A kind of five degree of freedom movable welding welding fixture
Technical field:
The utility model relates to welding mechanical equipment technical field, is specifically related to a kind of five degree of freedom Mobile welding folder
Tool.
Background technology:
Weld jig is requisite technological equipment during extensive welding production, and it can ensure that the relative of welding
Position, to raising labour productivity, reduces work and produces intensity, and improving Mass accuracy aspect has considerable effect.Mesh
Before classify according to power source, can be largely classified into air-actuated jaw, electric fixture and hybrid power fixture.At present, existing
Fixture can only butt-welding fitting be fixed, it is impossible to carry out weldment and carry out overturning and moving, can only manually overturn, lean on other
Haulage equipment is carried, and workman may come to harm because of temperature at weld too high tumble in the case of careless, simultaneously existing
Some fixtures do not have protective plate, when welding, easily make workman come to harm, and existing fixture does not has scale plate,
When fixture breaks down, it is impossible to correct timely.
The patent No. " CN201510935152.5 " discloses a kind of radiator weld jig, including weld jig, welding
Fixture includes workbench, fixed plate, sliding panel, gripper shoe and hydraulic means, and workbench upper end is provided with fixed plate, described fixing
Plate is provided with scale plate, and fixed plate upper end is provided with the first slide rail, and the first slide rail is five groups, and fixed plate passes through five group of first slide rail and cunning
Dynamic plate connects, and sliding panel is two groups, and two groups of sliding panels are equipped with the second slide rail, and two groups of sliding panels pass through two group of second slide rail and cunning
Block connects, and slide block one end is provided with swingle, and gripper shoe is provided with the 3rd slide rail, and gripper shoe is by the 3rd slide rail with swingle even
Connect.This radiator weld jig is merely able to overturn workpiece, also cannot realize the carrying to workpiece.
Utility model content:
The purpose of this utility model is aiming at the deficiencies in the prior art, provides a kind of five degree of freedom Mobile welding folder
Tool, with solve in above-mentioned background technology propose problem, the utility model simple in construction, easy to operate, improve weld jig
Safety coefficient and quickening welding process, not only realize being fixedly clamped workpiece in welding process, moreover it is possible to carry out workpiece
Automatic transporting.
Technology solution of the present utility model is as follows:
A kind of five degree of freedom movable welding welding fixture, including walking mobile unit, five degree of freedom mobile unit, weld jig
Head, driving means and control cabinet, five degree of freedom mobile unit is positioned on walking mobile unit, and weld jig head and five is freely
Degree mobile unit connects, and control cabinet electrically connects with driving means, controls walking mobile unit and five degree of freedom mobile unit with this
Walking and movement, five degree of freedom mobile unit includes lift beam, and lift beam slidably connects lift slide, lift slide with
The lifting carriage of lift beam is completed by lifting tooth rack-and-pinion, and lift slide side is fixedly connected with first crossbeam, the
Slidably connecting the first slide block on one crossbeam, the traversing slip of first crossbeam and the first slide block is by the first traversing rack-and-pinion
Pair completes, and the bottom of the first slide block is fixedly connected with second cross beam, and second cross beam slidably connects the second slide block, and second is horizontal
The traversing slip of beam and the second slide block is completed by the second traversing rack-and-pinion, and the second slide block lower rotational is connected with rotation
Rotating shaft, rotary shaft is rotatably connected to swing arm, and swing arm is hinged with weld jig head.
Preferred as technique scheme, control cabinet includes PLC, inputting interface and ACK button, input
Interface can carry out dynamic parameter setting, and PLC receives the dynamic parameter via inputting interface input, according to dynamic parameter
Set value calculation walking mobile unit and the walking of five degree of freedom mobile unit and movement, ACK button is for moving to input
State parameter carries out confirming and changing.
Preferred as technique scheme, walking mobile unit includes gripper shoe, rotating seat and walking track, supports
Plate is square platy structure, and it is made up of steel plate, and the corner, bottom of gripper shoe is connected with four groups of road wheels, often group row by bearing
Travelling wheel all includes two road wheels side by side, and two road wheels side by side connect via power transmission shaft, and walking track is inverted T shape rail
Road, two road wheels often organizing road wheel ride in two stulls of inverted T shape track, and rotating seat is fixing on the supporting plate, rotates
Seat can rotate around own axes under the driving of rotating driving device.
Preferred as technique scheme, road wheel includes wheel body and the elastomer being nested in wheel body outer circumference,
Offering the groove mating with elastomer row in the outer circumference of wheel body, elastomer is fixed on outside road wheel by groove, bullet
The cross section of gonosome is circular, square or trapezoidal, and elastomer is the one in rubber, plastic cement or glass.
Preferred as technique scheme, the weld jig head being connected with five degree of freedom mobile unit can realize five sides
To with the movement of angle and rotation, improve the adaptability of weld jig head with this.
Preferred as technique scheme, weld jig head includes weld jig head body and gripping portions, weld clip
Tool head body includes column, and column is cylindrical-shaped structure, and the top circumferencial direction of column is evenly distributed with four hinged otic placodes,
Offering pin shaft hole on hinged otic placode, column bottom is connected with positioning disc, positioning disc is provided with and accommodates gripping portions
The position one_to_one corresponding of breach, breach and hinged otic placode, positioning disc bottom is provided with vavuum pump, and vavuum pump lower seal connects
There is vacuum cup.
Preferred as technique scheme, gripping portions includes opening and closing drive mechanism and jaw, and a jaw pairing sets
Putting an opening and closing drive mechanism, opening and closing drive mechanism is telescopic cylinder, and telescopic cylinder one end is hinged with hinged otic placode by bearing pin,
The other end is hinged with the connection otic placode of jaw upper end.
The beneficial effects of the utility model are: five degree of freedom Mobile welding clamp structure of the present utility model is simple,
Easy to operate, improve weld jig safety coefficient and quickening welding process, not only realize to workpiece in welding process
It is fixedly clamped, moreover it is possible to automatic transporting is carried out to workpiece.
Brief description:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of walking mobile unit;
Fig. 3 is the structural representation of weld jig head;
Fig. 4 is the structural representation of weld jig head body.
Detailed description of the invention:
Understandable in order to enable above-mentioned purpose of the present utility model, feature and advantage to become apparent from, right below in conjunction with the accompanying drawings
Detailed description of the invention of the present utility model is described in detail.
As it is shown in figure 1, five degree of freedom movable welding welding fixture includes walking mobile unit, five degree of freedom mobile unit, weldering
Welding fixture head the 3rd, driving means and control cabinet 4, five degree of freedom mobile unit is positioned on walking mobile unit, weld jig head
3 are connected with five degree of freedom mobile unit, and control cabinet electrically connects with driving means, control walking mobile unit and five degree of freedom with this
The walking of mobile unit and movement, five degree of freedom mobile unit includes lift beam 21, lift beam 21 slidably connects lifting sliding
Seat 22, lift slide 22 is completed by lifting tooth rack-and-pinion with the lifting carriage of lift beam 21, lift slide 22 side
It is fixedly connected with first crossbeam 26, first crossbeam 26 slidably connects the first slide block 23, first crossbeam 26 and the first slide block 23
Traversing slip completed by the first traversing rack-and-pinion, the bottom of the first slide block 23 is fixedly connected with second cross beam
27, second cross beam 27 slidably connects the second slide block 24, the traversing slip of second cross beam 27 and the second slide block 24 is by
Two traversing rack-and-pinions complete, and the second slide block 24 lower rotational is connected with rotary shaft, rotary shaft are rotatably connected to swing
Arm 25, swing arm 25 is hinged with weld jig head 3.
Control cabinet 4 includes PLC, inputting interface and ACK button, and inputting interface can carry out dynamic parameter setting,
PLC receives the dynamic parameter via inputting interface input, the set value calculation walking mobile unit according to dynamic parameter
Walking with five degree of freedom mobile unit and movement, ACK button is for carrying out confirming and changing to the dynamic parameter of input.
As shown in Figure 1, 2, mobile unit of walking includes gripper shoe the 14th, rotating seat 15 and walking track 11, gripper shoe 14
For square platy structure, it is made up of steel plate, and the corner, bottom of gripper shoe 14 is connected with four groups of road wheels 12 by bearing 13, often
Group road wheel 12 all includes two road wheels 12 side by side, and two road wheels 12 side by side connect via power transmission shaft, track of walking
For inverted T shape track, two road wheels often organizing road wheel 12 ride in two stulls of inverted T shape track, and rotating seat 15 is fixed on
In gripper shoe 14, rotating seat 15 can rotate around own axes under the driving of rotating driving device.
Road wheel 12 includes wheel body and the elastomer being nested in wheel body outer circumference, and the outer circumference of wheel body offers
The groove mating with elastomer row, elastomer is fixed on outside road wheel by groove, and the cross section of elastomer is circular, square
Or trapezoidal, elastomer is the one in rubber, plastic cement or glass.
The weld jig head 3 being connected with five degree of freedom mobile unit can realize movement and the rotation of five directions and angle,
Improve the adaptability of weld jig head 3 with this.
As shown in Figure 3-4, weld jig head 3 includes weld jig head body and gripping portions, weld jig head body bag
Including column 31, column 31 is cylindrical-shaped structure, and the top circumferencial direction of column 31 is evenly distributed with four hinged otic placodes 311,
Offering pin shaft hole on hinged otic placode 311, column 31 bottom is connected with positioning disc 32, and positioning disc 32 is provided with receiving folder
The breach 321 of claw portion, the position one_to_one corresponding of breach 321 and hinged otic placode 311, positioning disc 32 bottom is provided with vavuum pump
34, vavuum pump 34 lower seal is connected with vacuum cup 35.
Gripping portions includes opening and closing drive mechanism 334 and jaw 33, and jaw 33 pairing arranges opening and closing and drives machine
Structure 334, opening and closing drive mechanism 334 is telescopic cylinder, and telescopic cylinder one end is hinged with hinged otic placode 311 by bearing pin, the other end
Hinged with the connection otic placode 331 of jaw 33 upper end.
Described embodiment is in order to illustrative the utility model, not for restriction the utility model.Any this area
Described embodiment all can be modified by technical staff under spirit and the scope of the present utility model, therefore this practicality
Novel rights protection scope, should be as listed by claim of the present utility model.