Multifunctional five-axis gantry type integrated welding robot

Abstract

The invention provides a multifunctional five-axis gantry type integrated welding robot. A first upright post and a second upright post are respectively mounted on a first steel rail and a second steel rail through a first X moving joint and a second X moving joint; a cross beam is mounted between the first upright post and the second upright post; a moving arm is mounted on the cross beam through a Y moving joint; a lifting arm is mounted on the moving arm through a Z moving joint; a U-shaped rotating mechanism is arranged at the end part of the lifting arm; a V-shaped rotating mechanism is arranged at the end part of the U-shaped rotating mechanism; and a welding tool or a cutting tool is connected with the end part of the V-shaped rotating mechanism. The multifunctional five-axis gantry type integrated welding robot provided by the invention can be applicable to various space cutting of large-sized spherical crowns, curved plates, pressure vessels, cones, barrels and the like, and multilayer multiple-time welding of three-dimensional space connecting parts of two metals.

Description

technical field [0001] The invention relates to a robot, in particular to a multifunctional five-axis gantry type welding integrated robot. Background technique [0002] At present, Harbin Engineering University has applied for the invention patent multifunctional gantry-type seven-axis industrial robot (Chinese patent, application number: 200910072010.5) and the invention patent of a seven-axis serial industrial robot structure for pipe end operations (Chinese patent, application number : 201010101017.8), the structure has seven joint degrees of freedom, and the patent of the present invention has five joint degrees of freedom. Except that the three degrees of freedom that realize space Cartesian coordinate motion have similar structures, the other two degrees of freedom have completely different mechanical transmission structures and motions The method is especially suitable for cutting and welding purposes, so it is essentially different from the above two patents. At pr...

AI Technical Summary

Problems solved by technology

At present, the gantry-type two-degree-of-freedom flame cutting robot can only cut various curves in the plane. Even if it is equipped with welding tools, it can only achieve in-plane welding, but its structural design cannot be used for three-dimensional space curve welding.

Now the gantry-type five-axis flame cutting robot produced by ESA company as the representative includes the movement in the horizontal plane of the XY two-axis and the vertical lifting movement of the Z-axis. The X, Y, and Z axes are perpendicular to each other. The rotation axis U of the shaft is connected to the arc plate at the lower end of the rotation axis U, and the cutting tool is installed on the arc plate to make it rotate around the center of the arc plate, and the center of the arc plate is the cutting point, the axis of the cutting tool The angle formed with the Z axis is theoretically up to 90 degrees, but this method is difficult to reach 90 degrees due to the limitation of the design structure of the arc plate, so that the cutting angle is severely limited. In reality, there is no Welding operation with welding tools is because the structural design cannot be equipped with welding equipment. Even if welding equipment is equipped for welding, the welding angle and cutting angle are also limited; at the same time, the gear transmission mechanism at the arc plate is difficult to protect. Under the harsh working conditions, it is difficult to guarantee the accuracy in the long-term use process

[0003] The above-mentioned robots with several structures are not equipped with welding equipment in reality. The main reason is that their structural design cannot be equipped with welding tools. Even if some improvement is carried out to carry welding tools, the gantry-type two-degree-of-freedom flame cutting robot cannot realize the three-dimensional space curve. Welding, and the gantry-type five-axis flame cutting robot produced by ESA company as a representative has a severely limited working space whether it is cutting or welding

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