CN215316506U

CN215316506U - Six-axis double-gun welding robot

Info

Publication number: CN215316506U
Application number: CN202121062763.0U
Authority: CN
Inventors: 聂国强; 吴迪; 潘胜
Original assignee: Shenyang Nissei Robot Technology Co ltd
Current assignee: Shenyang Nissei Robot Technology Co ltd
Priority date: 2021-05-18
Filing date: 2021-05-18
Publication date: 2021-12-28
Anticipated expiration: 2031-05-18

Abstract

The utility model relates to a six-axis double-gun welding robot, which belongs to the field of automatic welding equipment, adopts a rectangular coordinate structural form, a modular design, simple structure, low manufacturing cost, high operation precision and good stability, realizes automatic welding work, greatly shortens welding time, simultaneously adopts a double-station design, enables the robot to continuously weld during loading and unloading, and greatly improves the welding work efficiency of the robot, and comprises a welding machine box body, and is characterized in that the upper part of the welding machine box body is connected with an X-axis linear module, a sliding plate of the X-axis linear module is connected with a B shaft, a module upright post is fixedly connected with the B shaft, one side of the module upright post is fixedly connected with a Z-axis linear module, a sliding seat of the Z-axis linear module is connected with a sliding seat of a Y-axis linear module through a connecting plate, and the front side of the Y-axis linear module is connected with an A shaft, and a shaft C is connected below the shaft A through a welding gun anti-collision device.

Description

Six-axis double-gun welding robot

Technical Field

The utility model belongs to the field of automatic welding equipment, and particularly relates to a six-axis double-gun welding robot.

Background

With the rapid development of industrial automation technology, the application field of industrial robot welding is more and more extensive, and the industrial robot welding plays a significant role in modern production. The iron bed welding is an application field of industrial robot welding, along with the quantity of purchasing apartment iron beds such as schools, enterprises and public institutions constantly increases and the continuous improvement of export volume, the production demand and the quality requirement of modernization have been can not satisfied in traditional manual welding, be used for iron bed welded robot on the existing market mostly 6 joint welding robots of 2 meters of imported brand arm exhibition, its powerful, operation precision and stability are high, but the price is high, be suitable for accomplishing complicated welding task. And to the middle and small enterprise of this kind of simple structure spare of production iron bed, adopt imported joint welding robot to carry out welding production, not only can increase the operation cost of enterprise, make the operation environment of enterprise snow with frost in addition, still can cause the waste of joint welding robot function, and the 6 axle joint welding robot price of domestic arm exhibition 2 meters is lower than imported joint, but carries out big arm exhibition weldment work during, and stability is not good, influences welding quality. Meanwhile, the 6-axis joint robot is only provided with 1 welding gun, the improvement on the welding production efficiency is limited, a production enterprise urgently needs a high-efficiency automatic device capable of welding an iron bed, and the problem becomes a problem to be solved urgently in the development of the modern welding manufacturing process.

Disclosure of Invention

Aiming at the problems, the utility model makes up the defects of the prior art and provides a six-axis double-gun welding robot; the utility model adopts a rectangular coordinate structure, has a modular design, simple structure, low manufacturing cost, high operation precision and good stability, realizes automatic welding work, and ensures that the yield of the robot is high in the welding process; the robot adopts two welder to weld simultaneously, has shortened the welding time greatly, adopts the duplex position design simultaneously, makes the robot weld in succession when upper and lower unloading, increases substantially the welding work efficiency of robot.

In order to achieve the purpose, the utility model adopts the following technical scheme.

The utility model provides a six-axis double-gun welding robot, which comprises a welding machine box body and is characterized in that an X-axis linear module is connected to the upper part of the welding machine box body, a B axis is connected to a sliding plate of the X-axis linear module, a module upright post is fixedly connected to the B axis, a Z-axis linear module is fixedly connected to one side of the module upright post, a sliding seat of the Z-axis linear module is connected with a sliding seat of the Y-axis linear module through a connecting plate, an A axis is connected to the front side of the Y-axis linear module, a C axis is connected to the lower part of the A axis through a welding gun bumper, the C axis comprises a guide rail mounting plate, a bumper connecting plate is vertically connected to the upper rear part of the guide rail mounting plate, the bumper connecting plate is connected with the welding gun bumper, a motor mounting plate is arranged on the guide rail mounting plate, and a C-axis servo motor is arranged on the motor mounting plate, the C-axis servo motor is connected with a ball screw through a coupler, one end of the ball screw is connected with a bearing seat, the bearing seat is connected on the guide rail mounting plate through a mounting block, a nut of the ball screw is connected with the lifting hinge seat, the lifting hinge seat is connected with a slide block arranged on a longitudinal guide rail which is fixedly connected on the guide rail mounting plate, the two sides of the lifting hinge seat are both connected with connecting rods, the connecting rods are also connected with horizontal sliding blocks, the horizontal sliding blocks are also connected with sliding blocks on the transverse guide rails, the horizontal guide rail is also fixedly connected on the guide rail mounting plate, the horizontal sliding block is connected with a gun clamping rotating seat, the horizontal sliding block is connected with the clamping circular tube and fixed through the pressing plate, welding gun clamping seats are connected to the two ends of the clamping circular tube, and each welding gun is detachably arranged on each welding gun clamping seat.

Further, the B axle includes fixed mounting seat, fixed mounting seat with the sliding plate of X axle straight line module is connected, the upper portion of fixed mounting seat is connected with high-accuracy cavity speed reducer, the center of high-accuracy cavity speed reducer is connected with walks the spool, walk the inside cable of arranging of spool, the upper portion of high-accuracy cavity speed reducer is connected with the gyration seat, install B axle servo motor on the gyration seat, install output gear on B axle servo motor's the output shaft, the epaxial input gear that is provided with of high-accuracy cavity speed reducer, output gear with the input gear meshing.

Furthermore, a long hole is formed in the gun clamping rotary seat.

Further, a gland is arranged at the joint of the welding gun clamping seat and the welding gun.

The utility model has the beneficial effects.

The utility model adopts a rectangular coordinate structure form, and has high operation precision and good stability. The robot adopts two welding guns to weld simultaneously, and efficiently finishes automatic welding work; meanwhile, the double-station layout design is adopted, so that the robot can continuously weld, and the welding work efficiency of the robot is greatly improved.

Drawings

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the B-axis of the present invention.

FIG. 3 is a side view in half section of the B-axis of the present invention.

Fig. 4 is a schematic view of the C-axis of the present invention.

The labels in the figure are: 1 is an X-axis linear module, 2 is a Y-axis linear module, 3 is a Z-axis linear module, 4 is an A-axis, 5 is a B-axis, 6 is a C-axis, 7 is a welding machine box body, 8 is a welding gun bumper, 9 is a module upright post, 10 is a connecting plate, 11 is a B-axis servo motor, 12 is an output gear, 13 is a rotary seat, 14 is a high-precision hollow speed reducer, 15 is a wiring pipe, 16 is a fixed mounting seat, 17 is an input gear, 18 is a C-axis servo motor, and 19 is a motor mounting plate, 20 is a guide rail mounting plate, 21 is a bumper connecting plate, 22 is a mounting block, 23 is a bearing seat, 24 is a ball screw, 25 is a lifting hinge seat, 26 is a longitudinal guide rail, 27 is a connecting rod, 28 is a horizontal sliding block, 29 is a transverse guide rail, 30 is a gun clamping rotating seat, 31 is a clamping circular tube, 32 is a pressing plate, 33 is a welding gun clamping seat, 34 is a welding gun, 35 is a coupler, 36 is a long hole, and 37 is a gland.

Detailed Description

Combine as shown in the attached drawing 1, this embodiment includes welding machine box 7, the upper portion of welding machine box 7 is connected with X axle sharp module 1, be connected with B axle 5 on the sliding plate of X axle sharp module 1, fixedly connected with module stand 9 on the B axle 5, one side fixedly connected with Z axle sharp module 3 of module stand 9, be connected with the sliding seat of Y axle sharp module 2 through connecting plate 10 on the sliding seat of Z axle sharp module 3, the front side of Y axle sharp module 2 is connected by A axle 4, the below of A axle 4 is connected with C axle 6 through welder 34 bumper 8.

Wherein, X axle straight line module 1, Y axle straight line module 2 and Z axle straight line module 3 all include the same part to be the more conventional straight line module structure of prior art.

The X-axis linear module 1, the Y-axis linear module 2 and the Z-axis linear module 3 are all designed in a structural form that two high-precision linear guide rails are used as a guide mechanism, a precision ball screw 24 is used for transmission, and a servo motor is used for driving. The linear guide rail is installed in the left and right sides of ball 24, and ball 24 both ends installation bearing frame 23, servo motor pass through shaft coupling 35 with ball 24 and are connected, and servo motor drive ball 24 rotates, drives ball 24's screw and removes, screw and sliding plate fixed connection, and the sliding plate is connected with linear guide rail's slider simultaneously to realize sliding plate rectilinear movement.

The X-axis linear module 1 is a linear motion axis in the X direction, the stroke is 2100mm, the Y-axis linear module 2 is a linear motion axis in the Y direction, the stroke is 1200mm to 1700mm, the Z-axis linear module 3 is a linear motion axis in the Z direction, and the stroke is 600 mm.

The axis A is a rotating shaft for adjusting the angle of the welding gun, the adjusting angle is +/-180 degrees, and the integral structure of the axis A is the conventional structure. The servo motor is adopted for driving, the structure design of the transmission of the precise planetary reducer is adopted, the servo motor is axially connected with the planetary reducer, the planetary reducer is connected with the reducer mounting seat, and the reducer mounting seat is connected with the Y-axis linear module 2.

The B shaft 5 is a swing arm shaft for double-station switching welding, the adjusting angle is +/-360 degrees, and the structural design of servo motor driving and high-precision hollow speed reducer 14 transmission is adopted.

As shown in fig. 2, the B-axis 5 includes a fixed mounting base 16, the fixed mounting base 16 is connected to the sliding plate of the X-axis linear module 1, the upper portion of the fixed mounting base 16 is connected to a high-precision hollow speed reducer 14, the center of the high-precision hollow speed reducer 14 is connected to a cable routing pipe 15, a cable is arranged inside the cable routing pipe 15, and the cable routing pipe 15 has a protection effect on the cable.

The upper portion of high-accuracy hollow speed reducer 14 is connected with revolving bed 13, installs B axle servo motor 11 on revolving bed 13, installs output gear 12 on the output shaft of B axle servo motor 11, is provided with input gear 17 on the axle of high-accuracy hollow speed reducer 14, and output gear 12 meshes with input gear 17.

The B-axis servo motor 11 drives the output gear 12 to rotate, the output gear is meshed with the input gear 17 of the high-precision hollow speed reducer 14 to drive the output end of the high-precision hollow speed reducer 14 to rotate, the fixed mounting seat 16 is driven to rotate, the fixed mounting seat 16 is fixedly connected to the sliding plate of the X-axis linear module 1 and cannot rotate, and the rotary seat 13 rotates to drive the upper Y-axis linear module 2, the Z-axis linear module 3, the A shaft 4 and the C shaft 6 to rotate, so that the swing arm function of the robot is realized, double-station switching welding is completed, the structural design can effectively save the structural size space of equipment, the double-station switching time is reduced, and the working efficiency of the robot is improved.

As shown in fig. 3, the C-shaft 6 includes a guide rail mounting plate 20, a bumper connecting plate 21 is vertically connected to the rear upper side of the guide rail mounting plate 20, the bumper connecting plate 21 is connected to the welding gun bumper 8, a motor mounting plate 19 is disposed on the guide rail mounting plate 20, a C-shaft servo motor 18 is disposed on the motor mounting plate 19, the C-shaft servo motor 18 is connected to a ball screw 24 through a coupling 35, one end of the ball screw 24 is connected to a bearing seat 23, the bearing seat 23 is connected to the guide rail mounting plate 20 through a mounting block 22, a nut of the ball screw 24 is connected to a lifting hinge seat 25, the lifting hinge seat 25 is connected to a slider disposed on a longitudinal guide rail 26, the longitudinal guide rail 26 is fixedly connected to the guide rail mounting plate 20, both sides of the lifting hinge seat 25 are connected to connecting rods 27, the connecting rods 27 are further connected to horizontal sliders 28, the horizontal sliders 28 are further connected to sliders on a transverse guide rail 29, the transverse guide rail 29 is also fixedly connected to the guide rail mounting plate 20, the horizontal slide block 28 is connected with a gun clamping rotating base 30, the gun clamping rotating base 30 is provided with an elongated hole 36, and the elongated hole 36 is used for adjusting the welding angle of the welding gun 34.

Horizontal sliding block 28 is connected with centre gripping pipe 31 and is fixed through clamp plate 32, and the both ends of centre gripping pipe 31 all are connected with welder grip slipper 33, and detachably is provided with welder 34 on every welder grip slipper 33, totally two welder 34, and welder grip slipper 33 is provided with gland 37 with welder 34 junction, and two welder 34 intervals and welding angle are adjusted manually when debugging through unclamping and pressing from both sides tight gland 37.

Therefore, the C-axis servo motor 18 drives the ball screw 24 to rotate, the nut of the ball screw 24 generates linear movement to drive the lifting hinge seat 25 to move up and down, the two horizontal sliding blocks 28 are close to or separated from each other through the connecting rod 27, the distance between the two welding guns 34 is adjusted, the welding requirements on welding seams with different widths on an iron bed can be effectively met, and the welding production efficiency is improved.

It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the utility model.

Claims

1. A six-axis double-gun welding robot comprises a welding machine box body (7) and is characterized in that the upper portion of the welding machine box body (7) is connected with an X-axis linear module (1), a B axis (5) is connected onto a sliding plate of the X-axis linear module (1), a module upright post (9) is fixedly connected onto the B axis (5), a Z-axis linear module (3) is fixedly connected onto one side of the module upright post (9), a sliding seat of the Z-axis linear module (3) is connected with a sliding seat of a Y-axis linear module (2) through a connecting plate (10), an A axis (4) is connected onto the front side of the Y-axis linear module (2), a C axis (6) is connected onto the lower portion of the A axis (4) through a welding gun anti-collision device (8), the C axis (6) comprises a guide rail mounting plate (20), and an anti-collision device connecting plate (21) is vertically connected onto the rear upper portion of the guide rail mounting plate (20), the welding gun anti-collision device is characterized in that the anti-collision device connecting plate (21) is connected with the welding gun anti-collision device (8), a motor mounting plate (19) is arranged on the guide rail mounting plate (20), a C-axis servo motor (18) is arranged on the motor mounting plate (19), the C-axis servo motor (18) is connected with a ball screw (24) through a coupler (35), one end of the ball screw (24) is connected with a bearing seat (23), the bearing seat (23) is connected onto the guide rail mounting plate (20) through a mounting block (22), a nut of the ball screw (24) is connected with a lifting hinge seat (25), the lifting hinge seat (25) is connected with a sliding block arranged on a longitudinal guide rail (26), the longitudinal guide rail (26) is fixedly connected onto the guide rail mounting plate (20), connecting rods (27) are connected to two sides of the lifting hinge seat (25), the connecting rods (27) are further connected with horizontal sliding blocks (28), horizontal slider (28) still are connected with the slider on cross guide (29), also fixed connection of cross guide (29) is in on guide rail mounting panel (20), be connected with on horizontal slider (28) and press from both sides rifle roating seat (30), horizontal slider (28) are connected with centre gripping pipe (31) and are fixed through clamp plate (32), the both ends of centre gripping pipe (31) all are connected with welder grip slipper (33), every equal detachably is provided with welder (34) on welder grip slipper (33).

2. The six-axis twin-gun welding robot according to claim 1, characterized in that the B-axis (5) comprises a fixed mount (16), the fixed mounting base (16) is connected with a sliding plate of the X-axis linear module (1), the upper part of the fixed mounting seat (16) is connected with a high-precision hollow speed reducer (14), the center of the high-precision hollow speed reducer (14) is connected with a wiring pipe (15), a cable is arranged in the wiring pipe (15), the upper part of the high-precision hollow speed reducer (14) is connected with a rotary seat (13), a B-axis servo motor (11) is arranged on the rotary seat (13), an output gear (12) is arranged on an output shaft of the B-axis servo motor (11), an input gear (17) is arranged on a shaft of the high-precision hollow speed reducer (14), and the output gear (12) is meshed with the input gear (17).

3. The six-axis twin-gun welding robot according to claim 1, characterized in that the gun-clamping rotary base (30) is provided with an elongated hole (36).

4. The six-axis twin-gun welding robot according to claim 1, characterized in that a gland (37) is provided at the junction of the welding gun holder (33) and the welding gun (34).