CN205650933U - 8 axle automatic weld robot - Google Patents
8 axle automatic weld robot Download PDFInfo
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- CN205650933U CN205650933U CN201620365443.5U CN201620365443U CN205650933U CN 205650933 U CN205650933 U CN 205650933U CN 201620365443 U CN201620365443 U CN 201620365443U CN 205650933 U CN205650933 U CN 205650933U
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Abstract
8 axle automatic weld robot, its center pillar unit mount is on dolly platform subassembly, and the cantilever beam unit mount is in on the center pillar subassembly, rotatory welder mechanism component installs on the cantilever beam subassembly, and the rotatory telescopic bracket subassembly of power cord and gas pipe line fixes that suitably the position is subaerial on dolly platform subassembly next door. Linear motion can be made to dolly platform subassembly on the track, cantilever beam subassembly and rotatory welder mechanism component elevating movement can be controlled to the center pillar subassembly, and the cantilever beam subassembly can wind the rotation of center pillar subassembly, and rotation welder mechanism component can move and control the lift of welder do, revolve round the sun rotatoryly and self -rotation rotary motion at the cantilever beam subassembly, and the rotatory center pillar 0 subassembly of power cord and gas pipe line is rotatable, transport power cord and gas pipe line stretch out and draw back. The utility model discloses having guaranteed welding quality, having improved production efficiency, reduced intensity of labour and manufacturing cost, its simple structure can the multi -angle, the weldment welding requirements of all -round satisfied different shapes, size.
Description
Technical field
This utility model relates to a kind of for industrial welding robot, can carry out full side particularly to one
The robot of position automatic welding.
Background technology
At present, valve plant of China commonly used stick electrode arc surfacing valve sealing face, especially at large diameter valve
When door is produced in enormous quantities, productivity ratio is relatively low, and the labor intensity of workman is bigger.Although having some automatic weldings at present
Device, but excessively bulky, structure is complicated, and can not carry out up and down comprehensive be automatically positioned weldering
Connect.Existing common welding robot welding gun can not be around welding workpiece revolution, it is necessary to coordinates with workpiece deflection machine and makes
With, workpiece to consolidate and to be arranged on deflection machine, and a deflection machine can only install a workpiece, and workpiece is installed
Time is long, and labor intensity is high, it is impossible to line production.
High according to the labor strength that current welding field faces, common welding robot needs workpiece in displacement
Device is installed and can not realize the problems such as line production, needs to invent brand-new welding robot, it is achieved valve sealing face
Automatic welding.
Summary of the invention
The purpose of this utility model is to provide one, and structure is the lightest, realize valve sealing face in valve production
Built-up welding 8 axle automatic welding machine people.
This utility model is by the following technical solutions:
A kind of 8 axle automatic welding machine people, by trolley platform assembly, cantilever beam assembly, rotary welding gun mechanism assembly,
Center stand column assembly and power line and gas line rotary extension carriage assembly five part form；Described center stand column group
Part is erect and is arranged on described trolley platform assembly, and described cantilever beam assembly is arranged on described center stand column assembly,
Described rotary welding gun mechanism assembly is arranged on described cantilever beam assembly, described power line and gas line rotary extension
Carriage assembly is fixed on described trolley platform assembly side；
Trolley platform assembly includes the trolley platform on track and track；Cantilever beam assembly includes being sequentially connected with integral
Welding machine placing box, center stand column sleeve and cantilever beam；Rotary welding gun mechanism assembly includes central shaft, is sequentially located at
The center axle bed of central shaft upper outer and portal frame and be arranged on welding gun and the video camera of central shaft bottom；In
Heart columns assemblies includes center stand column, the electric slip ring being arranged on center stand column inner upper and neatly ring, is positioned at center
Screw mandrel outside column；Power line and gas line rotary extension carriage assembly include outside bracket upright post, line sending cross bar
Pipe and the rotary support being connected between bracket upright post top and line sending cross bar outer tube；
Automatic welding machine people comprises 8 numerical-control motors: trolley platform moves numerical-control motor, cantilever beam elevating digital control
Motor, cantilever beam rotation numerical-control motor, center axle bed move numerical-control motor, welding gun revolution numerical-control motor, welding gun certainly
Pass numerical-control motor, central shaft elevating digital control motor and linear slide rail slide block numerical-control motor；Trolley platform moves numerical control electricity
Machine makes the trolley platform of trolley platform assembly the most for linear motion；Cantilever beam elevating digital control motor makes cantilever beam
Vertical displacement movement is made in center stand column；Cantilever beam rotates numerical-control motor makes cantilever beam rotate in center stand column；
Center axle bed moves numerical-control motor makes center axle bed make horizontal rectilinear motion on a cantilever beam；Welding gun revolution numerical-control motor
Central shaft is made to drive welding gun and video camera to make revolution motion；Central shaft elevating digital control motor make central shaft drive welding gun and
Vertical displacement movement made by video camera；Linear slide rail slide block numerical-control motor make welding gun and video camera make horizontal rectilinear motion and
Pendular movement；Welding gun rotation numerical-control motor makes welding gun and video camera make autobiography motion.
In described trolley platform assembly, front axle driving wheel and trailing wheel are installed under trolley platform, trolley platform is equipped with
Trolley platform buckle, trolley platform is provided with trolley platform moves numerical-control motor, trolley platform moves reductor,
Trolley platform moves driving gear and dolly front axle driven gear；Trolley platform moves the output shaft of numerical-control motor and connects
Trolley platform moves reductor, and trolley platform moves reductor and drives trolley platform to move driving gear rotation, dolly
Platform moves driving gear and engages with dolly front axle driven gear, dolly front axle driven gear linkage front axle driving gear
With front axle driving wheel；Front axle driven gear and trolley platform move and are equipped with clutch between driving gear；At dolly
Water tank and water pump, the cooling water of water pump extraction water tank, the welding gun of circulation Cooling Water cooling welding tool it is also equipped with in platform
Head.
In described cantilever beam assembly, center stand column cartridges sides is equipped with base plate, base plate assembles cantilever beam rotation number
Control motor, cantilever beam rotational delay machine and cantilever beam rotate driving gear；Cantilever beam rotates numerical control motor output shaft even
Connecing cantilever beam rotational delay machine, cantilever beam rotational delay machine drives cantilever beam to rotate driving gear and rotates, and cantilever beam revolves
The cantilever beam rotary drive gear turning driving gear and be assemblied in center stand column engages；Alternate 120 are also assembled on base plate
° distribution three axial cantilever beam axial Position limiting wheel frames of rotary drive gear；Shifting on cantilever beam is set on cantilever beam
Dynamic safe spacing and mechanical zero proximity switch；Placing welding machine in welding machine placing box, welding machine placing box both sides are pacified respectively
Machine people's control chamber and wire-feed motor, wire-feed motor is delivered to welding gun wire-feeding pipe by wire-feeding pipe welding wire, is then sent through welding gun
Welding；Robot control chamber assembling digital control system, control chamber select switch and video camera display.
In described rotary welding gun mechanism assembly, central shaft is arranged in the axle bed of center, center axle bed and gantry of top
Frame is fixed together, and welding gun and video camera are installed in central shaft bottom；Be provided with in portal frame with in lower section
Mandrel is sequentially connected in series the shaft coupling of assembling, adapter flange, aqueous vapor rotary slip ring and electricity rotary slip ring；Aqueous vapor rotates sliding
There is guide post ring both sides, and two guide posts slide up and down respectively in two column grooves of portal frame；Dragon is installed on portal frame
Safe spacing on door frame and mechanical zero proximity switch；Aqueous vapor rotary slip ring be provided with geo-stationary water inlet/trachea and
Water outlet/the trachea of rotary motion, water outlet/trachea is connected to welding gun；Below central shaft, both sides are equipped with welding gun conversion respectively
Box and electrical equipment junction box, be used for connecting electric wire and pipeline；Central shaft bottom is vertically installed with linear slide rail, linearly slides
Rail is being positioned at installation laser exit point device in bottom below center shaft axis；Equipped with welding gun connecting rod on linear slide rail, welding gun is even
Bar bottom is connected with welding gun rotary fixture, clamping welding gun in welding gun rotary fixture；Fix in welding gun rotary fixture side
Having video camera connecting rod, camera placements is on video camera connecting rod；Portal frame is equipped with welding gun revolution numerical-control motor,
The welding gun driving gear of welding gun revolution numerical-control motor engages with the welding gun driven gear arranged on central shaft；At central shaft
Being equipped with center axle bed on Zuo and move numerical-control motor, center axle bed moves on driving gear and the cantilever beam of numerical-control motor
Spur rack engages；Center axle bed is also equipped with central shaft elevating digital control motor, the master of central shaft elevating digital control motor
Moving gear engages with the spur rack on central shaft sleeve；Welding gun connecting rod is equipped with welding gun rotation numerical-control motor, makes weldering
Rifle and camera intrinsic welding gun connecting rod axle center rotate；It is equipped with linear slide rail slide block numerical control electricity at linear rail tips
Machine, makes welding gun and video camera make horizontal motion with linear slide rail；Center axle bed installs safe spacing and machinery zero
Proximity switch Magnet；The welding wire that wire-feed motor outside robot is sent is configured in electricity rotary slip ring, aqueous vapor rotation cunning
Wire-feeding pipe in ring and central shaft, then the arc welding gun head of welding gun is led to through welding gun wire-feeding pipe.
In described center stand column assembly IV, center stand column upper end inner chamber assembled shaft bearing, assemble speed change above bearing block
Gear-box；Install in cantilever beam elevating digital control motor, change gear box are installed outside change gear box and lift with cantilever beam
The driving gear of numerical-control motor assembling, driving gear and driven gear engagement；It is equipped with screw mandrel under driven gear；
From center stand column, the installing hole in center stand column is equipped with proximity switch fixed cover, safety limit to axis direction
Position and mechanical zero proximity switch are screwed in proximity switch fixed cover；Bearing block is equipped with hollow axle, and hollow axle is by upper
Electric slip ring and neatly ring is assembled successively under to；Neatly ring turnover pipeline respectively with the water tank in trolley platform and welding gun
Connection, water tank cooling water is transported to welding gun by water pump extraction through neatly ring, then flows to water tank through neatly loopback.
In described power line and gas line rotary extension carriage assembly, line sending cross bar outer tube is assembled by alignment pin
On rotary support, telescoping tube is installed in line sending cross bar outer tube；Rotary support is assemblied in bracket upright post, support
The base plate of column is fixed with ground, and rotary support rotates freely according to line sending deflection angle；Cross bar outer tube front portion fills
Joining interior telescoping tube, in interior telescoping tube, assembling supports positioning pulley；Interior telescoping tube terminal part assembles four location, limit wheel carriers；
Pulley is assemblied on interior telescoping tube front end by pin, and power line and gas line freely stretch through pulley.
In described rotary welding gun mechanism assembly, in two column grooves of portal frame, install what centre of pull axle moved upward
Power-assisted extension spring, power-assisted extension spring upper end is fixed on above the column of portal frame, and lower end is fixed on aqueous vapor rotary slip ring two
On the guide post of side,
In described rotary welding gun mechanism assembly, welding gun switching box can exchange use CO2Gas shielded welding rifle head,
Argon arc welding rifle head and plasma cutting gun head.
In described power line and gas line rotary extension carriage assembly, cross bar outer tube has an angle obliquely.
This utility model 8 axle automatic welding machine Genus Homo in the visual plant of the online welding fabrication of production line, its advantage
It is:
It is simple that this utility model has novel structure, multiple functional, and numerical control operating is precisely, energy is comprehensive meets not
Similar shape, the weldment welding requirements of size.Belong to a kind of multi-functional, economy and practicality of integrating
Novel device.
This utility model need not human weld；Welding gun can need not deflection machine around welding workpiece revolution and be installed and join
Close；Can at display intuitively without workman in close-ups welding process；Multiple work can be welded continuously
Part realizes producing line production；Can carry out mobile on rail-free ground.This utility model solder side even uniform,
Only need common laborer to can be achieved with high-quality, high efficiency, high-caliber weld job, improve outside weldment
See and inherent quality, and ensure that the stability of welding quality, reduce labor intensity and production cost, improve
Work situation, improves production efficiency.
This utility model welding gun is designed to exchange use carbon dioxide gas arc welding and connects and deliver a child with argon arc welding
Producing, improve function and the utilization rate of this automatic welding robot, welding gun can revolve round the sun, autobiography and lifting, linear slide rail
Control the small size straight line of welding gun and pendulum moves back and forth, the 3 D complex welding rail of downhand welding, built-up welding and fillet welding can be met
Mark requirement；By camera supervised weld job process, workman only need to observe in the display screen of control chamber and regulate welding
Parameter, alleviates operative's labor intensity；Trolley platform moves along a straight line, and meets same size weldment flowing water and makees
The welding requirements of industry.
This utility model can be widely used in valve built-up welding, auto manufacturing, intermetallic composite coating, five metals household electrical appliances, steel
The fields such as structure, pressure vessel, machining manufacture, shipbuilding, space flight.
Accompanying drawing explanation
Fig. 1 is this utility model 8 axle automatic welding machine people's front view；
Fig. 2-1 is trolley platform component drawings, and Fig. 2-2 is trolley platform assembly plan view；
Fig. 3-1 is cantilever beam component drawings, and Fig. 3-2 is cantilever beam assembly plan view；
Fig. 4 is rotary welding gun mechanism assembly figure；
Columns assemblies figure centered by Fig. 5；
Fig. 6 is power line and gas line telescoping shoring column component drawings.
Labelling in figure:
Trolley platform assembly I, cantilever beam assembly II, rotary welding gun mechanism assembly III, center stand column assembly IV, electricity
Source line and gas line rotary extension carriage assembly V, track 1, clutch 2, trolley platform 3, trolley platform button
Plate 4, front axle driven gear 5, front axle driving gear 6, front axle driving wheel 7, trolley platform move driving gear 8,
Trolley platform moves reductor 9, trolley platform moves numerical-control motor 10, water tank 11, water pump 12, trailing wheel 13, outstanding
Safe spacing on arm beam 14, cantilever beam and mechanical zero proximity switch 15, base plate 16, cantilever beam rotary drive tooth
Wheel shaft to Position limiting wheel frame 17, cantilever beam rotary drive gear 18, bearing 19, center stand column sleeve 20, square key 21,
Welding machine placing box 22, welding machine 23, robot control chamber 24, digital control system 25, control chamber select switch 26, take the photograph
Camera display 27, cantilever beam rotate numerical-control motor 28, cantilever beam rotational delay machine 29, cantilever beam rotation driving tooth
Wheel 30, wire-feeding pipe 31, wire-feed motor 32, welding gun 33, welding gun rotary fixture 34, welding gun rotation numerical-control motor 35,
Welding gun connecting rod 36, linear slide rail 37, welding gun wire-feeding pipe 38, welding gun plug 39, welding gun switching box 40, central shaft
41, central shaft elevating digital control motor 42, center axle bed 43, welding gun driving gear 44, welding gun driven gear 45,
Safe spacing on welding gun revolution numerical-control motor 46, adapter flange 47, shaft coupling 48, guide post 49, portal frame
With mechanical zero proximity switch 50, power-assisted extension spring 51, aqueous vapor rotary slip ring 52, electricity rotary slip ring 53, control line
54, binding post 55, portal frame 56, wire-feeding pipe 57, water inlet/trachea 58, water outlet/trachea 59, Magnet 60,
Center axle bed moves numerical-control motor 61, electrical equipment junction box 62, linear slide rail slide block numerical-control motor 63, laser exit point device
64, video camera connecting rod 65, video camera 66, screw mandrel 67, neatly ring 68, hollow axle 69, electric slip ring 70, cantilever
In beam lifting driven gear 71, cantilever beam lifting driving gear 72, cantilever beam elevating digital control motor 73, center stand column
Safe spacing in mandrel bearing 74, change gear box 75, center stand column and mechanical zero proximity switch 76, close
Switch fixed cover 77, center stand column 78, power line and gas line 79, pulley 80, pin 81, telescoping tube 82,
Location, positioning pulley 83, four limit wheel carrier 84, line sending cross bar outer tube 85, alignment pin 86, rotary support 87, support
Column 88.
Detailed description of the invention
Seeing Fig. 1-Fig. 6, this utility model 8 axle automatic welding machine people is by trolley platform assembly I, cantilever beam group
Part II, rotary welding gun mechanism assembly III, center stand column assembly IV and power line and gas line rotary extension support group
Part V five part forms.
Described center stand column assembly IV erects and is arranged on described trolley platform assembly I, described cantilever beam assembly II
Being arranged on described center stand column assembly IV, described rotary welding gun mechanism assembly III is arranged on described cantilever beam assembly II
On, described power line and gas line rotary extension carriage assembly V are fixed on described trolley platform assembly I side and fit
When on position ground.Trolley platform 3 in trolley platform assembly I is the most for linear motion, center stand column
Assembly IV controllable cantilever beam assembly II and rotary welding gun mechanism assembly III elevating movement, cantilever beam assembly II can around in
Heart columns assemblies IV rotates, and rotary welding gun mechanism assembly III can move and manipulate welding gun 33 at cantilever beam assembly II and rise
Fall, revolution rotate and autobiography rotates, manipulation video camera 66 real-time tracking shooting welding fact, power line and gas tube
Line rotary extension carriage assembly V follow cantilever beam assembly II shift position and rotate, flexible conveying power line and gas
Pipeline 79.
These 8 axle automatic welding machine people comprise 8 numerical-control motors: trolley platform moves numerical-control motor 10, cantilever beam
Elevating digital control motor 73, cantilever beam rotate numerical-control motor 28, center axle bed moves numerical-control motor 61, welding gun revolution number
Control motor 46, welding gun autobiography numerical-control motor 35, central shaft elevating digital control motor 42, linear slide rail slide block numerical-control motor
63.Under trolley platform moves the driving of numerical-control motor 10, the trolley platform 3 of trolley platform assembly I is at track 1
Upper for linear motion；Under the driving of cantilever beam elevating digital control motor 73, cantilever beam 14 hangs down in center stand column 78
Straight elevating movement；Under cantilever beam rotates the driving of numerical-control motor 28, cantilever beam 14 rotates in center stand column 78
Motion；Under center axle bed moves the driving of numerical-control motor 61, it is straight that center axle bed 43 makees level on cantilever beam 14
Line moves；Under the driving of welding gun revolution numerical-control motor 46, central shaft 41 drives welding gun 33 and video camera 66 to make
Revolution motion；Under the driving of central shaft elevating digital control motor 42, central shaft 41 drives welding gun 33 and video camera 66
Make vertical displacement movement；Under the driving of linear sliding-rail sliding numerical-control motor 63, welding gun 33 and video camera 66 are online
Horizontal rectilinear motion and pendular movement is made on property slide rail；Under the driving of welding gun rotation numerical-control motor 35, welding gun 33
And video camera 66 make autobiography motion.
Below five parts of this utility model 8 axle automatic welding machine people are illustrated:
Described trolley platform assembly I (shown in Fig. 2-1, Fig. 2-2): trolley platform assembly I includes track 1
With the trolley platform 3 on track 1.Trolley platform is provided with front axle driving wheel 7 and trailing wheel 13 for 3 times, makes dolly put down
Platform 3 is linear running on the track 1 of band tooth bar.Trolley platform buckle 4, trolley platform 3 it is equipped with on trolley platform 3
In be provided with that trolley platform moves numerical-control motor 10, trolley platform moves reductor 9, trolley platform moves driving tooth
Wheel 8 and dolly front axle driven gear 5.Trolley platform moves the output shaft connection trolley platform of numerical-control motor 10 and moves
Reductor 9, trolley platform moves reductor 9 and drives trolley platform to move driving gear 8 to rotate, and trolley platform moves
Driving gear 8 engages with dolly front axle driven gear 5, dolly front axle driven gear 5 link front axle driving gear 6
With front axle driving wheel 7.Under trolley platform moves numerical-control motor 10 driving, trolley platform 3 is made to make on path 1
Linear motion.Front axle driven gear 5 and trolley platform move and are equipped with clutch 2 between driving gear 8, when stirring
Clutch 2 allows front axle driven gear 5 and trolley platform move driving gear 8 when being disengaged from, and trolley platform can be
Ground promotes to be easy to move.In trolley platform 3, it is also equipped with water tank 11 and water pump 12, extracts water by water pump 12
The cooling water of case 11, the rifle head of circulation Cooling Water cooling welding tool 33.
Described cantilever beam assembly II (shown in Fig. 3-1, Fig. 3-2): include that being sequentially connected with integral welding machine puts
Put case 22, center stand column sleeve 20 and cantilever beam 14.Center stand column sleeve 20 side is equipped with base plate 16, the end
Assemble cantilever beam on plate 16 and rotate numerical-control motor 28, cantilever beam rotational delay machine 29 and cantilever beam rotation driving gear
30.Cantilever beam rotates numerical-control motor 28 output shaft connecting cantilever beam rotational delay machine 29, cantilever beam rotational delay machine
29 drive cantilever beam to rotate driving gear 30 rotates, and cantilever beam rotates driving gear 30 and is assemblied in center stand column 78
Cantilever beam rotary drive gear 18 engage.Under cantilever beam rotates the driving of numerical-control motor 28, make cantilever beam group
Part II rotates around center stand column assembly IV, for adjusting the position in the horizontal direction of cantilever beam 14.Base plate
Three axial cantilever beam axial Position limiting wheel frames of rotary drive gear 17 of alternate 120 ° of distributions are also assembled, outstanding on 16
When arm beam 14 declines, cantilever beam rotary drive gear 18 is pulled to synchronize to decline.Cantilever beam rotary drive gear is axial
Equipped with bearing on Position limiting wheel frame 17, cantilever beam rotary drive gear 18 can be limited and depart from cantilever beam 14, can subtract again
Frictional force when few cantilever beam 14 rotates.It is spacing and mechanical zero that mobile security on cantilever beam is set on cantilever beam 14
Point proximity switch 15, prevents rotary welding gun mechanism assembly III from exceeding moving range and being movable to the position of mechanical zero.
Square key 21 installed by cantilever beam rotary drive gear 18, and bearing 19 is installed at center stand column sleeve 20 two ends, reduces cantilever
The frictional force that beam 14 rotates.Placing welding machine 23 in welding machine placing box 22, welding machine placing box 22 both sides are respectively mounted machine
Device people's control chamber 24 and wire-feed motor 32.Wire-feed motor 32 delivers to welding gun wire-feeding pipe 38 by 31 welding wires of wire-feeding pipe,
It is then sent through welding gun 33 to weld.Robot control chamber 24 assembles digital control system 25, control chamber selects switch 26 and shooting
Machine display 27, manipulation and weld job process directly perceived.
Described rotary welding gun mechanism assembly III (as shown in Figure 4): include central shaft 41, center axle bed 43, dragon
Door frame 56, welding gun 33 and video camera 66.Central shaft 41 is arranged in center axle bed 43, center axle bed 43 and upper
The portal frame 56 of side is fixed together, and welding gun 33 and video camera 66 are installed in central shaft 41 bottom.At portal frame
It is provided with the central shaft 41 with lower section in 56 and is sequentially connected in series the shaft coupling 48 of assembling, adapter flange 47, aqueous vapor rotation
Slip ring 52 and electricity rotary slip ring 53.Aqueous vapor rotary slip ring 52 both sides have guide post 49, two guide posts 49 to exist respectively
Slide up and down in two column grooves of portal frame 56, hold on outside aqueous vapor rotary slip ring 52 and electricity rotary slip ring 53 simultaneously
Ring radially can not rotate.The power-assisted extension spring that centre of pull axle 41 moves upward is installed in two column grooves of portal frame 56
51, reduce the load of central shaft elevating digital control motor 42, power-assisted extension spring 51 upper end is fixed on the column of portal frame 56
Top, lower end is fixed on aqueous vapor rotary slip ring 52 both sides guide post 49, and portal frame 56 is installed on portal frame
Safe spacing and mechanical zero proximity switch 50, prevent central shaft 41 from beyond range and can move to machinery zero
The position of point.Aqueous vapor rotary slip ring 52 is provided with the water inlet/trachea 58 of geo-stationary and the water outlet/trachea of rotary motion
59, water outlet/trachea 59 is connected to welding gun 33.Water inlet/the trachea 58 of geo-stationary is through aqueous vapor rotary slip ring 52
Being converted into the water outlet/trachea 59 of rotary motion, supplying water for welding gun 33 supplies.Below central shaft 41, both sides are equipped with respectively
Welding gun switching box 40 and electrical equipment junction box 62, be used for connecting electric wire and pipeline.Central shaft 41 bottom is vertically installed with
Linear slide rail 37, linear slide rail 37 is being positioned at installation laser exit point device 64 in bottom below central shaft 41 axis, for weldering
Connect workpiece and find the center of circle of welding gun 33 revolution accurately.Equipped with welding gun connecting rod 36 on linear slide rail 37, welding gun connecting rod 36 bottom
It is connected with welding gun rotary fixture 34, clamping welding gun 33 in welding gun rotary fixture 34.In welding gun rotary fixture 34 side
Being fixed with video camera connecting rod 65, video camera 66 is placed on video camera connecting rod 65.Portal frame 56 is equipped with welding gun
Revolution numerical-control motor 46, the welding gun driving gear 44 of welding gun revolution numerical-control motor 46 and the weldering of setting on central shaft 41
Rifle driven gear 45 engages, and under the driving of welding gun revolution numerical-control motor 46, central shaft 41 rotates, and
Welding gun 33 is driven to revolve round the sun around central shaft 41.Center axle bed 43 is equipped with center axle bed and moves numerical-control motor 61, in
Spindle seat moves the driving gear of numerical-control motor 61 and engages with the spur rack on cantilever beam 14, and at center, axle bed moves
Under the driving of numerical-control motor 61, rotary welding gun mechanism assembly III makees horizontal rectilinear motion on cantilever beam 14, and can
Control and adjust its translational speed on cantilever beam 14 and position.Center axle bed 43 is also equipped with central shaft liter
Fall numerical-control motor 42, the driving gear of central shaft elevating digital control motor 42 is nibbled with the spur rack on central shaft 41 sleeve
Closing, under the driving of central shaft elevating digital control motor 42, central shaft 41 makees vertical displacement movement.At welding gun connecting rod
Welding gun rotation numerical-control motor 35 it is equipped with on 36, under the driving of welding gun rotation numerical-control motor 35, welding gun 33 and shooting
Machine 66 wrapping gun connecting rod 36 axle center rotates, it is achieved according to workpiece soldering angle requirement, adjusts welding gun 33 and welds
Connect angle.It is equipped with linear slide rail slide block numerical-control motor 63, at linear sliding-rail sliding numerical control electricity on linear slide rail 37 top
Under the driving of machine 63, welding gun 33 and video camera 66 make horizontal motion with linear slide rail 37.Center axle bed 43
Safe spacing and mechanical zero proximity switch Magnet 60 are installed, it is ensured that center axle bed 43 makees level side on cantilever beam 14
To motion without departing from the range of movement set.The welding wire that wire-feed motor outside robot is sent is configured in electricity rotation
Wire-feeding pipe 57 in slip ring 53, aqueous vapor rotary slip ring 52 and central shaft 41, then lead to weldering through welding gun wire-feeding pipe 38
The arc welding gun head of rifle 33.Electricity rotary slip ring 53 top is provided with binding post 55, the various data wires of geo-stationary, control
The source of welding current line that line 54 processed, wire and binding post 55 introduce is converted into rotary motion through electricity rotary slip ring 53
Each output lead, the joint in adapter flange 47 cavity connects, fixing, through central shaft 41 and welding gun rotating
Change box 40 and be connected to each electricity consumption facility of the rotary welding gun mechanism assembly III such as welding gun 33, video camera 66.Welding gun is changed
Box 40 is outer connects welding gun plug 39, and pipeline is communicated to welding gun 33 from welding gun plug 39.Welding gun switching box 40 is permissible
Exchange and use CO2Gas shielded welding rifle head, argon arc welding rifle head and plasma cutting gun head.
Described center stand column assembly IV (as shown in Figure 5), including center stand column 78, screw mandrel 67, electric slip ring 70
With neatly ring.Center stand column 78 upper end inner chamber assembled shaft bearing 74, assembles change gear box 75 above bearing block 74.
The outer cantilever beam elevating digital control motor 73 of installing of change gear box 75, installs in change gear box 75 and lifts with cantilever beam
The driving gear 72 of numerical-control motor 73 assembling, driving gear 72 and driven gear 71 engage.At driven gear 71
Under be equipped with screw mandrel 67.Under the driving of cantilever beam elevating digital control motor 73, screw mandrel 67 rotarily drives cantilever beam 14
Center stand column 78 is made vertical direction elevating movement, for adjusting the height of cantilever beam 14.From center stand column 78
Outward, the installing hole in center stand column 78 is equipped with proximity switch fixed cover 77, safe spacing and machine to axis direction
Tool zero proximity switch 76 is screwed in proximity switch fixed cover 77.Proximity switch fixed cover 77 by outside turn its
Internal tapped cone is outer draws, and proximity switch fixed cover 77 extends in installing hole, with center stand column 78
Expansion fastening, convenient installation safe spacing and mechanical zero proximity switch 76 from center stand column 78, its effect guarantees to hang
Arm beam 14 is without departing from the range of movement set.Bearing block 74 is equipped with hollow axle 69, and hollow axle 69 is from top to bottom
Assembling electric slip ring 70 and neatly ring 68 successively.Neatly ring 68 turnover pipeline respectively with the water tank in trolley platform 3
11 and welding gun 33 connect, the cooling water of water tank 11 is extracted by water pump 12 and is transported to welding gun 33 through neatly ring 68, then
It is back to water tank 11 through neatly ring 68.
Described power line and gas line rotary extension carriage assembly V (as shown in Figure 6), including bracket upright post
88, line sending cross bar outer tube 85 and the rotary support that is connected between bracket upright post 88 top and line sending cross bar outer tube 85
87；Line sending cross bar outer tube 85 is assemblied on rotary support 87 by alignment pin 86, peace in line sending cross bar outer tube 85
Dress telescoping tube 82, telescoping tube 82 freely can stretch according to line sending length.Rotary support 87 is assemblied in bracket upright post
On 88, the base plate expansion bolt of bracket upright post 88 is fixed with ground, and rotary support 87 is according to line sending deflection angle
Rotate freely.Telescoping tube 82 in the anterior assembling of cross bar outer tube 85, in interior telescoping tube 82, assembling supports positioning pulley 83,
Supporting positioning pulley 83 and guarantee when interior telescoping tube 82 freely stretches, be not rebuffed with cross bar outer tube 85 and rub in front portion, interior
Telescoping tube 82 terminal part assembles four location, limit wheel carriers 84, and four location, limit wheel carriers 84 guarantee interior telescoping tube 82 rear portion, no
Be rebuffed with cross bar outer tube 85 and rub.Pulley 80 is assemblied on interior telescoping tube 82 front end by pin 81, power line
And gas line 79 freely stretches through pulley 80.Cross bar outer tube 85 has an angle assembling obliquely, it is ensured that inside stretch
The draw 82, when drawing without external force, by self gravitation retraction the shortest position take-up, when having external force to draw, can smooth and easy prolong
Stretch line sending.Power line and gas line 79 are on rotary extension support, by self gravitation retraction the shortest position take-up,
When having external force to draw, the smooth and easy extension line sending of energy, coordinate weld job.
During utility model works, the workpiece positioning arrangement successively of built-up welding is needed to be fixed on jig, during welding,
After regulation controls the time parameter of welding continuously, starting and start welding operation button, 8 axle automatic welding machine people start
To the automatic surfacing operation work of surface, standard face, first valve built-up welding is complete, source of welding current power-off, welding
Suspend；Now the most for linear motion to second set in advance of dolly needs the position that the valve of built-up welding is corresponding
Putting, welding starts automatically, continues second standard surface automatic surfacing welding job, and by parity of reasoning,
Under the operation program that cantilever beam intermittent rotary swings, it is achieved many valves continuous automatic surfacing welding production.Workman is only
The valve that need to weld need to be placed on predetermined seat, the valve welded be removed from frame and unloads.
Claims (9)
1. an axle automatic welding machine people, it is characterised in that: it is made up of trolley platform assembly, cantilever beam assembly, rotary welding gun mechanism assembly, center stand column assembly and power line and gas line rotary extension carriage assembly five part；Described center stand column assembly is erect and is arranged on described trolley platform assembly, described cantilever beam assembly is arranged on described center stand column assembly, described rotary welding gun mechanism assembly is arranged on described cantilever beam assembly, and described power line and gas line rotary extension carriage assembly are fixed on described trolley platform assembly side；
Trolley platform assembly includes the trolley platform on track and track；Cantilever beam assembly includes being sequentially connected with integral welding machine placing box, center stand column sleeve and cantilever beam；Rotary welding gun mechanism assembly includes central shaft, the center axle bed being sequentially located at central shaft upper outer and portal frame and is arranged on welding gun and the video camera of central shaft bottom；Center stand column assembly includes center stand column, the electric slip ring being arranged on center stand column inner upper and neatly ring, is positioned at the screw mandrel outside center stand column；Power line and gas line rotary extension carriage assembly include bracket upright post, line sending cross bar outer tube and the rotary support being connected between bracket upright post top and line sending cross bar outer tube；
Automatic welding machine people comprises 8 numerical-control motors: trolley platform moves numerical-control motor, cantilever beam elevating digital control motor, cantilever beam rotates numerical-control motor, center axle bed moves numerical-control motor, welding gun revolves round the sun numerical-control motor, welding gun autobiography numerical-control motor, central shaft elevating digital control motor and linear slide rail slide block numerical-control motor；Trolley platform moves numerical-control motor makes the trolley platform of trolley platform assembly the most for linear motion；Cantilever beam elevating digital control motor makes cantilever beam make vertical displacement movement in center stand column；Cantilever beam rotates numerical-control motor makes cantilever beam rotate in center stand column；Center axle bed moves numerical-control motor makes center axle bed make horizontal rectilinear motion on a cantilever beam；Welding gun revolution numerical-control motor makes central shaft drive welding gun and video camera to make revolution motion；Central shaft elevating digital control motor makes central shaft drive welding gun and video camera to make vertical displacement movement；Linear slide rail slide block numerical-control motor makes welding gun and video camera make horizontal rectilinear motion and pendular movement；Welding gun rotation numerical-control motor makes welding gun and video camera make autobiography motion.
Automatic welding machine people the most according to claim 1, it is characterized in that: in described trolley platform assembly, front axle driving wheel and trailing wheel are installed under trolley platform, it is equipped with trolley platform buckle on trolley platform, trolley platform is provided with trolley platform moves numerical-control motor, trolley platform moves reductor, trolley platform moves driving gear and dolly front axle driven gear；Trolley platform moves the output shaft connection trolley platform of numerical-control motor and moves reductor, trolley platform moves reductor and drives trolley platform to move driving gear rotation, trolley platform moves driving gear and engages with dolly front axle driven gear, dolly front axle driven gear linkage front axle driving gear and front axle driving wheel；Front axle driven gear and trolley platform move and are equipped with clutch between driving gear；Water tank and water pump, the cooling water of water pump extraction water tank, the arc welding gun head of circulation Cooling Water cooling welding tool it is also equipped with in trolley platform.
Automatic welding machine people the most according to claim 1, it is characterised in that: in described cantilever beam assembly, center stand column cartridges sides is equipped with base plate, base plate assembles cantilever beam and rotates numerical-control motor, cantilever beam rotational delay machine and cantilever beam rotation driving gear；Cantilever beam rotates numerical control motor output shaft connecting cantilever beam rotational delay machine, and cantilever beam rotational delay machine drives cantilever beam to rotate driving gear and rotates, and cantilever beam rotates driving gear and engages with the cantilever beam rotary drive gear being assemblied in center stand column；Three axial cantilever beam axial Position limiting wheel frames of rotary drive gear of alternate 120 ° of distributions are also assembled on base plate；Arrange on cantilever beam that the mobile security on cantilever beam is spacing and mechanical zero proximity switch；Placing welding machine in welding machine placing box, welding machine placing box both sides are respectively mounted robot control chamber and wire-feed motor, and wire-feed motor delivers to welding gun wire-feeding pipe by wire-feeding pipe welding wire, are then sent through welding gun welding；Robot control chamber assembling digital control system, control chamber select switch and video camera display.
Automatic welding machine people the most according to claim 1, it is characterised in that: in described rotary welding gun mechanism assembly, central shaft is arranged in the axle bed of center, and the portal frame of center axle bed and top is fixed together, and welding gun and video camera are installed in central shaft bottom；In portal frame, it is provided with the central shaft with lower section is sequentially connected in series the shaft coupling of assembling, adapter flange, aqueous vapor rotary slip ring and electricity rotary slip ring；There is guide post aqueous vapor rotary slip ring both sides, and two guide posts slide up and down respectively in two column grooves of portal frame；Safe spacing on portal frame and mechanical zero proximity switch are installed on portal frame；Aqueous vapor rotary slip ring is provided with the water inlet/trachea of geo-stationary and the water outlet/trachea of rotary motion, and water outlet/trachea is connected to welding gun；Below central shaft, both sides are equipped with welding gun switching box and electrical equipment junction box respectively, are used for connecting electric wire and pipeline；Central shaft bottom is vertically installed with linear slide rail, and linear slide rail is being positioned at installation laser exit point device in bottom below center shaft axis；Equipped with welding gun connecting rod on linear slide rail, welding gun connecting rod bottom is connected with welding gun rotary fixture, clamping welding gun in welding gun rotary fixture；Being fixed with video camera connecting rod in welding gun rotary fixture side, camera placements is on video camera connecting rod；Being equipped with welding gun revolution numerical-control motor on portal frame, the welding gun driving gear of welding gun revolution numerical-control motor engages with the welding gun driven gear arranged on central shaft；Being equipped with center axle bed on the axle bed of center and move numerical-control motor, center axle bed moves the driving gear of numerical-control motor and engages with the spur rack on cantilever beam；Also being equipped with central shaft elevating digital control motor on the axle bed of center, the driving gear of central shaft elevating digital control motor engages with the spur rack on central shaft sleeve；Welding gun connecting rod is equipped with welding gun rotation numerical-control motor, makes welding gun and camera intrinsic welding gun axle center rotate；It is equipped with linear slide rail slide block numerical-control motor at linear rail tips, makes welding gun and video camera make horizontal motion with linear slide rail；Center axle bed installs safe spacing and mechanical zero proximity switch Magnet；The configured wire-feeding pipe in electricity rotary slip ring, aqueous vapor rotary slip ring and central shaft of welding wire that wire-feed motor outside robot is sent, then the arc welding gun head of welding gun is led to through welding gun wire-feeding pipe.
Automatic welding machine people the most according to claim 1, it is characterised in that: in described center stand column assembly IV, center stand column upper end inner chamber assembled shaft bearing, assemble change gear box above bearing block；Install and the driving gear of cantilever beam elevating digital control motor assembling in cantilever beam elevating digital control motor, change gear box are installed outside change gear box, driving gear and driven gear engagement；It is equipped with screw mandrel under driven gear；From center stand column, the installing hole in center stand column is equipped with proximity switch fixed cover, safe spacing and mechanical zero proximity switch to axis direction and is screwed in proximity switch fixed cover；Bearing block is equipped with hollow axle, and hollow axle assembles electric slip ring and neatly ring the most successively；The turnover pipeline of neatly ring connects with the water tank in trolley platform and welding gun respectively, and water tank cooling water is transported to welding gun by water pump extraction through neatly ring, then flows to water tank through neatly loopback.
Automatic welding machine people the most according to claim 1, it is characterised in that: in described power line and gas line rotary extension carriage assembly, line sending cross bar outer tube is assemblied on rotary support by alignment pin, installs telescoping tube in line sending cross bar outer tube；Rotary support is assemblied in bracket upright post, and the base plate of bracket upright post is fixed with ground, and rotary support rotates freely according to line sending deflection angle；Telescoping tube in the assembling of cross bar outer tube front portion, in interior telescoping tube, assembling supports positioning pulley；Interior telescoping tube terminal part assembles four location, limit wheel carriers；Pulley is assemblied on interior telescoping tube front end by pin, and power line and gas line freely stretch through pulley.
Automatic welding machine people the most according to claim 4, it is characterized in that: in described rotary welding gun mechanism assembly, the power-assisted extension spring that centre of pull axle moves upward is installed in two column grooves of portal frame, power-assisted extension spring upper end is fixed on above the column of portal frame, and lower end is fixed on the guide post of aqueous vapor rotary slip ring both sides.
Automatic welding machine people the most according to claim 4, it is characterised in that: in described rotary welding gun mechanism assembly, welding gun switching box can exchange use CO2Gas shielded welding rifle head, argon arc welding rifle head and plasma cutting gun head.
Automatic welding machine people the most according to claim 6, it is characterised in that: in described power line and gas line rotary extension carriage assembly, cross bar outer tube has an angle obliquely.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620365443.5U CN205650933U (en) | 2016-04-28 | 2016-04-28 | 8 axle automatic weld robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620365443.5U CN205650933U (en) | 2016-04-28 | 2016-04-28 | 8 axle automatic weld robot |
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| CN205650933U true CN205650933U (en) | 2016-10-19 |
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|---|---|---|---|
| CN201620365443.5U Expired - Fee Related CN205650933U (en) | 2016-04-28 | 2016-04-28 | 8 axle automatic weld robot |
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| CN106695202A (en) * | 2016-11-28 | 2017-05-24 | 苏州五圣通机器人自动化有限公司 | Intelligent automatic welding system and operation method thereof for grid plate welding and operation method |
| CN106735784A (en) * | 2017-01-04 | 2017-05-31 | 华南理工大学 | A kind of welding gun holding device based on welding vision system |
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| CN106735784A (en) * | 2017-01-04 | 2017-05-31 | 华南理工大学 | A kind of welding gun holding device based on welding vision system |
| CN106735784B (en) * | 2017-01-04 | 2018-10-09 | 华南理工大学 | A kind of welding gun holding device based on welding vision system |
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| CN109834375A (en) * | 2017-11-28 | 2019-06-04 | 北京航天美利达自动焊设备科技有限公司 | Rotary welding gun automatic welding machine people |
| CN108145332A (en) * | 2017-12-12 | 2018-06-12 | 南京理工大学 | Robot electric arc increase and decrease material building mortion and method |
| CN108188551A (en) * | 2017-12-28 | 2018-06-22 | 浙江益仓机电有限公司 | A kind of arc stud welding picks |
| CN108326489A (en) * | 2018-02-05 | 2018-07-27 | 海宁市大众建材有限公司 | A kind of clamping device of welder |
| CN108788413B (en) * | 2018-07-17 | 2023-12-05 | 江苏海力海上风电装备制造有限公司 | Welding equipment for ring beam of single-pile foundation accessory component of offshore wind turbine generator system |
| CN108788413A (en) * | 2018-07-17 | 2018-11-13 | 江苏海灵重工设备科技有限公司 | A kind of offshore wind turbine single-pile foundation Accessory Members collar tie beam welding equipment |
| CN109093609A (en) * | 2018-10-31 | 2018-12-28 | 共享智能铸造产业创新中心有限公司 | Vertical shaft type cantilever robot |
| CN109940244A (en) * | 2019-04-17 | 2019-06-28 | 宁波金凤焊割机械制造有限公司 | A long-shaped workpiece cutting device |
| CN111390351A (en) * | 2020-01-15 | 2020-07-10 | 吉林大学 | Automatic welding device and welding method with real-time change of welding torch pose |
| CN111408813A (en) * | 2020-04-17 | 2020-07-14 | 苏州威尔汉姆堆焊技术有限公司 | Intraductal welding set including welding mechanism |
| CN111408813B (en) * | 2020-04-17 | 2022-05-24 | 苏州威尔汉姆堆焊技术有限公司 | Intraductal welding set including welding mechanism |
| CN111843322A (en) * | 2020-06-30 | 2020-10-30 | 山东塔高矿业机械装备制造有限公司 | Welding device and method for hydraulic support bearing structural part |
| CN113857728A (en) * | 2021-10-25 | 2021-12-31 | 江南造船(集团)有限责任公司 | Welding method and device for welding ship assembly |
| CN113857728B (en) * | 2021-10-25 | 2023-11-07 | 江南造船(集团)有限责任公司 | Welding method for welding ship assembly |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161019 |