Precise walking end beam mechanism device for robot welding portal

Abstract

The utility model provides a precision walking end beam mechanism device for a robot welding gantry, which comprises a driving mechanism and a guiding mechanism, the driving mechanism comprises a power end beam, a rotating base, a servo motor, a speed reducer, a guiding seat, a spring, a precision adjusting bolt and a high-precision gear, and the driving mechanism is driven by a servo driving system through a high-precision gear pair. The guiding mechanism comprises sliding blocks and linear guide rails, the sliding blocks are installed at the bottom of the power end beam, the two sliding blocks share one linear guide rail, it is guaranteed that the power end beam accurately moves on the guide rails, and limiting switches and buffers are installed at the front end and the rear end of the power end beam; on the basis that the sliding block moves along the linear guide rail, the servo motor is used for transmission through the gear pair, the clearance between the gear and the rack is adjusted through the precision adjusting bolt, the nut and the spring, the clearance of the gear pair is reduced, and precise walking of the power end beam is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of shipbuilding, in particular to a precision walking end beam mechanism device for a robot welding gantry. Background Art

[0002] In the shipbuilding industry, the main work of shipbuilding is the construction of the hull, and the hull is usually composed of many fragmentary parts of various types and sizes, such as small-scale fragmentary parts, medium-scale assembly parts, etc., and the hull parts are mainly made of plates and profiles through processing and welding. Among them, the welds of small-scale fragmentary parts account for about 20% of the welds of the whole ship, and the coverage rate of robot welding can reach 75%.

[0003] The use of robots to achieve intelligent welding of hull segment components has become an inevitable development trend in shipbuilding. To achieve robot-automated welding, a high-precision gantry system is required to transport the robot to the designated weld position for welding. In addition, the gantry system needs a high-precision drive transmission system and a precision guide rail system to achieve high-precision movement.

[0004] Therefore, it is necessary to improve the precision power end beam mechanism of the intelligent welding gantry of hull segments to provide a reliable equipment platform foundation for the intelligent welding of hull segment components. Summary of the invention

[0005] The utility model aims to provide a precise walking end beam mechanism device for a robot welding gantry.

[0006] In order to achieve the above purpose, the technical solution of the utility model is:

[0007] A precision walking end beam mechanism device for a robot welding gantry, characterized in that it includes a driving mechanism and a guiding mechanism, the driving mechanism includes a power end beam, a hinge seat, a rotating base, a motor seat, a servo motor, a reducer, a high-precision gear and a guide seat, the guiding mechanism includes a slider and a linear guide rail, the slider slides along the linear guide rail, the slider is fixedly arranged at the bottom of the power end beam, the bottom of the power end beam is protruding with a front mounting plate and a rear mounting plate, the front mounting plate and the rear mounting plate are spaced apart from each other, a hinge seat is provided between the front mounting plate and the rear mounting plate, the rotating base is fixed to the middle part of the hinge seat, the rear end of the hinge seat is fixedly connected to the side wall of the rear mounting plate, a rotating shaft is provided at the rear of the hinge seat, the hinge seat and the rotating base rotate around the rotating shaft, and the motor seat is fixed to the rotating In the base, the servo motor and the reducer are fixed in the motor seat, and a high-precision gear is provided at the lower end of the servo motor output shaft, and the high-precision gear is meshed with the rack for transmission. The front part of the hinge seat is connected to the front mounting plate through a precision adjustment bolt, and the outer side of the precision adjustment bolt is sleeved with a spring, one end of the spring is fixedly connected to the starting end of the precision adjustment bolt, and the tail end of the precision adjustment bolt is sleeved with a precision adjustment nut, and the precision adjustment nut presses the front part of the hinge seat so that the hinge seat presses the other end of the spring, and the guide seat is fixedly connected to the side wall of the front mounting plate, and a guide groove is provided on the rear side of the guide seat, and the guide groove accommodates the front part of the hinge seat, and a guide hole is provided at the front end of the hinge seat, and the hinge seat swings along the guide bolt on the guide seat through the guide hole, and the screw head of the guide bolt limits the guide hole.

[0008] Furthermore, the power end beam is a rectangular structure, and the guiding mechanism includes four sliders and two linear guide rails. The linear guide rails are spaced apart and arranged in parallel on the left and right sides. The sliders are distributed at the four corners of the bottom of the power end beam, and the two sliders on the same side move along a linear guide rail.

[0009] Furthermore, a front buffer is provided on the central protrusion of the front end of the power end beam, and the front buffer is fixedly connected to the power end beam by mounting bolts.

[0010] Furthermore, a front bracket is provided at the upper portion of the front end of the power end beam, and a front limit switch is provided on the front bracket.

[0011] Furthermore, a rear buffer is provided on the central protrusion of the rear end of the power end beam, and the rear buffer is fixedly connected to the power end beam by mounting bolts.

[0012] Furthermore, a rear bracket is provided at the upper portion of the rear end of the power end beam, and a rear limit switch is provided on the rear bracket.

[0013] The utility model is based on the movement of the slide block along the linear guide rail, the servo motor is driven through the gear pair, and the clearance between the gear and the rack is adjusted by the precision adjustment bolt, nut and spring, so as to reduce the clearance of the gear pair and ensure the accurate movement of the power end beam. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 It is a side structural schematic diagram of the utility model;

[0016] Figure 3 It is a schematic diagram of the top structure of the utility model.

[0017] Reference numerals:

[0018] 1 power end beam, 2 hinge seat, 3 hinge seat screw, 4 rotating shaft, 5 rotating base,

[0019] 6 servo motor, 7 reducer, 8 motor seat, 9 motor screw, 10 reducer screw,

[0020] 11 guide seat, 12 high precision gear, 13 gear shaft screw, 14 spring, 15 precision adjustment bolt,

[0021] 16 precision adjustment nut, 17 guide bolt, 18 guide seat screw, 19 front buffer, 20 front mounting plate,

[0022] 21 front bracket, 22 front limit switch, 23 mounting screw, 24 rear limit switch, 25 rear bracket,

[0023] 26 hexagon socket screw, 27 rear buffer, 28 slider, 29 linear guide, 30 connecting key,

[0024] 31 Slider mounting screws, 32 Rear mounting plate. DETAILED DESCRIPTION

[0025] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] The utility model discloses a precision walking end beam mechanism device for a robot welding gantry, such as Figure 1As shown, it includes a driving mechanism and a guiding mechanism. The driving mechanism includes a power end beam 1, a hinge seat 2, a rotating base 5, a motor seat 8, a servo motor 6, a reducer 7, a high-precision gear 12 and a guide seat 11. The guiding mechanism includes a slider 28 and a linear guide rail 29. The slider 28 slides along the linear guide rail 29. The slider 28 is fixedly set at the bottom of the power end beam 1. Preferably, the power end beam 1 is a rectangular parallelepiped structure. The guiding mechanism includes four sliders 28 and two linear guide rails 29. The linear guide rails 29 are arranged in parallel and spaced apart from each other. The sliders 28 are installed at the four corners of the bottom of the power end beam 1 by slider mounting screws 31. The two sliders 28 on the same side of the left and right move along a linear guide rail 29. The gap between the linear guide rail 29 and the slider 28 is controlled within 0.01 mm to ensure that the power end beam 1 moves accurately on the linear guide rail 29.

[0027] A front mounting plate 20 and a rear mounting plate 32 are protruding from the bottom of the power end beam 1, and the front mounting plate 20 and the rear mounting plate 32 are spaced apart from each other in the front and rear directions. A hinge seat 2 is provided between the front mounting plate 20 and the rear mounting plate 32, and a rotating base 5 is fixed in the middle of the hinge seat 2. The rear end of the hinge seat 2 is fixedly connected to the side wall of the rear mounting plate 32 by a hinge seat screw 3. A rotating shaft 4 is provided at the rear of the hinge seat 2. The hinge seat 2 and the rotating base 5 rotate around the rotating shaft 4. A motor seat 8 is fixed in the rotating base 5, and a servo motor 6 and a reducer 7 are fixed in the motor seat 8 by a motor screw 9 and a reducer screw 10, respectively.

[0028] like Figure 2 As shown, a high-precision gear 12 is provided at the lower end of the output shaft of the servo motor 6. When the high-precision gear 12 is installed, the output shaft of the servo motor 6 and the gear shaft of the high-precision gear 12 are positioned by the connecting key 30 and the connecting groove. After the above concave-convex structure positioning is completed, the upper end of the gear shaft is axially fixedly connected with the screw hole at the lower end of the output shaft through the gear shaft screw 13, and the upper part of the high-precision gear 12 is radially fixedly connected with the screw hole on the outer side of the output shaft through the hexagon socket screw 26, and the high-precision gear 12 is meshed with the external rack for transmission.

[0029] like Figure 1 and Figure 3As shown, the front part of the hinge seat 2 is connected to the front mounting plate 20 by a precision adjustment bolt 15, the outer side of the precision adjustment bolt 15 is sleeved with a spring 14, one end of the spring 14 is fixedly connected to the precision adjustment bolt 15, the tail end of the precision adjustment bolt 15 is sleeved with a precision adjustment nut 16, the precision adjustment nut 16 presses the front part of the hinge seat 2 so that the hinge seat 2 presses the other end of the spring 14, the guide seat 11 is fixedly connected to the side wall of the front mounting plate 20 by a guide seat screw 18, the rear side of the guide seat 11 is provided with a guide groove, the guide groove accommodates the front part of the hinge seat 2, the front end of the hinge seat 2 is provided with a guide hole, the hinge seat 2 swings along the guide bolt 17 on the guide seat 11 through the guide hole, the screw head of the guide bolt 17 limits the guide hole, when in use, the length of the spring 14 is adjusted by screwing the precision adjustment nut to adjust the gap between the rotating base 5 and the rack, that is, to adjust the gap between the high-precision gear 12 and the rack.

[0030] like Figure 1 As shown, a front buffer 19 is provided at the central protrusion of the front end of the power end beam 1, and the front buffer 19 is fixedly connected to the power end beam 1 by mounting bolts, a front bracket 21 is provided at the upper part of the front end of the power end beam 1, a front limit switch 22 is provided on the front bracket 21, and the front limit switch 22 is fixedly connected to the front bracket 21 by mounting screws 23; a rear buffer 27 is provided at the central protrusion of the rear end of the power end beam 1, and the rear buffer 27 is fixedly connected to the power end beam 1 by mounting bolts, a rear bracket 25 is provided at the upper part of the rear end of the power end beam 1, a rear limit switch 24 is provided on the rear bracket 25, and the rear limit switch 24 is fixedly connected to the rear bracket 25 by mounting screws 23, the limit switch is used to ensure the accurate position of the front and rear stroke of the power end beam 1, and the buffer is used as a safety protection device when the power end beam 1 is out of control, and the accurate movement and safe operation of the power end beam 1 on the guide rail are ensured by the buffer and the limit switch.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A precision walking end beam mechanism device for a robot welding gantry, characterized in that: It includes a driving mechanism and a guiding mechanism, the driving mechanism includes a power end beam, a hinge seat, a rotating base, a motor seat, a servo motor, a reducer, a high-precision gear and a guide seat, the guiding mechanism includes a slider and a linear guide rail, the slider slides along the linear guide rail, the slider is fixedly arranged at the bottom of the power end beam, the bottom of the power end beam is protruding with a front mounting plate and a rear mounting plate, the front mounting plate and the rear mounting plate are arranged at intervals in front and back, a hinge seat is arranged between the front mounting plate and the rear mounting plate, the rotating base is fixed at the middle part of the hinge seat, the rear end of the hinge seat is fixedly connected to the side wall of the rear mounting plate, the rear part of the hinge seat is provided with a rotating shaft, the hinge seat and the rotating base rotate around the rotating shaft, the motor seat is fixed in the rotating base, the servo motor and the reducer Fixed in the motor seat, a high-precision gear is provided at the lower end of the servo motor output shaft, and the high-precision gear is meshed with the rack for transmission. The front part of the hinge seat is connected to the front mounting plate through a precision adjustment bolt, and the outer side of the precision adjustment bolt is sleeved with a spring, one end of the spring is fixedly connected to the starting end of the precision adjustment bolt, and the tail end of the precision adjustment bolt is sleeved with a precision adjustment nut, and the precision adjustment nut presses the front part of the hinge seat so that the hinge seat presses the other end of the spring, and the guide seat is fixedly connected to the side wall of the front mounting plate, and a guide groove is provided on the rear side of the guide seat, and the guide groove accommodates the front part of the hinge seat, and a guide hole is provided at the front end of the hinge seat, and the hinge seat swings along the guide bolt on the guide seat through the guide hole, and the screw head of the guide bolt limits the guide hole.

2. The precision walking end beam mechanism device according to claim 1 is characterized in that: The power end beam is a rectangular parallelepiped structure, and the guide mechanism includes four sliders and two linear guide rails. The linear guide rails are spaced and arranged in parallel on the left and right sides. The sliders are distributed at the four corners of the bottom of the power end beam, and the two sliders on the same side move along a linear guide rail.

3. The precision walking end beam mechanism device according to claim 1 is characterized in that: A front buffer is protruded in the center of the front end of the power end beam, and the front buffer is fixedly connected to the power end beam by mounting bolts.

4. The precision walking end beam mechanism device according to claim 1 or 3, characterized in that: A front bracket is provided at the upper part of the front end of the power end beam, and a front limit switch is provided on the front bracket.

5. The precision walking end beam mechanism device according to claim 1 is characterized in that: A rear buffer is protruded in the center of the rear end of the power end beam, and the rear buffer is fixedly connected to the power end beam by mounting bolts.

6. The precision walking end beam mechanism device according to claim 1 or 5, characterized in that: A rear bracket is provided on the upper part of the rear end of the power end beam, and a rear limit switch is provided on the rear bracket.

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