Multi-shaft welding positioner

Abstract

The invention discloses a multi-shaft welding positioner, and relates to the technical field of welding equipment. The first direction moving unit is connected with the rack and used for providing X-axis direction displacement for the welding gun; the second direction moving unit is connected with the first direction moving unit and used for providing Y-axis direction displacement for the welding gun; the third direction moving unit is connected with the second direction moving unit and used for providing Z-axis direction displacement for the welding gun; the welding gun rotating unit is connected with the third direction moving unit and the welding gun and used for driving the welding gun to rotate; and the workpiece driving shaft is supported to be rotatable and is used for installing the clamp and driving the clamp to rotate, so that the workpiece is rotated to the position suitable for welding of the welding gun. According to the welding device, a plurality of welding seams with different positions and angles can be welded in one-time clamping, and the working efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and particularly relates to a multi-axis welding positioner. Background Art

[0002] Welding is a manufacturing process and technology for joining metals by heating, high temperature or high pressure, and it is widely used in the machining of mechanical workpieces.

[0003] Currently, in the prior art, most of the engineering machinery industry uses manual welding. Usually, manual positioning welding is adopted. After welding one place, the position of the workpiece to be welded is manually flipped again, or the method of manual + overhead crane is used during flipping. Using this method, not only is the efficiency low but also it is not safe. While the welding labor intensity is high, due to the structural limitations of the workpiece, it is impossible to keep the workpiece flipped at any angle, resulting in some parts of the workpiece being inconvenient to weld and the welding quality not being guaranteed.

[0004] Especially for workpieces such as trusses, sufficient relative position accuracy is required between multiple welds. Traditional welding equipment cannot meet the requirements. It is necessary to develop a multi-axis welding positioner that can weld welds at different angles and positions in one clamping. Summary of the Invention

[0005] The present invention provides a multi-axis welding positioner for the above-mentioned technical problems existing in the prior art, which can weld multiple welds at different positions and angles in one clamping.

[0006] To achieve the above technical purpose, an embodiment of the present invention provides a multi-axis welding positioner, which is characterized in that it includes: A frame; A first-direction moving unit, connected to the frame, for providing displacement in the X-axis direction to the welding torch; A second-direction moving unit, connected to the first-direction moving unit, for providing displacement in the Y-axis direction to the welding torch; A third-direction moving unit, connected to the second-direction moving unit, for providing displacement in the Z-axis direction to the welding torch; A welding torch rotating unit, respectively connected to the third-direction moving unit and the welding torch, for driving the welding torch to rotate; A workpiece driving shaft, supported to be rotatable, for installing a fixture and driving the fixture to rotate, so as to rotate the workpiece to an orientation suitable for the welding torch to perform welding.

[0007] Further, the first-direction moving unit includes a first guide rail, a first rack, a first driving member, a first sliding seat and a driving gear; The first guide rail and the first rack are connected to the frame, and the first guide rail extends along the X-axis direction; The first sliding seat is slidably connected to the first guide rail; The first driving member is fixed on the first sliding seat, and the output shaft of the first driving member is connected to the driving gear, and the driving gear meshes with the first rack; Further, the second-direction moving unit includes a longitudinal bracket, a second driving member, a second guide rail, a first driving lead screw, and a connecting seat; The longitudinal bracket extends along the Y-axis direction, and the lower end of the longitudinal bracket is fixedly connected to the first sliding seat; The second driving member is fixed to the upper end of the longitudinal bracket, the second guide rail has the same extending direction as the longitudinal bracket, and the connecting seat is slidably connected to the second guide rail up and down; The first driving lead screw extends vertically and is supported to be rotatable; the output end of the second driving member is in transmission connection with the first driving lead screw; the first driving lead screw is in threaded transmission connection with the connecting seat.

[0008] Further, the third-direction moving unit includes a transverse bracket, a second driving lead screw, a third driving member, and a third guide rail; The transverse bracket is slidably connected to the connecting seat horizontally; the transverse bracket moves along the Z-axis direction; the third guide rail and the second driving lead screw have the same extending direction as the transverse bracket; the third guide rail is fixedly connected to the transverse bracket, and the second driving lead screw is rotatably connected to the transverse bracket; the second driving lead screw is in threaded transmission connection with the connecting seat; The third driving member is fixed to the end of the transverse bracket; the output end of the third driving member is in transmission connection with the second driving lead screw.

[0009] Further, the welding torch rotating unit includes a welding torch rotation driving member and a swing arm, and the welding torch rotation driving member is fixed to the end of the transverse bracket far from the third driving member; One end of the swing arm is connected to the output end of the welding torch rotation driving member, and the other end is connected to the welding torch.

[0010] Further, a fixture is fixed on the workpiece driving shaft, and the fixture includes a workbench and a plurality of fixing parts connected to the workbench and used for pressing the workpiece; the fixing part has a first state suitable for clamping the workpiece and a second state suitable for releasing the workpiece.

[0011] Further, the fixing part is a quick clamp.

[0012] Further, the fixture further includes a clamping assembly, and the clamping assembly includes a piston rod, a piston part, a guiding part, and a guiding ball; The piston rod, the piston part and the guiding part are fixedly and coaxially connected in sequence from top to bottom; The upper end of the piston rod is connected to the fixing part; An upper cavity is formed on the upper side of the piston part, and a lower cavity is formed on the lower side; The guiding part is provided with a guiding groove for cooperating with the guiding ball; the guiding groove is arranged in a Z shape, and the guiding ball is fixedly arranged; When the guiding part moves upward to the limit position, the fixing part is lifted and rotated to the second state; and when the guiding part moves downward to the limit position, the fixing part is lowered and rotated to the first state.

[0013] Further, it further includes a linkage assembly, a positioning assembly and a limiting unit. The linkage assembly includes a first ejector rod, a second ejector rod and a connecting rod. One end of the connecting rod is fixedly connected to the first ejector rod, and the other end of the connecting rod is fixedly connected to the second ejector rod; The upper end of the first ejector rod passes through the workbench and extends to the upper side of the workbench; The upper end of the second ejector rod is rotatably and axially limitedly connected to the lower end of the guiding part; The upper end of the first spring abuts against the lower end of the guiding part, and is used to provide an elastic force for pushing the guiding part up and down; The positioning assembly includes a limiting part, a second tension spring, a wedge part, a positioning part and a third spring; The limiting part is fixedly connected to the connecting rod. The upper end of the limiting part is connected to the wedge part through a second tension spring; the positioning part is slidably connected to the workbench horizontally; one end of the positioning part extends into the clamping groove on the inner side of the workbench, and the other end of the positioning part cooperates with the wedge surface of the wedge part; one end of the third spring abuts against the workbench, and the other end abuts against the positioning part; When the wedge part moves downward, the positioning part is pushed by the wedge surface to clamp the workpiece tightly. When the wedge part moves upward, the third spring pushes the positioning part to move away from the workpiece; The limiting unit includes a pawl, a second spring and a push-pull cylinder; a ratchet part is provided on one side of the limiting part; the pawl is slidably connected to the workbench horizontally, and the front end of the pawl is connected to the ratchet part, and is used to limit the limiting part to move only downward unidirectionally; one end of the second spring abuts against the workbench, and the other end abuts against the rear end of the pawl; The push-pull cylinder is fixedly connected to the workbench, and the piston rod of the push-pull cylinder is connected to the pawl to pull the pawl to move backward to release the limiting part.

[0014] Further, it further includes a clamp assembly. The clamp assembly includes a hook body, a first tension spring and a frame; The middle part of the hook-shaped body is connected to the frame body through a rotating shaft; a sliding part is provided at the lower end of the hook-shaped body, and the upper end is connected to the frame body through a first tension spring; a clamping table and an outward-turning inclined surface are provided on the hook-shaped body; The clamping table is used for clamping a workpiece; the first tension spring is used for providing an elastic force for clamping the workpiece; A triggering part and a notch part are arranged on the workbench in a staggered manner, and the hook-shaped body selectively cooperates with the triggering part or the notch part according to the needs of loading and unloading; During loading, a triggering surface is provided at the top of the triggering part. When the triggering surface approaches the clamping jaw assembly, the hook-shaped body can be pushed to rotate through the sliding part to release the workpiece; an extrusion protrusion opposite to the first ejector rod is further provided at the top of the frame body; after the hook-shaped body releases the workpiece, the clamping jaw assembly continues to move downward, so that the extrusion protrusion pushes the first ejector rod to move downward to drive the fixing part to rotate and clamp the workpiece; During unloading, the orientation of the clamping jaw assembly is adjusted so that the hook-shaped body is opposite to the notch part. The workpiece is pushed to drive the hook-shaped body to turn outward and penetrate into the notch part through the outward-turning inclined surface, and the hook-shaped body is driven to reset by the pulling force of the first tension spring to clamp the workpiece.

[0015] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages: The multi-axis welding positioner of the present invention can meet the welding requirements of welds at any position and trajectory in the three-dimensional space within the working range; and, through the workpiece driving shaft, the orientation of the workpiece can be adjusted, so that the welding of welds in different orientations can be completed by one-time clamping, improving the relative position accuracy between the welds. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of a multi-axis welding positioner according to the first embodiment of the present invention.

[0017] Figure 2 For Figure 1 the front view.

[0018] Figure 3 For Figure 1 the left view.

[0019] Figure 4 It is a schematic structural diagram of a multi-axis welding positioner according to the second embodiment of the present invention.

[0020] Figure 5 For Figure 4 the partial enlarged view A in

[0021] Figure 6 It is a structural diagram of a fixture in a multi-axis welding positioner according to the third embodiment of the present invention.

[0022] Figure 7 is Figure 6 The structural diagram of the fixing part in

[0023] Figure 8 is Figure 7 The structural diagram of the piston rod, piston part and guiding part in

[0024] Figure 9 is the structural diagram of another fixture in the multi-axis welding positioner.

[0025] Figure 10 is Figure 9 The left view of the fixture shown in

[0026] Figure 11 is Figure 10 The A-A sectional view in

[0027] Figure 12 is Figure 10 The B-B sectional view in

[0028] Figure 13 is the structural diagram of the clamp assembly.

[0029] Figure 14 is the schematic diagram of loading using the clamp assembly, which is the process of lowering the workpiece to the fixture.

[0030] Figure 15 is the bottom view schematic diagram of the clamp assembly.

[0031] Figure 16 is the schematic diagram of loading using the clamp assembly, which is the process of driving the fixture to lock the workpiece by the extrusion protrusion in the clamp assembly.

[0032] Figure 17 is the schematic diagram of the unloading process.

[0033] Figure 18 is the working schematic diagram of positioning the horizontal position of the workpiece while fixing the workpiece by the fixing part in the fixture.

[0034] Explanation of reference numerals 1. First-direction moving unit; 101. First guide rail; 102. First rack; 103. First driving member; 104. Driving gear; 105. First sliding seat; 2. Second-direction moving unit; 201. Longitudinal bracket; 202. Second driving member; 203. Second guide rail; 204. First driving lead screw; 205. Connecting seat; 3. Third-direction moving unit; 301. Transverse bracket; 302. Third driving member; 303. Third guide rail; 304. Second driving lead screw; 4. Welding gun rotation unit; 401. Welding gun rotation drive member; 402. Swing arm; 5. Workpiece drive shaft; 6. Welding gun; 7. Rack; 8. Clamp; 801. Workbench; 8011. Slot; 802. Fixing part; 803. Piston rod; 804. Piston part; 805. Guide part; 806. Guide groove; 8061. First vertical groove; 8062. Inclined groove; 8063. Second vertical groove; 807. Guide ball; 808. First ejector rod; 809. Second ejector rod; 810. Connecting rod; 811. Linkage assembly; 812. Trigger part; 813. Trigger surface; 814. Hook-shaped body; 8141. Table; 8142. Outward inclined surface; 815. Rotating shaft; 816. First pull spring; 817, sliding part; 818, clamp assembly; 819, frame; 820, first spring; 821, positioning assembly; 822, stopper; 823, ratchet; 824, pawl; 825, second spring; 826, push-pull cylinder; 827, second tension spring; 828, wedge; 8281, wedge surface; 829, positioning member; 830, third spring; 831, clamp assembly; 832, upper cavity; 833, lower cavity; 834, stopper; 835, notch; 836, extrusion protrusion; 837, alignment cylinder; 9. Workpiece. DETAILED DESCRIPTION

[0035] Other objects and advantages of the present invention will become apparent through explanation of the following preferred embodiments of the present application. First embodiment

[0036] like Figure 1 As shown, the multi-axis welding positioner includes a frame 7, and the frame 7 can be, for example, a frame structure or a cubic structure.

[0037] The first direction moving unit 1 is connected to the frame 7 and is used to provide X-axis displacement to the welding gun 6; Figure 1 The coordinate system in the lower left corner shows the directions of the X-axis, Y-axis and Z-axis. Here, it should be noted that the first direction moving unit 1 is indirectly connected to the welding gun 6, that is, there is another intermediate structure between the welding gun 6 and the first direction moving unit 1. The function of the first direction moving unit 1 is to drive the welding gun 6 and the intermediate structure therebetween to move back and forth along the X-axis direction.

[0038] The second-direction moving unit 2 and the third-direction moving unit 3 are both the above-mentioned intermediate structures. The second-direction moving unit 2 is connected to the first-direction moving unit 1 and is used to provide the displacement of the welding torch 6 in the Y-axis direction. The third-direction moving unit 3 is connected to the second-direction moving unit 2 and is used to provide the displacement of the welding torch 6 in the Z-axis direction; the welding torch rotating unit 4 is respectively connected to the third-direction moving unit 3 and the welding torch 6 and is used to drive the welding torch 6 to rotate. The above-mentioned first-direction moving unit 1, second-direction moving unit 2 and third-direction moving unit 3 provide three-dimensional driving for the welding torch 6 as a whole, so that the front end of the welding torch 6 can move to any point in the three-dimensional space within the working range and can feed along the three-dimensional welding seam to be welded.

[0039] The workpiece driving shaft 5 is supported to be rotatable and is used to install the fixture 8 and drive the fixture 8 to rotate, so as to rotate the workpiece 9 to the orientation suitable for the welding torch 6 to perform welding. A motor, a gearbox, etc. can be arranged inside the frame 7 to drive the workpiece driving shaft 5 to rotate, thereby realizing the adjustment of the direction of the workpiece 9 and cooperating with the above three-direction moving units to complete the welding of the complex workpiece 9. Moreover, the present invention can complete the welding without re-clamping the workpiece 9, improving the relative position accuracy between the welds. The above-mentioned workpiece can be, for example, a truss, etc.

[0040] Specifically, as Figure 1 shown, in some embodiments, the first-direction moving unit 1 includes a first guide rail 101, a first rack 102, a first driving member 103, a first sliding seat 105 and a driving gear 104. The first guide rail 101 and the first rack 102 are connected to the frame 7, and the first guide rail 101 extends along the X-axis direction. The first sliding seat 105 is slidably connected to the first guide rail 101. The first driving member 103 is fixed on the first sliding seat 105, and the output shaft of the first driving member 103 is connected to the driving gear 104, and the driving gear 104 meshes with the first rack 102. In this embodiment, the first driving member 103 drives the driving gear 104 to rotate, and then the driving gear 104 and the first rack 102 mesh to push the first sliding seat 105 to reciprocally slide along the X-axis direction.

[0041] As Figures 1 to 3As shown, in some embodiments, the second-direction moving unit 2 includes a longitudinal bracket 201, a second driving member 202, a second guide rail 203, a first driving lead screw 204, and a connecting seat 205; the longitudinal bracket 201 extends along the Y-axis direction, and the lower end of the longitudinal bracket 201 is fixedly connected to the first sliding seat 105; the second driving member 202 is fixed to the upper end of the longitudinal bracket 201, the second guide rail 203 has the same extending direction as the longitudinal bracket 201, and the connecting seat 205 is slidably connected to the second guide rail 203 in the up-and-down direction; the first driving lead screw 204 extends vertically and is supported to be rotatable; the output end of the second driving member 202 is in transmission connection with the first driving lead screw 204; the first driving lead screw 204 is in threaded transmission connection with the connecting seat 205.

[0042] In this embodiment, the second driving member 202 drives the first driving lead screw 204 to rotate, and then, through the threaded transmission connection relationship between the first driving lead screw 204 and the connecting seat 205, drives the connecting seat 205 to move in the up-and-down direction.

[0043] As Figures 1 to 3 shown, in some embodiments, the third-direction moving unit 3 includes a transverse bracket 301, a second driving lead screw 304, a third driving member 302, and a third guide rail 303; The transverse bracket 301 is slidably connected to the connecting seat 205 horizontally; the transverse bracket 301 moves along the Z-axis direction; the third guide rail 303 and the second driving lead screw 304 have the same extending direction as the transverse bracket 301; the third guide rail 303 is fixedly connected to the transverse bracket 301, and the second driving lead screw 304 is rotatably connected to the transverse bracket 301; The third driving member 302 is fixed to the end of the transverse bracket 301; the output end of the third driving member 302 is in transmission connection with the second driving lead screw 304, and the second driving lead screw 304 is in threaded transmission connection with the connecting seat 205.

[0044] In this embodiment, the third driving member 302 drives the second driving lead screw 304 to rotate, and through the threaded transmission connection between the second driving lead screw 304 and the connecting seat 205, drives the transverse bracket 301 to move along the Z-axis direction. And through the horizontal movement of the transverse bracket 301 relative to the connecting seat 205 along the Z-axis direction, the position adjustment of the welding torch rotating unit 4 in the Z-axis direction is realized to meet the welding requirements of welds at different positions in the Z-axis.

[0045] In some embodiments, the welding torch rotation unit 4 includes a welding torch rotation driving member 401 and a swing arm 402. The welding torch rotation driving member 401 is fixed to the end of the transverse bracket 301 away from the third driving member 302; one end of the swing arm 402 is connected to the output end of the welding torch rotation driving member 401, and the other end is connected to the welding torch 6. In this embodiment, the welding torch rotation driving member 401 drives the welding torch 6 to rotate through the swing arm 402, so as to adjust the orientation of the welding torch 6 and meet the welding requirements of welds in different orientations.

[0046] The multi-axis welding positioner of this embodiment can meet the welding requirements of welds at any position and trajectory in the three-dimensional space within the working range; and, through the workpiece driving shaft 5, the orientation of the workpiece 9 can be adjusted, so that the welding of welds in different orientations can be completed with one clamping, improving the relative position accuracy between welds.

[0047] When implementing the technical solution of the present invention, different fixtures 8 are installed to adapt to different working scenarios.

[0048] For example, the multi-axis welding positioner of the second embodiment to be introduced below is adapted to the working scenario of manual loading and unloading; the multi-axis welding positioner of the third embodiment is adapted to the working scenario of automatic loading and unloading in the production line. Second embodiment

[0049] In the working scenario of manual loading and unloading, as Figures 4 to 5 shown, in some embodiments, a fixture 8 is fixed on the workpiece driving shaft 5. The fixture 8 includes a workbench 801 and a plurality of fixing parts 802 connected to the workbench 801 and used for pressing the workpiece 9. The fixing part 802 has a first state suitable for clamping the workpiece 9 and a second state suitable for releasing the workpiece 9. In some embodiments, the fixing part 802 is a quick clamp (the quick clamp is a standard part), which is convenient for manually aligning and clamping the workpiece 9 and unloading the workpiece 9 after welding is completed.

[0050] In some embodiments, an alignment cylinder 837 can also be installed on at least one side of the workbench 801, and a positioning block is installed on the side opposite to the alignment cylinder 837. The alignment cylinder 837 is used for positioning the workpiece 9 and pressing against the edge of the workpiece 9, and cooperating with the quick clamp to complete the installation of the workpiece 9.

[0051] During work, the workpiece driving shaft 5 drives the workbench 801 to rotate to a horizontal state, the workpiece 9 is placed in the card slot 8011 of the workbench 801, and the alignment cylinder 837 and the quick clamp are operated to complete the clamping of the workpiece 9. Then, the workpiece 9 is rotated to a vertical or other angle, and the welding torch 6 is operated to complete the welding of welds with different angles and lengths. Third embodiment

[0052] In the working scenario of an automated production line, such as Figures 9 to 18 shown, the fixture 8 further includes a clamping assembly 831, and the clamping assembly 831 includes a piston rod 803, a piston part 804, a guiding part 805 and a guiding ball 807.

[0053] The piston rod 803, the piston part 804 and the guiding part 805 are fixedly and coaxially connected in sequence from top to bottom. The upper end of the piston rod 803 is connected to the fixing part 802. The piston rod 803, the piston part 804 and the outer shell form the structure of a clamping cylinder. An upper cavity 832 is formed on the upper side of the piston part 804, and a lower cavity 833 is formed on the lower side; when gas is filled into the upper cavity 832, the piston rod 803 moves downward to clamp the workpiece 9; when gas is filled into the lower cavity 833, the piston rod 803 moves upward.

[0054] As Figure 8 shown, a guiding groove 806 that cooperates with the guiding ball 807 is provided on the guiding part 805; the guiding groove 806 is arranged in a Z shape, and the guiding ball 807 is fixedly arranged.

[0055] Specifically, the above-mentioned guiding groove 806 includes a first vertical groove 8061, an inclined groove 8062 and a second vertical groove 8063; one end of the inclined groove 8062 is connected to the first vertical groove 8061, and the other end is connected to the second vertical groove 8062. When the guiding ball 807 is located in the first vertical groove 8061 and the second vertical groove 8063, the guiding part 805 and the fixing part 802 can move in the up and down direction without deflection; when the guiding ball 807 is located in the inclined groove 8062, the guiding part 805 and the fixing part 802 deflect synchronously in the circumferential direction while moving up and down.

[0056] The following takes the fixing part 802 shown as 802a in Figure 6 as an example for illustration. When the guiding part 805 moves upward, under the action of the guiding groove 806 and the guiding ball 807, the fixing part 802 moves upward and rotates clockwise while deviating from the position of clamping the workpiece 9. When the guiding part 805 moves upward to the limit position, the fixing part 802 rises and rotates to the second state.

[0057] When the guiding part 805 moves downward, under the action of the guiding groove 806 and the guiding ball 807, the fixing part 802 moves downward and rotates counterclockwise while deflecting towards the position of clamping the workpiece 9. When the guiding part 805 moves downward to the limit position, the fixing part 802 descends and rotates to the first state.

[0058] In order to further improve work efficiency and facilitate feeding and discharging in a production line, for example, by means of a manipulator, some embodiments of the present invention further include a linkage assembly 811, a positioning assembly 821, and a limiting unit 834. The linkage assembly 811 includes a first ejector rod 808, a second ejector rod 809, and a connecting rod 810. One end of the connecting rod 810 is fixedly connected to the first ejector rod 808, and the other end of the connecting rod 810 is fixedly connected to the second ejector rod 809, so that the first ejector rod 808 and the second ejector rod 809 can move up and down synchronously.

[0059] The upper end of the first ejector rod 808 passes through the workbench 801 and extends to the upper side of the workbench 801. The upper end of the second ejector rod 809 is rotatably and axially limitedly connected to the lower end of the guiding part 805; by pressing the first ejector rod 808, the second ejector rod 809 can be driven to move downward. Further, the upper end of the first spring 820 abuts against the lower end of the guiding part 805 and is used to provide an elastic force for pushing the guiding part 805 up and down. After the pressing force is lost, the first spring 820 can push the guiding part 805, the piston rod 803, and the fixing part 802 upward. Moreover, the above operations, in cooperation with the air pressure states in the upper cavity 832 and the lower wall, can realize the linkage control of feeding and discharging.

[0060] Further, the positioning assembly 821 includes a limiting member 822, a second tension spring 827, a wedge member 828, a positioning member 829, and a third spring 830. The limiting member 822 is fixedly connected to the connecting rod 810. The upper end of the limiting member 822 is connected to the wedge member 828 through the second tension spring 827; the positioning member 829 is slidably connected to the workbench 801 horizontally; one end of the positioning member 829 extends into the card slot 8011 on the inner side of the workbench 801, and the other end of the positioning member 829 cooperates with the wedge surface 8281 of the wedge member 828; one end of the third spring 830 abuts against the workbench 801, and the other end abuts against the positioning member 829; when the wedge member 828 moves downward, the positioning member 829 is pushed by the wedge surface 8281 to tightly press against the side surface of the workpiece 9 to realize the positioning of the workpiece 9 in the left-right direction. When the wedge member 828 moves upward, the third spring 830 pushes the positioning member 829 to move away from the workpiece 9 to release the workpiece 9.

[0061] It should be noted that the elastic force of the second tension spring 827 is greater than the elastic force of the third spring 830, so that when the limiting member 822 moves downward, the wedge member 828 can be pulled downward through the second tension spring 827, and the positioning member 829 is pushed to extend toward the card slot 8011. Moreover, the length of the second tension spring 817 after being closed is suitable for transmitting an upward thrust to the wedge member 828 when the limiting member 822 moves upward through the closed second spring 817; while the third spring 830 is used to push the positioning member 829 away from the card slot 8011.

[0062] The limiting unit 834 includes a pawl 824, a second spring 825, and a push-pull cylinder 826; a ratchet portion 823 is provided on one side of the limiting member 822; the pawl 824 is horizontally slidably connected to the workbench 801, and the front end of the pawl 824 is connected to the ratchet portion 823 for limiting the limiting member 822 to move only downward in one direction; one end of the second spring 825 abuts against the workbench 801, and the other end abuts against the rear end of the pawl 824; the push-pull cylinder 826 is fixedly connected to the workbench 801, and the piston rod 803 of the push-pull cylinder 826 is connected to the pawl 824 to pull the pawl 824 backward to release the limiting member 822. When pressing the upper end of the first ejector rod 808 or introducing gas into the upper cavity 832, the connecting rod 810 drives the limiting member 822 to move downward. At this time, the above-mentioned pawl 824 allows the limiting member 822 to move downward in one direction, and the limiting member 822 further pulls the wedge member 828 downward, thereby pushing the front end of the positioning member 829 to move in the direction close to the workpiece 9 and pressing against the workpiece 9 on one side of the workpiece 9. When the force pressing the first ejector rod 808 disappears, the above-mentioned limiting unit 834 realizes the position holding of the fixing portion 802 and the positioning member 829, and further realizes the holding of the positioning state of the workpiece 9.

[0063] In order to realize the loading and unloading of the workpiece 9, in some embodiments, the multi-axis welding positioner further includes a clamp assembly 818, and the clamp assembly 818 includes a hook body 814, a first tension spring 816, and a frame 819. A manipulator can be used to operate the above-mentioned basket to transfer the workpiece 9.

[0064] As Figure 13 and Figure 14 shown, the middle part of the hook body 814 is connected to the frame 819 through a rotating shaft 815; a sliding portion 817 is provided at the lower end of the hook body 814, and the upper end is connected to the frame 819 through a first tension spring 816; a clamping table 8141 and an outward-turning inclined surface 8142 are provided on the hook body 814. The clamping table 8141 is used to clamp the workpiece 9; the first tension spring 816 is used to provide an elastic force for clamping the workpiece 9.

[0065] A triggering portion 812 and a notch portion 835 are arranged in a staggered manner on the workbench 801, and the hook body 814 selectively cooperates with the triggering portion 812 or the notch portion 835 according to the needs of loading and unloading. As Figure 15 shown, the triggering portion 812 and the notch portion 835 are arranged in a staggered manner. Specifically, the triggering portion 812 is located at the upper left side and the notch portion 835 is located at the lower side in the figure; while the notch portion 835 is located at the upper right side and the triggering portion 812 is located at the lower side in the figure. Furthermore, by rotating the above-mentioned clamp assembly 818 by 180°, the conversion of the loading and unloading functions can be realized.

[0066] A trigger surface 813 is provided at the top of the trigger part 812. During loading, when the trigger surface 813 and the clamp assembly 818 are close to each other, the sliding part 817 can push the hook body 814 to rotate to release the workpiece 9; the top of the frame body 819 is also provided with an extrusion protrusion 836 opposite to the first push rod 808. When the hook body 814 releases the workpiece 9, the clamp assembly 818 continues to move downward, so that the extrusion protrusion 836 pushes the first push rod 808 to move downward to drive the fixing part 802 to rotate and clamp the workpiece 9, and the clamping state of the workpiece 9 is maintained through the above-mentioned limit unit 834, so as to complete the welding of the workpiece 9.

[0067] After the welding of the workpiece 9 is completed, when unloading, it is rotated 180° to adjust the orientation of the clamp assembly 818 so that the hook body 814 is opposite to the notch portion 835, and the workpiece 9 pushes the outward inclined surface 8142 to drive the hook body 814 to be turned outward and penetrate into the notch portion 835, and the tension of the first tension spring 816 drives the hook body 814 to reset to clamp the workpiece 9, and the above-mentioned push-pull cylinder 826 can be operated to release the limit member 822, and the first spring 820 pushes the limit portion and the fixed portion 802 connected to the limit portion to release the workpiece 9, and then the welded workpiece 9 is further transferred away by the manipulator, thereby realizing automated loading and unloading, which is convenient for the application of this equipment in an automated production line scenario.

[0068] The positions of the extrusion protrusion 836 in the above-mentioned clamp assembly 818 and the first push rod 808 in the clamp 8 can also be set to be relative and able to offset each other during loading, and to be displaced after rotating 180° during unloading, or to be provided with notches and other structures so as not to interfere with each other. Technical personnel in the field can make adjustments as needed.

[0069] It should be noted that, when clamping the workpiece 9, gas can be introduced into the upper cavity 832 to push the fixing part 802 downward, or the force for clamping the workpiece 9 can be increased according to the weight of the workpiece 9; and when unloading, the push-pull cylinder 826 can be operated to release the limit member 822 and gas can be introduced into the lower cavity 833 to assist in pushing the fixing part 802 upward.

[0070] In addition, as needed, the clamp assembly 818 for loading and the clamp assembly 818 for unloading can be different parts, namely the first clamp assembly and the second clamp assembly, the first clamp assembly is used for loading, and the second clamp assembly is used for unloading.

[0071] The multi-axis welding positioner of the present application is described in detail with reference to the preferred technical solution of the present application. However, it should be noted that, without departing from the spirit of the present application, those skilled in the art may make any transformation, modification and change based on the above disclosure. The present application includes the above specific implementation scheme and any equivalent form thereof.

Claims

1. Multi-axis welding positioner, characterized in that, Comprising: A frame (7); A first-direction moving unit (1), connected to the frame (7), for providing displacement in the X-axis direction to the welding torch (6); A second-direction moving unit (2), connected to the first-direction moving unit (1), for providing displacement in the Y-axis direction to the welding torch (6); A third-direction moving unit (3), connected to the second-direction moving unit (2), for providing displacement in the Z-axis direction to the welding torch (6); A welding torch rotating unit (4), respectively connected to the third-direction moving unit (3) and the welding torch (6), for driving the welding torch (6) to rotate; A workpiece driving shaft (5), supported to be rotatable, for mounting a fixture (8) and driving the fixture (8) to rotate, so as to rotate the workpiece (9) to an orientation suitable for welding by the welding torch (6).

2. The multi-axis welding positioner according to claim 1, wherein The first-direction moving unit (1) includes a first guide rail (101), a first rack (102), a first driving member (103), a first sliding seat (105), and a driving gear (104); The first guide rail (101) and the first rack (102) are connected to the frame (7), and the first guide rail (101) extends along the X-axis direction; The first sliding seat (105) is slidably connected to the first guide rail (101); The first driving member (103) is fixed on the first sliding seat (105), and the output shaft of the first driving member (103) is connected to the driving gear (104), and the driving gear (104) meshes with the first rack (102).

3. The multi-axis welding positioner according to claim 2, wherein The second-direction moving unit (2) includes a longitudinal bracket (201), a second driving member (202), a second guide rail (203), a first driving lead screw (204), and a connecting seat (205); The longitudinal bracket (201) extends along the Y-axis direction, and the lower end of the longitudinal bracket (201) is fixedly connected to the first sliding seat (105); The second driving member (202) is fixed to the upper end of the longitudinal bracket (201), the second guide rail (203) has the same extending direction as the longitudinal bracket (201), and the connecting seat (205) is slidably connected to the second guide rail (203) up and down; The first driving lead screw (204) extends vertically and is supported to be rotatable; the output end of the second driving member (202) is in transmission connection with the first driving lead screw (204); the first driving lead screw (204) is in threaded transmission connection with the connecting seat (205).

4. The multi-axis welding positioner according to claim 3, wherein The third-direction moving unit (3) includes a transverse bracket (301), a second driving lead screw (304), a third driving member (302), and a third guide rail (303); The transverse bracket (301) is horizontally slidably connected to the connection seat (205); the transverse bracket (301) moves along the Z-axis direction; the third guide rail (303) and the second driving lead screw (304) are in the same extending direction as the transverse bracket (301); the third guide rail (303) is fixedly connected to the transverse bracket (301), and the second driving lead screw (304) is rotatably connected to the transverse bracket (301); the second driving lead screw (304) is in threaded driving connection with the connection seat (205). The third driving member (302) is fixed to the end of the transverse bracket (301); the output end of the third driving member (302) is in driving connection with the second driving lead screw (304).

5. The multi-axis welding positioner according to claim 4, wherein The welding torch rotation unit (4) includes a welding torch rotation driving member (401) and a swing arm (402), and the welding torch rotation driving member (401) is fixed to the end of the transverse bracket (301) away from the third driving member (302). One end of the swing arm (402) is connected to the output end of the welding torch rotation driving member (401), and the other end is connected to the welding torch (6).

6. The multi-axis welding positioner according to claim 5, wherein A fixture (8) is fixed on the workpiece driving shaft (5), and the fixture (8) includes a workbench (801) and a plurality of fixing parts (802) connected to the workbench (801) and used for pressing the workpiece (9); the fixing parts (802) have a first state suitable for clamping the workpiece (9) and a second state suitable for releasing the workpiece (9).

7. The multi-axis welding positioner according to claim 6, wherein The fixing part (802) is a quick clamp.

8. The multi-axis welding positioner according to claim 6, wherein The fixture (8) further includes a clamping assembly (831), and the clamping assembly (831) includes a piston rod (803), a piston part (804), a guiding part (805) and a guiding ball (807). The piston rod (803), the piston part (804) and the guiding part (805) are fixedly and coaxially connected in sequence from top to bottom. The upper end of the piston rod (803) is connected to the fixing part (802). An upper cavity (832) is formed on the upper side of the piston part (804), and a lower cavity (833) is formed on the lower side. A guiding groove (806) for cooperating with the guiding ball (807) is provided on the guiding part (805); the guiding groove (806) is arranged in a Z shape, and the guiding ball (807) is fixedly arranged. When the guiding part (805) moves upward to the limit position, the fixing part (802) rises and rotates to the second state; and when the guiding part (805) moves downward to the limit position, the fixing part (802) descends and rotates to the first state.

9. The multi-axis welding positioner according to claim 8, wherein It further includes a linkage assembly (811), a positioning assembly (821) and a limiting unit (834). The linkage assembly (811) includes a first ejector rod (808), a second ejector rod (809) and a connecting rod (810). One end of the connecting rod (810) is fixedly connected to the first ejector rod (808), and the other end of the connecting rod (810) is fixedly connected to the second ejector rod (809). The upper end of the first ejector rod (808) passes through the workbench (801) and extends to the upper side of the workbench (801). The upper end of the second ejector rod (809) is rotatably and axially limitedly connected to the lower end of the guiding part (805). The upper end of the first spring (820) abuts against the lower end of the guiding part (805) to provide an elastic force for pushing the guiding part (805) up and down. The positioning assembly (821) includes a limiting member (822), a second tension spring (827), a wedge member (828), a positioning member (829) and a third spring (830). The limiting member (822) is fixedly connected to the connecting rod (810). The upper end of the limiting member (822) is connected to the wedge member (828) through the second tension spring (827). The positioning member (829) is slidably connected to the workbench (801) horizontally. One end of the positioning member (829) extends towards the clamping groove (8011) on the inner side of the workbench (801), and the other end of the positioning member (829) cooperates with the wedge surface (8281) of the wedge member (828). One end of the third spring (830) abuts against the workbench (801), and the other end abuts against the positioning member (829). When the wedge member (828) moves downwards, the positioning member (829) is pushed by the wedge surface (8281) to tightly hold the workpiece (9). When the wedge member (828) moves upwards, the third spring (830) pushes the positioning member (829) to move away from the workpiece (9). The limiting unit (834) includes a ratchet pawl (824), a second spring (825) and a push-pull cylinder (826). A ratchet tooth part (823) is provided on one side of the limiting member (822). The ratchet pawl (824) is slidably connected to the workbench (801) horizontally. The front end of the ratchet pawl (824) is connected to the ratchet tooth part (823) to limit the limiting member (822) to move only downwards unidirectionally. One end of the second spring (825) abuts against the workbench (801), and the other end abuts against the rear end of the ratchet pawl (824). The push-pull cylinder (826) is fixedly connected to the workbench (801). The piston rod (803) of the push-pull cylinder (826) is connected to the ratchet pawl (824) to pull the ratchet pawl (824) to move backwards to release the limiting member (822).

10. The multi-axis welding positioner according to claim 9, wherein it further includes a clamp assembly (818). The clamp assembly (818) includes a hook-shaped body (814), a first tension spring (816) and a frame body (819). The middle part of the hook-shaped body (814) is connected to the frame body (819) through a rotating shaft (815); a sliding part (817) is provided at the lower end of the hook-shaped body (814), and the upper end is connected to the frame body (819) through a first tension spring (816); a clamping platform (8141) and an outward-turning inclined surface (8142) are provided on the hook-shaped body (814). The clamping platform (8141) is used for clamping the workpiece (9); the first tension spring (816) is used for providing the elastic force for clamping the workpiece (9). A trigger part (812) and a notch part (835) are arranged in a staggered manner on the workbench (801), and the hook-shaped body (814) selectively cooperates with the trigger part (812) or the notch part (835) according to the needs of loading and unloading. During loading, a trigger surface (813) is provided at the top of the trigger part (812). When the trigger surface (813) and the clamp assembly (818) approach each other, the hook-shaped body (814) can be pushed to rotate through the sliding part (817) to release the workpiece (9); an extrusion protrusion (836) opposite to the first ejector rod (808) is further provided at the top of the frame body (819). After the hook-shaped body (814) releases the workpiece (9), the clamp assembly (818) continues to move downward, so that the extrusion protrusion (836) pushes the first ejector rod (808) to move downward to drive the fixing part (802) to rotate and clamp the workpiece (9). During unloading, the orientation of the clamp assembly (818) is adjusted so that the hook-shaped body (814) is opposite to the notch part (835). The workpiece (9) pushes the outward-turning inclined surface (8142) to drive the hook-shaped body (814) to turn outward and penetrate into the notch part (835), and the first tension spring (816) drives the hook-shaped body (814) to reset to clamp the workpiece (9).

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