Five-axis hollow positioner device

Abstract

The invention discloses a five-axis hollow positioner device, which relates to the technical field of welding auxiliary equipment and comprises a rotating main body, an L-shaped positioner, a welding chuck and a chuck driving and clamping mechanism, the rotating main body comprises a main box body, a rotating base and a first slewing mechanism, and the main box body can rotate around the first slewing mechanism; the two L-shaped position changing machines are symmetrically arranged on the two sides of the main box body to form double stations, and welding and feeding are synchronous. The welding chuck is arranged on the L-shaped positioner through a third slewing mechanism and is used for clamping and driving the workpiece to rotate; the chuck driving and clamping mechanism controls the welding chuck to clamp / loosen; the device realizes five-axis movement, can flexibly adjust the welding posture of a workpiece, and eliminates welding dead angles; the double-station design improves the efficiency, the arc light prevention blocking screen guarantees the safety, the copper alloy clamping pad prevents the workpiece from being scratched, and the device is suitable for efficient welding of complex workpieces.

Description

Technical Field

[0001] This invention relates to the field of welding auxiliary equipment technology, specifically to a five-axis hollow positioner device, which is mainly used to realize multi-directional posture adjustment of workpieces during the welding process. It is especially suitable for welding scenarios that require simultaneous operation of two workstations, and can greatly improve welding efficiency and workpiece welding accuracy. Background Technology

[0002] In the field of machinery manufacturing, welding, as a key joining process, is widely used in the production of various metal components. With the improvement of industrial automation, higher requirements are placed on the functionality and efficiency of welding equipment. Traditional welding positioners are mostly single-station structures. During the workpiece welding process, there are interference restrictions during loading and unloading operations, which can only be carried out after the welding process is completed. This results in long equipment idle time and low production efficiency. At the same time, traditional positioners have a limited number of motion axes, making it difficult to meet the needs of multi-angle welding of complex workpieces, leading to many welding dead angles and unstable weld quality. Furthermore, existing welding positioners mostly employ manual or single-drive methods for workpiece clamping mechanisms, resulting in low clamping force adjustment accuracy and a tendency for workpieces to loosen or become scratched. Moreover, in dual-station positioners, there is a lack of effective arc light and spatter isolation structures, leading to mutual interference between the two stations. This not only affects the operator's visual safety but may also cause spatter to adhere to the surface of the workpiece, impacting welding quality. Therefore, there is an urgent need for a welding positioner with multi-axis motion adjustment capabilities, synchronous dual-station operation, stable clamping, and protective functions to address the aforementioned deficiencies in existing technologies. Summary of the Invention

[0003] The purpose of this invention is to overcome the problems of low efficiency of single station, insufficient number of motion axes, poor accuracy of clamping mechanism and lack of protective structure in existing welding positioners. It provides a five-axis hollow positioner device to realize synchronous operation of two stations to improve efficiency, meet the welding posture requirements of complex workpieces through five-axis motion adjustment, optimize the clamping mechanism to avoid workpiece damage, and add a protective structure to ensure operation safety and quality.

[0004] To achieve the above objectives, the present invention provides a five-axis hollow positioner device, comprising: a rotating body, an L-shaped positioner, a welding chuck, and a chuck drive and clamping mechanism; The rotating body includes: a main housing, a rotating base, and a first rotation mechanism. The main housing is rotatably connected to the rotating base through the first rotation mechanism. The two L-shaped positioners are symmetrically and rotatably arranged on both sides of the main housing through the second rotary mechanism, and together with the main housing, they form a dual-station structure, which can realize a synchronous operation mode of welding operation at one station and workpiece loading at the other station. The two welding chucks are rotatably mounted on the corresponding L-shaped positioner via a third rotary mechanism. The welding chucks are used to clamp the workpiece. The third rotary mechanism drives the welding chucks to rotate and causes the workpiece to rotate synchronously. The two chuck drive clamping mechanisms are respectively installed on two L-shaped positioners, and are used to independently control the corresponding welding chuck to perform clamping or releasing actions. The specific motion directions of the five axes are: the rotational motion of the main housing around the rotation axis of the first rotary mechanism, the tilting motion of each of the two L-shaped positioners around the rotation axis of the second rotary mechanism, and the rotational motion of each of the two welding chucks around the rotation axis of the third rotary mechanism.

[0005] Furthermore, the welding chuck is a gear-driven chuck, comprising: a chuck body, at least three jaws and jaw gears, wherein the rotation of the jaw gears drives each jaw to move synchronously along the radial direction of the chuck body to achieve clamping or loosening of the workpiece.

[0006] Furthermore, the L-shaped positioner includes: a rotating arm assembly, an extending arm assembly, a second rotary mechanism, and a third rotary mechanism; the rotating arm assembly is rotatably mounted on the main housing via the second rotary mechanism, and the second rotary mechanism drives the rotating arm assembly to tilt around the rotation axis of the side of the main housing; one end of the extending arm assembly is vertically fixedly connected to the rotating arm assembly, and the two together form an L-shaped rotating arm structure; the second rotary mechanism is fixedly installed at the end of the rotating arm assembly away from the extending arm assembly, and the welding chuck is connected to the extending arm assembly via the third rotary mechanism.

[0007] Furthermore, the chuck drive clamping mechanism includes: an electromagnetic clutch, a jaw drive gear, a jaw adjustment motor, and a gear fixed shaft; the gear fixed shaft is fixed on the L-shaped positioner, the jaw drive gear is rotatably mounted on the gear fixed shaft via bearings, and the jaw drive gear meshes with the jaw gear of the welding chuck; the output shaft of the jaw adjustment motor is connected to the jaw drive gear via the electromagnetic clutch; by engaging or disengaging the electromagnetic clutch, the power transmission between the jaw adjustment motor and the jaw drive gear is controlled, thereby driving the welding chuck to perform clamping or releasing actions.

[0008] Furthermore, the L-shaped positioner is provided with a jaw housing, which covers the L-shaped positioner, forming a cavity between the two; the electromagnetic clutch and the jaw drive gear are both disposed in this cavity; the body of the jaw adjusting motor is fixed on the L-shaped positioner, and its output shaft passes through the L-shaped positioner and extends into the cavity, and is connected to the input end of the electromagnetic clutch; one end of the jaw drive gear is fixedly connected to the output end of the electromagnetic clutch, and the jaw drive gear meshes with the jaw gear of the welded chuck.

[0009] Furthermore, a five-axis hollow positioner device also includes: an anti-arc light shield, which is vertically fixed in the middle of the main housing and its height covers the welding operation area of ​​the two workstations, used to block the arc light and spatter generated between the two workstations during the welding process.

[0010] Furthermore, the first, second, and third rotary mechanisms have the same structure, each including: a rotary support, a rotary motor, and a rotary gear; the fixed ring of the rotary support is fixedly connected to the mounting base (rotating base / both sides of the main housing / L-shaped positioner), and the rotating ring of the rotary support is fixedly connected to the driven component (main housing / L-shaped positioner / welding chuck); the body of the rotary motor is fixed on the mounting base, and the rotary gear is fixedly installed on its output shaft. The rotary gear meshes with the rotating ring of the rotary support, and the rotary motor drives the rotary gear to rotate, thereby driving the rotating ring of the rotary support and the driven component to rotate synchronously.

[0011] Furthermore, the slewing support adopts a double-row cylindrical roller slewing support, the slewing gear adopts a hardened helical gear, and a key connection structure is provided between the output shaft of the slewing motor and the slewing gear to ensure the stability of power transmission.

[0012] Furthermore, the jaws of the welding chuck are equipped with removable wear-resistant clamping pads made of copper alloy, which are used to prevent scratches on the workpiece surface during clamping and to improve clamping friction.

[0013] The beneficial effects of this invention are: 1) Significantly improved work efficiency: The dual-station structure design enables welding operations and workpiece loading to be carried out simultaneously, reducing equipment downtime and improving production efficiency; 2) Flexible adjustment of welding posture: The five-axis motion direction covers the main posture adjustment needs in space, which can eliminate welding dead angles, meet the multi-angle welding needs of complex workpieces, and improve the stability of weld quality. 3) Safe and stable workpiece clamping: The gear-driven welding chuck, combined with the copper alloy wear-resistant clamping pad, ensures uniform clamping force and avoids scratches on the workpiece surface. At the same time, the chuck-driven clamping mechanism achieves precise control through an electromagnetic clutch, resulting in high clamping reliability. 4) Operational safety and quality assurance: The arc light shield effectively isolates arc light and spatter, protecting the safety of operators and keeping the surface of the workpiece to be welded clean; the uniformly designed rotary mechanism uses high-performance components to ensure long-term stable operation of the equipment and reduce maintenance costs. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2This is a schematic diagram of the rotating main structure; Figure 3 This is a schematic diagram of the outrigger assembly structure; Figure 4 for Figure 3 Schematic diagram of a partial half-section structure; In the diagram: 1. Rotating main body; 11. Main housing; 12. Rotating base; 13. First rotary mechanism; 2. L-shaped positioner; 21. Rotating arm assembly; 22. Extending arm assembly; 221. Claw housing; 23. Second rotary mechanism; 3. Welding chuck; 31. Third rotary mechanism; 4. Chuck drive clamping mechanism; 41. Electromagnetic clutch; 42. Claw drive gear; 43. Claw adjusting motor; 44. Gear fixing shaft; 5. Anti-arc light shield; 6. Rotary motor. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0017] like Figure 1-4 As shown, a five-axis hollow positioner device has the following specific technical solution: Overall structure: The five-axis hollow positioner device includes: a rotating body 1, an L-shaped positioner 2, a welding chuck 3 and a chuck drive clamping mechanism 4. The components work together to realize five-axis motion and dual-station operation functions. Rotating main body 1 includes: main housing 11, rotating base 12, and first rotation mechanism 13. The main housing 11 is rotatably connected to the rotating base 12 through the first rotation mechanism 13, so that the main housing 11 can rotate around the rotation axis of the first rotation mechanism 13, providing basic rotational freedom for the overall equipment. like Figure 1 As shown, there are two L-shaped positioners 2, which are symmetrically and rotatably arranged on both sides of the main housing 11 through the second rotary mechanism 23, and cooperate with the main housing 11 to form a dual-station structure. This dual-station design can realize the synchronous operation mode of welding operation at one station and workpiece loading at the other station, which greatly reduces equipment idle time and improves production efficiency. like Figure 1 , 3As shown in Figure 4, the L-shaped positioner 2 includes: a rotating arm assembly 21, an extension arm assembly 22, a second rotary mechanism 23, and a third rotary mechanism 31. The rotating arm assembly 21 is rotatably mounted on the main housing 11 via the second rotary mechanism 23. The second rotary mechanism 23 drives the rotating arm assembly 21 to tilt around the side rotation axis of the main housing 11, thereby adjusting the tilt posture of the workpiece. One end of the extension arm assembly 22 is vertically fixedly connected to the rotating arm assembly 21, and the two together form an L-shaped rotating arm structure, providing stable installation support for the welding chuck 3. The third rotary mechanism 31 is fixedly installed at the end of the rotating arm assembly 21 away from the extension arm assembly 22. The welding chuck 3 is connected to the extension arm assembly 22 via the third rotary mechanism 31, driving the welding chuck 3 to rotate the workpiece.

[0018] like Figure 1 , 3 As shown in Figure 4, there are two welding chucks 3, which are rotatably mounted on the corresponding L-shaped positioners 2 via a third rotary mechanism 31. They are used to clamp the workpiece and drive the welding chucks 3 to rotate, thereby causing the workpiece to rotate synchronously and achieving circumferential adjustment of the workpiece welding position. The welding chucks 3 are gear-driven chucks, including: a chuck body, three jaws and jaw gears. The rotation of the jaw gears drives each jaw to move synchronously along the radial direction of the chuck body, ensuring uniform force when the workpiece is clamped and avoiding workpiece displacement. The jaws are equipped with removable wear-resistant clamping pads made of copper alloy, which can not only prevent scratches on the workpiece surface during clamping, but also improve the clamping friction and prevent the workpiece from loosening during welding. like Figure 4 As shown, there are two chuck drive clamping mechanisms 4, each mounted on one of the two L-shaped positioners 2, used to independently control the corresponding welding chuck 3 to perform clamping or loosening actions. This mechanism includes an electromagnetic clutch 41, a jaw drive gear 42, a jaw adjusting motor 43, and a gear fixing shaft 44. The gear fixing shaft 44 is fixed to the L-shaped positioner 2. The jaw drive gear 42 is rotatably mounted on the gear fixing shaft 44 via bearings and meshes with the jaw gear of the welding chuck 3. The output shaft of the jaw adjusting motor 43 is connected to the jaw drive gear 42 via the electromagnetic clutch 41. By engaging or disengaging the electromagnetic clutch 41, the power transmission between the jaw adjusting motor 43 and the jaw drive gear 42 is precisely controlled, thereby achieving stable control of the clamping or loosening action of the welding chuck 3. like Figure 1 , 4As shown, to prevent the installation position of the chuck drive gear 42 from being restricted, a chuck housing 221 is provided on the L-shaped positioner 2. The chuck housing 221 covers the L-shaped positioner 2, and a cavity is formed between the two. The electromagnetic clutch 41 and the chuck drive gear 42 are both set in this cavity. The body of the chuck adjustment motor 43 is fixed on the L-shaped positioner 2, and its output shaft passes through the L-shaped positioner 2 and extends into the cavity, and is connected to the input end of the electromagnetic clutch 41. One end of the chuck drive gear 42 is fixedly connected to the output end of the electromagnetic clutch 41 to ensure the stability of power transmission and the sealing of the mechanism. Definition of five-axis motion direction The five-axis motion directions of this five-axis hollow positioner are as follows: First axis: Rotational motion of the main housing 11 around the rotation axis of the first rotary mechanism 13; Second axis: The tilting motion of the left L-shaped positioner 2 around the rotation axis of the second rotary mechanism 23; Third axis: The tilting motion of the right-side L-shaped positioner 2 around the rotation axis of the second rotary mechanism 23; Fourth axis: Rotational motion of the left welding chuck 3 around the rotation axis of the third rotary mechanism 31; Fifth axis: Rotational motion of the right welding chuck 3 around the rotation axis of the third rotary mechanism 31. Through the coordinated control of five-axis motion, the workpiece can be adjusted to any posture in space, completely eliminating welding dead angles and meeting the welding requirements of complex workpieces. like Figure 1 As shown, in order to avoid mutual interference between arc light and spatter during dual-station operation, an anti-arc light shield 5 is also provided in a five-axis hollow positioner device. The anti-arc light shield 5 is vertically fixed in the middle of the main housing 11, and the height of the anti-arc light shield 5 covers the welding operation area of ​​the two stations. It can effectively block the arc light and spatter generated between the two stations during the welding process, which not only ensures the visual safety of the operator, but also prevents spatter from adhering to the surface of the workpiece to be welded, thus improving the welding quality. The first rotary mechanism 13, the second rotary mechanism 23, and the third rotary mechanism 31 have the same structure, each including: a rotary support, a rotary motor 6, and a rotary gear, ensuring the consistency and stability of the movement of each axis; among them; The fixed ring of the rotary support in the first rotary mechanism 13 is fixedly connected to the rotating base 12, and the rotating ring of the rotary support in the first rotary mechanism 13 is fixedly connected to the main housing 11. The body of the rotary motor 6 is fixed on the rotating base 12, and a rotary gear is fixedly installed on its output shaft. The rotary gear meshes with the rotating ring of the rotary support. The rotary motor 6 drives the rotary gear to rotate, thereby driving the rotating ring of the rotary support and the main housing 11 to rotate synchronously. The fixed ring of the rotary support in the second rotary mechanism 23 is fixedly connected to both sides of the main housing 11. The rotating ring of the rotary support in the second rotary mechanism 23 is fixedly connected to the rotating arm assembly 21 in the L-shaped positioner 2. The body of the rotary motor 6 is fixed on both sides of the main housing 11. A rotary gear is fixedly installed on its output shaft. The rotary gear meshes with the rotating ring of the rotary support. The rotary motor 6 drives the rotary gear to rotate, thereby driving the rotating ring of the rotary support and the L-shaped positioner 2 to rotate synchronously. The fixed ring of the rotary support in the third rotary mechanism 31 is fixedly connected to the extension arm assembly 22 of the L-shaped positioner 2. The rotating ring of the rotary support in the third rotary mechanism 31 is fixedly connected to the welding chuck 3. The body of the rotary motor 6 is fixed on the extension arm assembly 22 of the L-shaped positioner 2. A rotary gear is fixedly installed on its output shaft. The rotary gear meshes with the rotating ring of the rotary support. The rotary motor 6 drives the rotary gear to rotate, thereby driving the rotating ring of the rotary support and the welding chuck 3 to rotate synchronously.

[0019] Further optimizations include the adoption of a double-row cylindrical roller slewing bearing, which has the advantages of strong load-bearing capacity and smooth operation; the slewing gear adopts a hardened helical gear, which has high wear resistance and transmission efficiency; and a key connection structure is provided between the output shaft of the slewing motor 6 and the slewing gear to ensure the stability of power transmission and avoid slippage or misalignment during transmission.

[0020] The working process involves fixing a five-axis hollow positioner device within the welding area where the welding robot operates; the specific process is as follows: Initial state: Both L-shaped positioners 2 are in a horizontal position, the welding chuck 3 is in a released state, and the anti-arc light shield 5 remains in a vertical state; Loading operation: The operator places the workpiece on the welding chuck 3 at the non-welding station, starts the chuck drive clamping mechanism 4, the electromagnetic clutch 41 is engaged, the jaw adjustment motor 43 drives the jaw drive gear 42 to rotate, and drives the jaw to move radially until the clamping pad is in contact with the workpiece surface. After the clamping force reaches the set value, the electromagnetic clutch 41 is disengaged, and the jaw remains in the clamping state. Station switching: The first rotary mechanism 13 is started, and the main box 11 rotates 180° around the rotation axis of the first rotary mechanism 13, rotating the non-welding station on the left that has been loaded with materials to the welding area, and rotating the station on the right that has completed welding to the non-welding station. Welding operation: The welding robot welds the workpiece rotated to the welding area, while the operator performs unloading and loading operations at the non-welding station. During the welding process, according to the welding requirements, the second rotary mechanism 23 drives the L-shaped positioner 2 to tilt to the set angle, and the third rotary mechanism 31 drives the welding chuck 3 to rotate the workpiece, adjusting the workpiece welding posture to ensure that the weld position is always at the optimal welding angle. The arc light shield 5 blocks the arc light and spatter generated during the welding process to avoid interference with the loading station on the right. Cyclic operation: After welding is completed, the first rotary mechanism 13 rotates 180° again, switches the workstation, and repeats the above loading, welding and unloading process to achieve continuous synchronous operation.

[0021] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A five-axis hollow positioner apparatus, characterized by, Comprise: Rotary main body, L type positioner, welding chuck and chuck drive clamping mechanism; The rotary main body comprises: main box, rotary base, first rotary mechanism, the main box is rotatably connected with the rotary base through the first rotary mechanism; Two L type positioners are symmetrically and rotatably arranged on both sides of the main box through the second rotary mechanism, and cooperate with the main box to form a double station structure, which can realize synchronous operation mode of one station welding operation and another station workpiece feeding; Two welding chucks are rotatably installed on the corresponding L type positioner through the third rotary mechanism, and the welding chuck is used for clamping the workpiece, and the third rotary mechanism drives the welding chuck to rotate and synchronously rotate the workpiece; Two chuck drive clamping mechanisms are respectively arranged on the two L type positioners, and are used for independently controlling the corresponding welding chuck to execute clamping or loosening action; The movement direction of the five axes is specifically: the rotary motion of the main box around the first rotary mechanism rotary axis, the tilting motion of the two L type positioners around the second rotary mechanism rotary axis, and the rotary motion of the two welding chucks around the third rotary mechanism rotary axis.

2. A five-axis hollow positioner apparatus according to claim 1, wherein, The welding chuck is a gear transmission type chuck, which comprises: a chuck body, at least three claws and a claw gear, each claw is driven to move synchronously along the radial direction of the chuck body by the rotation of the claw gear, so as to realize the clamping or loosening of the workpiece.

3. A five-axis hollow positioner apparatus according to claim 1, wherein, The L type positioner comprises: a rotating arm assembly, an arm extension assembly, a second rotary mechanism and a third rotary mechanism; the rotating arm assembly is rotatably installed on the main box through the second rotary mechanism, and the rotating arm assembly is driven to tilt around the side rotary axis of the main box through the second rotary mechanism; one end of the arm extension assembly is fixedly connected with the rotating arm assembly perpendicularly, and the two together form an L type rotating arm structure; the second rotary mechanism is fixedly installed on one end of the rotating arm assembly away from the arm extension assembly, and the welding chuck is connected with the arm extension assembly through the third rotary mechanism.

4. A five-axis hollow positioner apparatus according to claim 2, wherein, The chuck drive clamping mechanism comprises: an electromagnetic clutch, a claw drive gear, a claw adjusting motor and a gear fixed shaft; the gear fixed shaft is fixed on the L type positioner, the claw drive gear is rotatably installed on the gear fixed shaft through a bearing, and the claw drive gear is engaged with the claw gear of the welding chuck; the output shaft of the claw adjusting motor is drivingly connected with the claw drive gear through the electromagnetic clutch; by attraction or disconnection of the electromagnetic clutch, the power transmission between the claw adjusting motor and the claw drive gear is controlled, and then the welding chuck is driven to execute clamping or loosening action.

5. A five-axis hollow positioner apparatus according to claim 4, wherein, The L type positioner is provided with a claw shell, the claw shell is covered on the L type positioner, and a cavity is formed between the two; the electromagnetic clutch and the claw drive gear are arranged in the cavity, the body of the claw adjusting motor is fixed on the L type positioner, the output shaft thereof penetrates into the cavity through the L type positioner and is connected with the input end of the electromagnetic clutch; one end of the claw drive gear is fixedly connected with the output end of the electromagnetic clutch, and the claw drive gear is engaged with the claw gear of the welding chuck.

6. A five-axis hollow positioner apparatus as claimed in claim 1, wherein, Also include: An arc-proof screen is vertically fixed at a middle position of the main box body and covers the welding operation areas of the two work stations in height, and is used for blocking the arc and spatter generated between the two work stations during the welding process.

7. A five-axis hollow positioner apparatus as claimed in claim 1, wherein, The first, second and third rotating mechanisms have the same structure and each include a rotating support, a rotating motor and a rotating gear; the fixed ring of the rotating support is fixedly connected with a mounting base, the mounting base is a rotating base / main box body / sides of the main box body / L-type positioner, and the rotating ring of the rotating support is fixedly connected with a driven part; the driven part is a main box body / L-type positioner / welding chuck, the body of the rotating motor is fixed on the mounting base, the rotating gear is fixedly installed on the output shaft of the rotating motor, the rotating gear is engaged with the rotating ring of the rotating support, the rotating motor drives the rotating gear to rotate, and then the rotating ring of the rotating support and the driven part are synchronously rotated.

8. A five-axis hollow positioner apparatus according to claim 7, wherein, The rotating support is a double-row cylindrical roller type rotating support, the rotating gear is a hard-tooth-surface helical gear, and a key connection structure is arranged between the output shaft of the rotating motor and the rotating gear, so as to ensure the stability of power transmission.

9. A five-axis hollow positioner apparatus as claimed in claim 1, wherein, A detachable wear-resistant clamping pad is arranged on the clamping jaw of the welding chuck, the clamping pad is made of copper alloy material, so as to avoid scratching the surface of the workpiece during clamping and improve the clamping friction.

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