Six-axis double-station automatic welding manipulator

Abstract

The utility model discloses a six-axis double-station automatic welding manipulator, which belongs to the technical field of welding equipment and comprises a base, an X-axis moving component, a Y-axis moving component and a Z-axis moving component. In the utility model, each motion shaft adopts a high-precision motion shaft consisting of a high-precision servo motor, a high-precision speed reducer and a high-precision gear rack, and the upper half part of the machine adopts three-dimensional space motion consisting of X, Y and Z linear gear rack motion shafts; the lower half part is a double-station welding mechanism composed of a rotating shaft W and a rotating shaft A which are two 360-degree rotating tables in the same direction as the Y shaft, and the rotating shaft R is responsible for angle change of a welding gun, so that spot welding, linear welding, arc welding and the like at various angles in the space are achieved, the equipment can achieve double-station synchronous welding, the welding efficiency is high, and the welding quality is improved. And by adjusting equipment, welding can be conducted on different workpieces, and high adaptability is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of welding equipment, in particular to a six-axis double-station automatic welding manipulator. Background Art

[0002] In the field of mechanical production and processing, welding operations are required in many places. Traditional welding work requires manual operation. This method has problems such as heavy workload and low work efficiency. In addition, the traditional welding method can only perform single welding operations and cannot perform synchronous welding on multiple points. The welding efficiency is low. In addition, the existing welding devices are mostly used to weld parts of the same type. Different workpieces require different welding devices, and the versatility of the welding devices is poor. Therefore, we need to propose a six-axis dual-station automatic welding robot. Utility Model Content

[0003] The purpose of the utility model is to provide a six-axis double-station automatic welding manipulator, which has the advantages of double-station synchronous welding, improved welding efficiency, and can be used for welding different workpieces. It has strong versatility and is used to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides a six-axis double-station automatic welding manipulator, including a machine base, an X-axis motion component, a Y-axis motion component, a Z-axis motion component, a welding gun, a rotating R-axis for adjusting the use angle of the welding gun, and a rotating A-axis and a rotating W-axis arranged in the same direction as the Y-axis motion component;

[0005] Among them, the X-axis motion assembly is installed on the top of the machine base, the Z-axis motion assembly is installed on the moving end of the X-axis motion assembly, the Y-axis motion assembly is installed on the moving end of the Z-axis motion assembly, the welding gun is installed on one end of the Y-axis motion assembly through the rotating R-axis, and the rotating A-axis and rotating W-axis are installed inside the machine base to form two sets of 360-degree rotating tables.

[0006] Preferably, the X-axis motion assembly includes an X-axis rack fixedly mounted on the top of the machine base, an X-axis servo motor is installed on the top of the machine base and at a position corresponding to the X-axis rack, and the output shaft of the X-axis servo motor is installed with a gear seat meshing with the X-axis rack.

[0007] Preferably, X-axis slide rails are fixedly installed on the top of the machine base and on both sides of the X-axis rack, and the inner wall of the gear seat is slidably connected to the surface of the X-axis slide rail.

[0008] Preferably, the Z-axis motion assembly includes a Z-axis motion slide fixedly mounted on the top of the gear seat, a Z-axis rack fixedly mounted on one side of the Z-axis motion slide, a Z-axis servo motor is arranged on one side of the Z-axis motion slide, and an output shaft of the Z-axis servo motor is mounted with a gear meshing with the Z-axis rack.

[0009] Preferably, a Z-axis slide rail is fixedly installed on one side of the Z-axis motion slide and on both sides of the Z-axis rack, a slide plate is slidably connected to the surface of the Z-axis slide rail, and the Z-axis servo motor is fixedly installed on the surface of the slide plate.

[0010] Preferably, the Y-axis motion assembly includes a Y-axis motion slide fixedly mounted on one side of a skateboard, one side of the skateboard is fixedly connected to a Y-axis servo motor via a mounting frame, a Y-axis rack is mounted on one side of the Y-axis motion slide, and the output shaft of the Y-axis servo motor is meshed with the surface of the Y-axis rack via a gear.

[0011] Preferably, a Y-axis slide rail is fixedly installed on one side of the Y-axis motion slide and on the upper and lower sides of the Y-axis rack, and one side of the Y-axis slide rail is slidably connected to the surface of the mounting frame.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The structural space of this equipment is greatly optimized, and it has a built-in double-station rotating double-station, which greatly reduces the occupied space. It can weld at the double-station synchronously, and the welding efficiency is high.

[0014] 2. This equipment has six sets of rotating axes. By adjusting the equipment, the use position of the welding gun, the welding angle and trajectory can be flexibly adjusted. It can be used for welding on different workpieces and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the X-axis servo motor of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the rotating A-axis and the rotating W-axis of the utility model;

[0018] Figure 4 For this utility model Figure 1 Enlarged view of point A in the middle;

[0019] Figure 5 For this utility model Figure 1 Enlarged view of point B in the middle.

[0020] In the figure: 100, machine base; 200, X-axis motion assembly; 210, X-axis rack; 220, X-axis servo motor; 230, gear seat; 240, X-axis slide rail; 300, Y-axis motion assembly; 310, Y-axis motion slide; 320, mounting frame; 330, Y-axis servo motor; 340, Y-axis rack; 350, Y-axis slide rail; 400, Z-axis motion assembly; 410, Z-axis motion slide; 420, Z-axis rack; 430, Z-axis servo motor; 440, Z-axis slide rail; 450, slide plate; 500, welding gun; 600, rotating R-axis; 700, rotating A-axis; 800, rotating W-axis. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0022] See also Figure 1-Figure 5 The utility model provides a six-axis double-station automatic welding manipulator, including a machine base 100, an X-axis motion assembly 200, a Y-axis motion assembly 300, a Z-axis motion assembly 400, a welding gun 500, a rotating R-axis 600 for adjusting the use angle of the welding gun 500, and a rotating A-axis 700 and a rotating W-axis 800 arranged in the same direction as the Y-axis motion assembly 300; wherein the X-axis motion assembly 200 is installed on the top of the machine base 100, the Z-axis motion assembly 400 is installed on the moving end of the X-axis motion assembly 200, the Y-axis motion assembly 300 is installed on the moving end of the Z-axis motion assembly 400, the welding gun 500 is installed on one end of the Y-axis motion assembly 300 through the rotating R-axis 600, and the rotating A-axis 700 and the rotating W-axis 800 are installed inside the machine base 100 to form two sets of rotating tables that can rotate 360 ​​degrees.

[0023] In this embodiment, the top of the machine base 100 adopts a three-dimensional spatial motion composed of three linear gear rack motion axes, namely, an X-axis motion component 200, a Y-axis motion component 300, and a Z-axis motion component 400. The inside of the machine base 100 is composed of a double-station welding mechanism consisting of two 360-degree rotating tables, namely, a rotating W-axis 800 and a rotating A-axis 700, which are in the same direction as the Y-axis. The rotating R-axis 600 is responsible for the angle change of the welding gun 500, thereby realizing spot welding, straight line welding, arc welding, etc. at various angles in space. The structural space of this equipment is greatly optimized, and it has a double-station rotating double-station, which greatly reduces the occupied space, and can perform double-station synchronous welding, with high welding efficiency. Moreover, by adjusting the equipment, welding can be performed on different workpieces, and it has strong adaptability.

[0024] Specifically, the X-axis motion assembly 200 includes an X-axis rack 210 fixedly mounted on the top of the machine base 100, an X-axis servo motor 220 is installed on the top of the machine base 100 and at a position corresponding to the X-axis rack 210, and the output shaft of the X-axis servo motor 220 is installed with a gear seat 230 meshing with the X-axis rack 210. Through the setting of the X-axis motion assembly 200, the welding gun 500 can be driven to move in the X-axis direction. The principle is that the X-axis servo motor 220 drives the gear in the gear seat 230 to rotate. Since the gear in the gear seat 230 is meshed with the X-axis rack 210, when it rotates, it will drive the gear seat 230 to move in the X-axis direction, thereby driving the welding gun 500 to move in the X-axis direction.

[0025] Furthermore, X-axis slide rails 240 are fixedly installed on the top of the machine base 100 and on both sides of the X-axis rack 210. The inner wall of the gear seat 230 is slidably connected to the surface of the X-axis slide rail 240. Through the setting of the X-axis slide rail 240, the stability of the movement of the gear seat 230 can be improved. When the gear seat 230 moves, the bottom of the gear seat 230 will slide on the surface of the X-axis slide rail 240.

[0026] Specifically, the Z-axis motion assembly 400 includes a Z-axis motion slide 410 fixedly mounted on the top of the gear seat 230, a Z-axis rack 420 fixedly mounted on one side of the Z-axis motion slide 410, a Z-axis servo motor 430 is arranged on one side of the Z-axis motion slide 410, an output shaft of the Z-axis servo motor 430 is installed with a gear meshing with the Z-axis rack 420, a Z-axis slide rail 440 is fixedly mounted on one side of the Z-axis motion slide 410 and on both sides of the Z-axis rack 420, a slide plate 450 is slidably connected to the surface of the Z-axis slide rail 440, and the Z-axis servo motor 430 is fixedly mounted on the surface of the slide plate 450.

[0027] By setting the Z-axis motion assembly 400, the use height of the welding gun 500 can be adjusted along the Z-axis direction. Specifically, the Z-axis servo motor 430 drives the gear on its output shaft to rotate, and then moves along the direction of the Z-axis rack 420, so as to adjust the Z-axis use direction of the welding gun 500. By setting the slide plate 450, the Z-axis servo motor 430 can be provided with installation support, and one side of the slide plate 450 is slidably connected to the surface of the Z-axis slide rail 440, which can improve the stability of the Z-axis movement of the welding gun 500.

[0028] Preferably, the Y-axis motion assembly 300 includes a Y-axis motion slide 310 fixedly mounted on one side of a slide plate 450, one side of the slide plate 450 is fixedly connected to a Y-axis servo motor 330 via a mounting frame 320, one side of the Y-axis motion slide 310 is mounted with a Y-axis rack 340, the output shaft of the Y-axis servo motor 330 is meshed with the surface of the Y-axis rack 340 through a gear, one side of the Y-axis motion slide 310 and located on the upper and lower sides of the Y-axis rack 340 are fixedly mounted with a Y-axis slide rail 350, one side of the Y-axis slide rail 350 is slidably connected to the surface of the mounting frame 320.

[0029] By setting the Y-axis motion component 300, the Y-axis use direction of the welding gun 500 can be adjusted. Specifically, the output shaft of the Y-axis servo motor 330 will drive the gear meshing with the Y-axis rack 340 to rotate, and then the Y-axis rack 340 will move along the Y-axis direction to drive the Y-axis motion slide 310 to move. The welding gun 500 is installed at one end of the Y-axis motion slide 310, and its movement will inevitably drive the welding gun 500 to move along the Y-axis to adjust its use position.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Six-axis dual-station automatic welding manipulator, characterized by: The invention comprises a machine base (100), an X-axis motion assembly (200), a Y-axis motion assembly (300), a Z-axis motion assembly (400), a welding gun (500), a rotating R-axis (600) for adjusting the use angle of the welding gun (500), a rotating A-axis (700) and a rotating W-axis (800) arranged in the same direction as the Y-axis motion assembly (300); The X-axis motion assembly (200) is installed on the top of the machine base (100), the Z-axis motion assembly (400) is installed on the moving end of the X-axis motion assembly (200), the Y-axis motion assembly (300) is installed on the moving end of the Z-axis motion assembly (400), the welding gun (500) is installed on one end of the Y-axis motion assembly (300) via a rotating R-axis (600), and the rotating A-axis (700) and the rotating W-axis (800) are installed inside the machine base (100) to form two sets of rotating tables capable of rotating 360 degrees.

2. The six-axis dual-station automatic welding manipulator according to claim 1 is characterized in that: The X-axis motion assembly (200) comprises an X-axis rack (210) fixedly mounted on the top of the machine base (100); an X-axis servo motor (220) is mounted on the top of the machine base (100) and at a position corresponding to the X-axis rack (210); and a gear seat (230) meshing with the X-axis rack (210) is mounted on the output shaft of the X-axis servo motor (220).

3. The six-axis dual-station automatic welding manipulator according to claim 2 is characterized in that: X-axis slide rails (240) are fixedly installed on the top of the machine base (100) and on both sides of the X-axis rack (210), and the inner wall of the gear seat (230) is slidably connected to the surface of the X-axis slide rails (240).

4. The six-axis dual-station automatic welding manipulator according to claim 2 is characterized in that: The Z-axis motion assembly (400) comprises a Z-axis motion slide (410) fixedly mounted on the top of a gear seat (230), a Z-axis rack (420) fixedly mounted on one side of the Z-axis motion slide (410), a Z-axis servo motor (430) disposed on one side of the Z-axis motion slide (410), and an output shaft of the Z-axis servo motor (430) being mounted with a gear meshing with the Z-axis rack (420).

5. The six-axis dual-station automatic welding manipulator according to claim 4 is characterized in that: A Z-axis slide rail (440) is fixedly installed on one side of the Z-axis motion slide seat (410) and on both sides of the Z-axis rack (420); a slide plate (450) is slidably connected to the surface of the Z-axis slide rail (440); and the Z-axis servo motor (430) is fixedly installed on the surface of the slide plate (450).

6. The six-axis dual-station automatic welding manipulator according to claim 5 is characterized in that: The Y-axis motion assembly (300) comprises a Y-axis motion slide (310) fixedly mounted on one side of a slide plate (450); one side of the slide plate (450) is fixedly connected to a Y-axis servo motor (330) via a mounting frame (320); a Y-axis rack (340) is mounted on one side of the Y-axis motion slide (310); an output shaft of the Y-axis servo motor (330) is meshed with a surface of the Y-axis rack (340) via a gear.

7. The six-axis dual-station automatic welding manipulator according to claim 6 is characterized in that: A Y-axis slide rail (350) is fixedly installed on one side of the Y-axis motion slide seat (310) and on both upper and lower sides of the Y-axis rack (340), and one side of the Y-axis slide rail (350) is slidably connected to the surface of the mounting frame (320).

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