranged with two X-axis guide rails 1 on frame 14 in parallel, be respectively equipped with the X-axis slide block on two X-axis guide rails 1, the X-axis slide block is fixed on corresponding two column 2 lower ends, be fixed with Y-axis guide rail 3 between the upper end of two columns 2, Y-axis guide rail 3 is provided with Y-axis slide block 4, Y-axis slide block 4 fixes with Z axis slide block 5, Z axis slide block 5 is arranged on Z axis guide rail 6, fixed support 8 is installed on Z axis guide rail 6, X, Y, the servo control mechanism that moves through of Z axis is realized accurately controlling, fixed support 8 is provided with servomotor 1 and hollow rotating mechanism, hollow rotating mechanism comprises the housing 21 with through hole, housing 21 is interior is equipped with driving pulley 16 and driven pulley 18 through bearing 19, be in transmission connection through Timing Belt 17 between driving pulley 16 and driven pulley 18, the output of servomotor 1 is taken turns with active synchronization band 17 and is connected, driven pulley 18 centers are provided with the through hole with the through hole coaxial line, the axis of through hole parallels with Z axis, driven pulley is connected with runing rest 11 on 18 lower surfaces, the lower end of runing rest 11 is connected with the rotation fixture block 20 that drives through servomotor 2 12, welding gun 13 is clamped on rotation fixture block 20, the rotation O of rotation fixture block 20 is perpendicular to the through-bore axis setting, the stube cable 9 of welding gun 13 passes through hole and is connected with welding gun 13.Rotation fixture block 20 is provided with bellmouth 26, welding gun 13 is inserted in bellmouth 26, be provided with taper sheath 24 between bellmouth and welding gun 13 peripheries, taper sheath 24 comprises conical surface section and thread segment, the periphery of conical surface section offers axial notch 25, the installation that is complementary of conical surface section and bellmouth 26, thread segment are stretched out from the end of bellmouth 26 and are connected with locking nut 23.Servomotor 2 12 is connected with rotation fixture block 20 through reducing gear 22.
During work, control by control system the translational motion that welding gun is realized X, Y, Z axis, welding gun can also under the drive of servomotor one and servomotor two, around orthogonal two axis rotation, be realized the accurate automatic welding to workpiece 15 in addition.
The utility model is not limited to above-described embodiment; on the basis of the disclosed technical scheme of the utility model; those skilled in the art is according to disclosed technology contents; do not need performing creative labour just can make some replacements and distortion to some technical characterictics wherein, these replacements and distortion are all in protection domain of the present utility model.
Claims (3)
1. five-axle linkage welding manipulator, comprise frame, be arranged with two X-axis guide rails on frame in parallel, be respectively equipped with the X-axis slide block on two X-axis guide rails, the X-axis slide block is fixed on two corresponding column lower ends, be fixed with the Y-axis guide rail between two column upper ends, the Y-axis guide rail is provided with the Y-axis slide block, Y-axis slide block and Z axis slide block fix, described Z axis slide block is arranged on the Z axis guide rail, it is characterized in that: on described Z axis guide rail, fixed support is installed, fixed support is provided with servomotor one and hollow rotating mechanism, described hollow rotating mechanism comprises the housing with through hole, through bearing, driving pulley and driven pulley are installed in housing, connect through toothed belt transmission between driving pulley and driven pulley, the output of servomotor one is connected with the active synchronization belt wheel, described driven pulley center is provided with the through hole with described through hole coaxial line, the axis of through hole parallels with Z axis, driven pulley is connected with runing rest on the lower surface, the lower end of runing rest is connected with the rotation fixture block that drives through servomotor two, welding gun clip is held on the rotation fixture block, the rotation of rotation fixture block is perpendicular to the through-bore axis setting, the connection cable of welding gun passes described through hole and is connected with welding gun.
2. five-axle linkage welding manipulator according to claim 1, it is characterized in that: described rotation fixture block is provided with bellmouth, welding gun is inserted in described bellmouth, be provided with taper sheath between bellmouth and welding gun periphery, described taper sheath comprises conical surface section and thread segment, the periphery of conical surface section offers axial notch, the installation that is complementary of described conical surface section and bellmouth, and thread segment stretches out from the end of bellmouth and is connected with locking nut.
3. five-axle linkage welding manipulator according to claim 2 is characterized in that: described servomotor two is connected with the rotation fixture block through reducing gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320269616 CN203265978U (en) | 2013-05-17 | 2013-05-17 | Five-axis linkage welding mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320269616 CN203265978U (en) | 2013-05-17 | 2013-05-17 | Five-axis linkage welding mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203265978U true CN203265978U (en) | 2013-11-06 |
Family
ID=49496467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320269616 Expired - Lifetime CN203265978U (en) | 2013-05-17 | 2013-05-17 | Five-axis linkage welding mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203265978U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104384775A (en) * | 2014-11-18 | 2015-03-04 | 无锡恒富科技有限公司 | Mobile support adjusting mechanism on mobile welding device |
| CN106041991A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Robot terminal hollow rotating structure |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
| CN112605579A (en) * | 2020-12-31 | 2021-04-06 | 兰州资源环境职业技术学院 | Multi-position numerical control welding machine |
| CN114682959A (en) * | 2022-05-17 | 2022-07-01 | 济南中船设备有限公司 | Automatic welding equipment for ship pin shaft |
-
2013
- 2013-05-17 CN CN 201320269616 patent/CN203265978U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104384775A (en) * | 2014-11-18 | 2015-03-04 | 无锡恒富科技有限公司 | Mobile support adjusting mechanism on mobile welding device |
| CN106041991A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Robot terminal hollow rotating structure |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
| CN112605579A (en) * | 2020-12-31 | 2021-04-06 | 兰州资源环境职业技术学院 | Multi-position numerical control welding machine |
| CN114682959A (en) * | 2022-05-17 | 2022-07-01 | 济南中船设备有限公司 | Automatic welding equipment for ship pin shaft |
| CN114682959B (en) * | 2022-05-17 | 2023-11-03 | 济南中船设备有限公司 | Automatic welding equipment for ship pin shafts |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131106 |
|
| CX01 | Expiry of patent term |