Movable multi-axis linkage welding vehicle

Abstract

The utility model relates to the field of welding, and discloses a movable type multi-axis linkage welding vehicle which comprises a six-axis mechanical arm and a welding head arranged on the six-axis mechanical arm, the welding head is controlled by the six-axis mechanical arm in motion, and the six-axis mechanical arm is arranged on a movable trolley. The movable trolley comprises a saddle and universal wheels which are located at the four corners of the bottom of the saddle and have a brake function, the six-axis mechanical arm horizontally and linearly slides on the upper end face of the saddle in a reciprocating mode through the first linear guide driving mechanism, and the six-axis mechanical arm is installed on the welding trolley in the mechanism, so that the welding trolley can drive the six-axis mechanical arm to move to a workpiece; meanwhile, the arranged first linear guide driving mechanism can drive the six-axis mechanical arm to do linear reciprocating motion in the horizontal direction, so that long-distance welding of the six-axis mechanical arm is achieved, universal wheels with a brake function are selected, the probability of automatic displacement of the welding trolley can be reduced when the welding trolley conducts welding work, and the welding efficiency is improved. And therefore, the welding of the six-axis mechanical arm is more stable.

Description

Technical Field

[0001] The utility model relates to the field of welding, in particular to a mobile multi-axis linkage welding vehicle. Background Art

[0002] The Chinese patent application with the publication number of CN108788579A discloses a six-axis robotic arm, including a base, a first rotating mechanism, a second rotating mechanism and a rotating unit. A short fixed shaft is vertically arranged on the base, and a rotating wheel is movably sleeved on the short fixed shaft. The first rotating mechanism is fixedly sleeved on the rotating wheel, so that when the rotating wheel rotates, the first rotating mechanism can rotate; the second rotating mechanism is hinged on the first rotating mechanism; the rotating unit is movably sleeved on the second rotating mechanism; the first rotating mechanism includes a first rotating seat, a first rotating shaft and a first rotating support rod; the second rotating mechanism includes a second rotating support rod and a second rotating member; the rotating unit includes a fixed frame fixedly connected to the second rotating member, a rotating joint hinged on the fixed frame, and a welding bar arranged on the rotating joint for welding a workpiece.

[0003] The above structure can weld two workpieces to be welded through the welding bar, and the position of the welding bar can be controlled by the robotic arm, so as to realize the automatic welding of the two workpieces. However, the movement range of the robotic arm is limited. If long-distance welding of the workpiece is required, it is difficult to perform long-distance welding of the workpiece only through the movement of the robotic arm. Content of the Utility Model

[0004] In view of the disadvantages that the movement range of the existing robotic arm is limited and it is difficult to perform long-distance welding of workpieces only through the movement of the robotic arm when long-distance welding of workpieces is required, the utility model provides a mobile multi-axis linkage welding vehicle that can drive the whole robotic arm to move while meeting the functions of existing multi-axis movement and rotation.

[0005] In order to solve the above technical problems, the utility model is solved by the following technical solutions:

[0006] A mobile multi-axis linkage welding vehicle includes a six-axis robotic arm and a welding head arranged on the six-axis robotic arm. The movement of the welding head is controlled by the six-axis robotic arm. The six-axis robotic arm is arranged on a mobile trolley. The mobile trolley includes a vehicle seat and universal wheels with braking functions at the four corners of the bottom of the vehicle seat. The six-axis robotic arm horizontally reciprocates linearly on the upper end surface of the vehicle seat through a first linear guiding driving mechanism.

[0007] With the above solution, the six-axis robotic arm is installed on the welding trolley and directional wheels are provided under the welding trolley, enabling the position of the six-axis robotic arm to be moved, thus facilitating the movement of the six-axis robotic arm to the workpiece to be welded. At the same time, the first linear guiding drive mechanism is provided, which can drive the six-axis robotic arm to move linearly back and forth in the horizontal direction, thereby realizing long-distance welding of the six-axis robotic arm. The selection of universal wheels with a braking function can reduce the probability of the automatic displacement of the welding trolley during welding, making the welding of the six-axis robotic arm more stable.

[0008] Preferably, the first linear guiding drive mechanism includes a first guide rail extending along the length direction of the vehicle seat, a first sliding seat on which the six-axis robotic arm is installed and which is embedded and slidably guided on the first guide rail, and a first driving component for driving the first sliding seat to slide along the first guide rail.

[0009] With the above solution, the first driving component can drive the first sliding seat to move in a guiding manner on the first guide rail, so that the first sliding seat drives the six-axis robotic arm installed on it to move, enabling the six-axis robotic arm to perform long-distance welding.

[0010] Preferably, the first driving component includes a rack fixed to the vehicle seat and extending along the length direction of the first guide rail. The first sliding seat includes a slider slidably guided on the first guide rail and a moving plate fixed to the slider. A gear meshing with the rack is rotatably provided on the moving plate, and a motor for driving the gear to rotate is fixed on the moving plate.

[0011] With the above solution, the motor can drive the gear to rotate. When the gear rotates, it will cooperate with the rack, so that the moving plate moves linearly back and forth in the horizontal direction. When the moving plate moves, it will drive the six-axis robotic arm installed on it to move horizontally back and forth, realizing long-distance welding of the six-axis robotic arm.

[0012] Preferably, a support plate is vertically fixed on the moving plate, and the six-axis robotic arm moves linearly back and forth vertically on the support plate through a second linear guiding drive mechanism.

[0013] Preferably, the second linear guiding drive mechanism includes a second guide rail vertically fixed on the support plate, a second sliding seat on which the six-axis robotic arm is fixed and which is embedded and slidably guided on the second guide rail, and a second driving component for driving the second sliding seat to slide along the second guide rail.

[0014] With the above solution, the second driving component can drive the second sliding seat to reciprocate vertically. Since the six-axis robotic arm is fixedly arranged on the second sliding seat, when the second sliding seat moves vertically, the six-axis robotic arm will move vertically together, so that the six-axis robotic arm can perform long-distance welding on the workpiece in the vertical direction, improving the applicability of the six-axis robotic arm during welding.

[0015] Preferably, a wire feeding component for feeding wire to the welding head is further arranged on the seat.

[0016] Preferably, the wire feeding component includes a support rod vertically arranged on the seat, a winding roller rotatably arranged on the side wall of the support rod for winding the wire tube, a wire feeder arranged on the side wall of the lifting plate for feeding the wire tube on the winding roller to the welding head, and a lifter arranged on the support rod above the winding roller for adjusting the arc between the wire tube and the wire feeder during wire feeding.

[0017] With the above solution, the provided winding roller can be used to wind the wire tube, and the provided wire feeder can feed the wire tube on the winding roller to the welding head on the six-axis robotic arm, so that the welding head welds the workpiece. The provided lifter can adjust the arc of the wire tube between the wire feeder and the winding roller, making the wire tube more smoothly inserted into the wire feeder.

[0018] Preferably, the universal wheel is a Fuma wheel.

[0019] With the above solution, the Fuma wheel can limit the position of the welding cart after the position movement of the welding cart, reducing the probability of displacement of the welding cart during welding.

[0020] Since the present utility model adopts the above technical solutions, it has remarkable technical effects: installing the six-axis robotic arm on the welding cart and arranging directional wheels under the welding cart enables the position of the six-axis robotic arm to be moved, facilitating the movement of the six-axis robotic arm to the workpiece to be welded and processed. At the same time, the provided first linear guiding drive mechanism can drive the six-axis robotic arm to reciprocate linearly in the horizontal direction, realizing long-distance welding of the six-axis robotic arm. Selecting a universal wheel with a braking function can reduce the probability of automatic displacement of the welding cart during welding by the six-axis robotic arm, making the welding of the six-axis robotic arm more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is an axonometric view of a mobile multi-axis linkage welding cart in this embodiment;

[0022] Figure 2 is an axonometric view of the six-axis robotic arm of a mobile multi-axis linkage welding cart descending in this embodiment;

[0023] Figure 3Is an axonometric view of the first linear guiding drive mechanism in this embodiment;

[0024] Figure 4 Is a top view of the first linear guiding drive mechanism in this embodiment;

[0025] Figure 5 Is Figure 4 The sectional view at A-A in;

[0026] Figure 6 Is an exploded view of the first linear guiding drive mechanism in this embodiment;

[0027] Figure 7 Is an exploded view of the second linear guiding drive mechanism in this embodiment.

[0028] The names of the parts referred to by each numerical label in the above drawings are as follows: 1, seat; 2, Fuma wheel; 3, six-axis robotic arm; 4, welding head; 501, first guide rail; 502, motor; 503, gear; 504, rack; 505, slider; 6, moving plate; 7, support plate; 8, second guide rail; 9, second sliding seat; 10, support rod; 11, wire winding roller; 12, lifter; 13, wire feeder. Specific embodiments

[0029] The present utility model will be further described in detail below in conjunction with the drawings and embodiments.

[0030] Embodiment

[0031] A mobile multi-axis linkage welding vehicle, referring to Figure 1 - Figure 2 , includes a six-axis robotic arm 3 and a welding head 4 provided on the six-axis robotic arm 3. The movement of the welding head 4 is controlled by the six-axis robotic arm 3. The six-axis robotic arm 3 is arranged on a mobile trolley. The mobile trolley includes a seat 1 and universal wheels with braking functions at the four corners of the bottom of the seat 1. The universal wheels in this embodiment are Fuma wheels 2, and in this embodiment, a pair of Fuma wheels 2 are also provided at the left and right ends of the middle part of the seat 1 except at the four corners of the seat 1. The six-axis robotic arm 3 horizontally linearly reciprocates and slides on the upper end surface of the seat 1 through a first linear guiding drive mechanism.

[0032] Referring to Figure 3 - Figure 6, the first linear guiding and driving mechanism includes a first guide rail 501 extending along the length direction of the seat 1, a first sliding seat mounted with a six-axis robotic arm 3 and guiding and slidingly embedded on the first guide rail 501, and a first driving component for driving the first sliding seat to slide along the first guide rail 501. The first driving component includes a rack 504 fixed on the seat 1 and extending along the length direction of the first guide rail 501. The first sliding seat includes a slider 505 guiding and sliding with the first guide rail 501 and a moving plate 6 fixed to the slider 505. A gear 503 meshing with the rack 504 is rotatably arranged on the moving plate 6, and a first motor 502 for driving the gear 503 to rotate is fixed on the moving plate 6.

[0033] Reference Figure 7 , a support plate 7 is vertically fixed on the moving plate 6. The six-axis robotic arm 3 vertically reciprocates linearly on the support plate 7 through a second linear guiding and driving mechanism. The second linear guiding and driving mechanism includes a second guide rail 8 vertically fixed on the support plate 7, a second sliding seat 9 fixed with the six-axis robotic arm 3 and guiding and slidingly embedded on the second guide rail 8, and a second driving component for driving the second sliding seat 9 to slide along the second guide rail 8. The structure of the second driving component in this embodiment is the same as that of the first driving component.

[0034] Reference Figure 1 - Figure 2 , a wire feeding component for feeding wire to the welding head 4 is further arranged on the seat. The wire feeding component includes a support rod 10 vertically arranged on the seat, a wire winding roller 11 rotatably arranged on the side wall of the support rod 10 for winding the wire tube, a wire feeder 13 arranged on the side wall of the lifting plate for sending the wire tube on the wire winding roller 11 to the welding head 4, and a lifter 12 arranged on the support rod 10 above the wire winding roller 11 for adjusting the radian between the wire tube and the wire feeder 13 during wire feeding.

[0035] Specific welding process: When the workpiece needs to be welded, first start the motor 502 to drive the gear 503 to rotate. At this time, the gear 503 will move along the direction of the rack 504. When the gear 503 moves, it will drive the moving plate 6 to move. At the same time when the moving plate 6 moves, since the moving plate 6 is fixedly arranged on the slider 505, the slider 505 will guide and slide on the first guide rail 501, making the movement of the moving plate 6 more stable. At this time, the welding head 4 arranged on the six-axis robotic arm 3 can perform long-distance probability on the workpiece; if vertical welding of the workpiece is required, the moving plate 6 with the six-axis robotic arm 3 can be driven by the motor 502 to move to face the workpiece. Then, the second driving component is used to drive the second sliding seat 9 to move vertically along the extending direction of the second guide rail 8. At this time, the welding head 4 on the six-axis robotic arm 3 can perform vertical welding on the workpiece, and the arranged wire feeder 13 can transmit the wire tube wound on the wire winding roller 11 to the welding head 4, enabling the welding head 4 to weld the workpiece.

[0036] The above are only the preferred embodiments of the present utility model, and the protection scope of the present utility model is not limited to the above embodiments. All technical solutions falling within the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present utility model should also be regarded as within the protection scope of the present utility model.

Claims

1. A mobile multi-axis linkage welding vehicle, comprising a six-axis mechanical arm (3) and a welding head (4) arranged on the six-axis mechanical arm (3), wherein the movement of the welding head (4) is controlled by the six-axis mechanical arm (3), and characterized in that: The six-axis robot (3) is arranged on a mobile vehicle, which comprises a seat (1) and universal wheels with brake function located at the four corners of the bottom of the seat (1). The six-axis robot (3) slides back and forth horizontally and linearly on the upper end surface of the seat (1) through a first linear guide drive mechanism. The first linear guide drive mechanism comprises a first guide rail (501) extending along the length direction of the seat (1), a first sliding seat on which the six-axis robot (3) is installed and embedded in the first guide rail (501) for guiding and sliding, and a first driving component for driving the first sliding seat to slide along the first guide rail (501). The first driving component comprises a rack (504) fixed on the seat (1) and extending along the length direction of the first guide rail (501). The first sliding seat comprises a first guide rail (501) extending along the length direction of the first guide rail (501). 01) a slider (505) for guiding sliding movement and a movable plate (6) fixed to the slider (505), a gear (503) meshing with a rack (504) being rotatably arranged on the movable plate (6), a motor (502) for driving the gear (503) to rotate being fixed to the movable plate (6), a support plate (7) being vertically fixed to the movable plate (6), the six-axis robot (3) being vertically and linearly reciprocating on the support plate (7) through a second linear guide drive mechanism, the second linear guide drive mechanism comprising a second guide rail (8) vertically fixed to the support plate (7), a second sliding seat (9) on which the six-axis robot (3) is fixed and which is embedded in the second guide rail (8) for guiding sliding movement, and a second driving component for driving the second sliding seat (9) to slide along the second guide rail (8).

2. The mobile multi-axis linkage welding vehicle according to claim 1, characterized in that: A wire feeding component for feeding wire to the welding head (4) is also provided on the vehicle seat (1).

3. The mobile multi-axis linkage welding vehicle according to claim 2, characterized in that: The wire feeding component comprises a support rod (10) vertically arranged on a vehicle seat (1), a winding roller (11) rotatably arranged on a side wall of the support rod (10) for winding a wire tube, a wire feeder (13) arranged on a side wall of a lifting plate for feeding the wire tube on the winding roller (11) to a welding head (4), and a puller (12) arranged on the support rod (10) above the winding roller (11) for adjusting the curvature between the wire tube and the wire feeder (13) during wire feeding.

4. The mobile multi-axis linkage welding vehicle according to claim 1, characterized in that: The universal wheel is a Fomar wheel (2).

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