Six-axis welding robot

Abstract

The utility model discloses a six-axis welding robot, which belongs to the technical field of welding, and comprises a machine shell, a welding gun body, a bottom plate horizontally arranged at the lower part in the machine shell, a support frame fixedly and vertically arranged at the top of the bottom plate, and a guide rail seat transversely and fixedly arranged at the top of the bottom plate, the guide rail column is transversely and slidably arranged on the surface of the guide rail base, the rotating table is rotationally arranged on the inner side of the upper portion of the supporting frame, the clamp is rotationally arranged on the top of the rotating table, the rotating assembly is arranged below the rotating table and used for driving the clamp to rotate, the lifting assembly is arranged on one side of the guide rail column, and the first overturning assembly is arranged on the other side of the guide rail column. During welding work, the six-axis position changing effect is achieved, the welding efficiency is higher, the production efficiency is greatly improved, meanwhile, the angle of a welding part is more comprehensive, and the stability and reliability of product welding are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding technical field, concretely is a six -axis welding robot. BACKGROUND

[0002] A flange is a disc-shaped metal body with fixing holes, mainly used to connect other components or equipment. In the mechanical field, the flange is tightly connected with other components through fasteners such as bolts, realizing the transmission of force and the stability of structure.

[0003] At present, the welding of multiple steel pipes of the flange can ensure the sealing and strength of the connection. Through welding, the connection between the steel pipes is more firm, which can withstand higher pressure and torque, thereby ensuring the stability and safety of the pipeline system.

[0004] The existing flange steel pipe welding requires more steel pipe welding angles, and ordinary welding equipment cannot fully meet the multi-angle welding requirements. Therefore, it is necessary to provide a welding robot that can weld flange steel pipes at multiple angles and positions. SUMMARY

[0005] The utility model aims at providing a six -axis welding robot to at least partly solve the above technical problem, which can weld steel pipes at multiple angles when welding steel pipes on the surface of the flange.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] The utility model discloses a six -axis welding robot, which comprises a shell, a welding gun body, a bottom plate horizontally arranged below the shell, a support frame fixedly arranged vertically on the top of the bottom plate, a guide rail seat fixedly arranged horizontally on the top of the bottom plate, and a guide rail column slidingly arranged on the surface of the guide rail seat.

[0008] A rotating table is rotatably arranged on the inner side above the support frame.

[0009] A clamp is rotatably arranged on the top of the rotating table.

[0010] A rotating assembly is arranged below the rotating table for driving the clamp to rotate.

[0011] A lifting assembly is arranged on one side of the guide rail column.

[0012] A first overturning assembly is arranged on the side surface of the guide rail column for driving the welding gun body to rotate, the welding end of the welding gun body is located above the clamp, the first overturning assembly is located on the lifting assembly, and the first overturning assembly moves up and down by using the lifting assembly.

[0013] A translation assembly is arranged at one end of the guide rail base for driving the guide rail column to move horizontally laterally;

[0014] A second overturning assembly is arranged at one side of the support frame for driving the rotating table to rotate.

[0015] Preferably, the clamp bottom is provided with a connecting shaft extending downward through the rotating table, and the connecting shaft can be supported on the rotating table to rotate.

[0016] Preferably, the rotating assembly comprises a first motor and a speed reducer fixedly installed below the rotating table, a first driving wheel fixedly arranged on the output end of the first motor, a first driven wheel fixedly arranged on the output end of the speed reducer, and a first synchronous belt sleeved on the first driving wheel and the first driven wheel, and the first driven wheel is fixedly connected with the bottom end of the connecting shaft.

[0017] Preferably, the lifting assembly comprises a second motor fixedly arranged on the upper end of the guide rail column, a first lead screw fixedly connected with the output end of the second motor, and a first guide block seat threadedly sleeved on the first lead screw and sliding on the surface of the guide rail column.

[0018] Preferably, the first overturning assembly comprises a connecting plate fixedly connected laterally on the side of the first guide block seat, a third motor fixedly arranged on the connecting plate, and a connecting seat fixedly connected with the output end of the motor and located on the two sides of the connecting plate, and the connecting seat is used for mounting the welding gun body.

[0019] Preferably, the translation assembly comprises a fourth motor arranged at one end of the guide rail base, a second lead screw arranged at the middle part of the guide rail base and connected with the output end of the fourth motor in a transverse rotating mode, and a second guide block seat threadedly sleeved on the second lead screw and used for supporting the movement of the guide rail column.

[0020] Preferably, the rotating table is provided with rotating shafts at two ends respectively, the support frame is provided with ball bearings matched with the rotating shafts at two inner sides respectively, and the rotating shafts are inserted into the ball bearings.

[0021] Preferably, the second overturning assembly comprises a mounting shell fixedly arranged at one side of the support frame, a fifth motor fixedly arranged at one side of the mounting shell, a second driving wheel fixedly arranged on the output end of the fifth motor and located in the mounting shell, and a second driven wheel fixedly arranged on one end of the rotating shaft and located in the mounting shell, and the second driving wheel and the second driven wheel are connected through a synchronous belt.

[0022] Compared with the prior art, the utility model has the beneficial effects that:

[0023] 1. The utility model discloses a six-axis position change effect is reached when welding, can weld steel pipe on the surface of flange disc from multiple angles, makes the welding efficiency higher, improves production efficiency greatly, and the welding site angle is more comprehensive, improves the stability and reliability of product welding.

[0024] 2. The utility model discloses when using, the first motor below the rotary table can bring the clamp 360 degrees rotation above the rotary table, make the flange disc 360 degrees rotation simultaneously, when the steel pipe that needs annular distribution welding on the surface of flange disc is welded, can 360 degrees rotation flange disc can fastly rotate flange disc welding point to the welding gun body part. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will be to the embodiment description needed to use the drawing briefly introduces, obviously, the drawing in the following description only some embodiments of the utility model, for the ordinary skilled person in the art comes, under the premise of not paying creative labor, can also obtain other drawings according to these drawings.

[0026] Figure 1 It is the overall structure of this embodiment and the section view;

[0027] Figure 2 It is the internal front surface stereoscopic structure schematic diagram of this embodiment;

[0028] Figure 3 It is the internal back surface stereoscopic structure schematic diagram of this embodiment;

[0029] Figure 4 It is the main view plane structure schematic diagram of this embodiment;

[0030] Figure 5 It is the rotating assembly and the second turnover assembly stereoscopic structure schematic diagram of this embodiment;

[0031] Figure 6 It is the A enlarged structure schematic diagram in the embodiment of this utility model. Figure 4

[0032] In the drawing, the component list that each sign represents is as follows:

[0033] ​1, the shell; 2, the bottom plate; 3, the support frame; 4, the rotating table; 41, the rotating shaft; 5, the clamp; 51, the connecting shaft; 6, the rotating assembly; 61, the first motor; 62, the speed reducer; 63, the first driving wheel; 64, the first synchronous belt; 65, the first driven wheel; 7, the welding gun body; 8, the lifting assembly; 81, the second motor; 82, the first screw; 83, the first guide block seat; 21, the guide rail column; 9, the first turnover assembly; 91, the connecting plate; 92, the third motor; 93, the connecting seat; 11, the translation assembly; 111, the fourth motor; 112, the second guide block seat; 113, the second screw; 114, the guide rail seat; 12, the second turnover assembly; 121, the fifth motor; 122, the mounting shell; 123, the second driving wheel; 124, the second driven wheel. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0035] Please refer to Figures 1-6 The utility model provides a kind of technical solutions: a six-axis welding robot,

[0036] The shell 1, the welding gun body 7 further include the bottom plate 2 horizontally arranged below the inside of the shell 1, the support frame 3 vertically arranged on the top of the bottom plate 2, the guide rail seat 114 transversely fixedly arranged on the top of the bottom plate 2, and the guide rail column 21 transversely slidably arranged on the surface of the guide rail seat 114;

[0037] The rotating table 4 is rotatably arranged on the inner side above the support frame 3;

[0038] The clamp 5 is rotatably arranged on the top of the rotating table 4;

[0039] The rotating assembly 6 is arranged below the rotating table 4 for driving the clamp 5 to rotate;

[0040] The lifting assembly 8 is arranged on one side of the guide rail column 21;

[0041] The first turnover assembly 9 is arranged on the side of the guide rail column 21 for driving the welding gun body 7 to rotate, and the welding end of the welding gun body 7 is located above the clamp 5, the first turnover assembly 9 is located on the lifting assembly 8, and the first turnover assembly 9 moves up and down by using the lifting assembly 8;

[0042] The translation assembly 11 is arranged at one end of the guide rail seat 114 for driving the guide rail column 21 to move horizontally.

[0043] Second flip assembly 12, which is provided in support frame 3 one side for driving rotating table 4 rotation.

[0044] When the flange surface is welded, the flange is fixed in the clamp 5 jaw, the steel pipe is vertically grabbed by the steel pipe grabbing mechanical arm, and then the steel pipe is aligned with the flange welding point part. Through the rotation assembly 6 arranged below the rotating table 4, the clamp 5 (360°) above the rotating table 4 can be rotated, and the flange is rotated by 360°, which is convenient for quickly welding the steel pipe distributed on the surface of the flange;

[0045] The first flip assembly 9 drives the welding gun body 7, which can drive the welding gun body 7 to rotate at an angle. The first flip assembly 9 and the welding gun body 7 are driven upward by the lifting assembly 8, so that the welding gun located at the rotating table 4 part does not touch the rotating table 4. At the same time, the guide column 21 is driven to move left and right by the translation assembly 11, so that the first flip assembly 9 and the welding gun body 7 on the guide column 21 move left and right. When the welding end of the welding gun body 7 is located at the edge of the steel pipe, the welding end of the welding gun body 7 is reset to the welding point by the lifting assembly 8, which is convenient for welding the edge of the steel pipe;

[0046] The second flip assembly 12 arranged on the side of the support plate can drive the rotating table 4 to rotate, so that the clamp 5 on the rotating table 4 is inclined, and the flange on the clamp 5 is inclined, which is convenient for welding the inclined angle part of the steel pipe to be welded on the flange;

[0047] Through the setting of the rotation assembly 6, the first flip assembly 9, the lifting assembly 8, the translation assembly 11 and the first flip assembly 9, the welding work achieves a six-axis position change effect, which can weld the steel pipe on the surface of the flange at multiple angles, so that the welding efficiency is higher, the production efficiency is greatly improved, and the welding part angle is more comprehensive, which improves the stability and reliability of the product welding.

[0048] Referring to Figure 3 Figure 4 And Figure 5 In some embodiments, the bottom of the clamp 5 is provided with a connecting shaft 51 extending downward through the rotating table 4, and the connecting shaft 51 can be supported on the rotating table 4 to rotate. The rotation assembly 6 includes a first motor 61 and a speed reducer 62 fixedly installed below the rotating table 4, a first driving wheel 63 fixedly arranged on the output end of the first motor 61, a first driven wheel 65 fixedly arranged on the output end of the speed reducer 62, and a first synchronous belt 64 sleeved on the first driving wheel 63 and the first driven wheel 65. The first driven wheel 65 is fixedly connected with the bottom end of the connecting shaft 51;

[0049] The connecting shaft 51 arranged at the bottom of the clamp 5 is fixedly connected with the first driven wheel 65 on the speed reducer 62, the first motor 61 drives the first driving wheel 63 to rotate, the first synchronous belt 64 is connected between the first driving wheel 63 and the first driven wheel 65, so that the first driven wheel 65 connected with the speed reducer 62 drives the clamp 5 to rotate, the connecting shaft 51 is supported on the rotating table 4 through the commonly used ball bearing, and the speed reducer 62 and the first motor 61 are fixed through the mounting plate below the rotating table 4.

[0050] Referring to Figure 2 and Figure 4 In some embodiments, the lifting assembly 8 comprises a second motor 81 fixedly arranged at the upper end of the guide rail column 21, a first lead screw 82 fixedly connected with the output end of the second motor 81, and a first guide block seat 83 threadedly sleeved on the first lead screw 82 and sliding on the surface of the guide rail column 21.

[0051] The first lead screw 82 is driven to rotate by the second motor 81 connected with the power supply, and the first guide block seat 83 is driven to rotate, the first guide block seat 83 is provided with a sliding block matched with the upper guide rail of the guide rail column 21, so that the first guide block seat 83 moves parallelly on the surface of the guide rail column 21, and the first overturning assembly 9 arranged on the first guide block seat 83 and the welding gun body 7 are driven to move up and down, so as to conveniently adjust the distance between the welding gun body 7 and the clamp 5.

[0052] Referring to Figure 2 and Figure 4 In some embodiments, the first overturning assembly 9 comprises a connecting plate 91 fixedly connected transversely on the side surface of the first guide block seat 83, a third motor 92 fixedly arranged on the connecting plate 91, and a connecting seat 93 fixedly connected with the output end of the motor and located on both sides of the connecting plate 91, the connecting seat 93 is used for mounting the welding gun body 7;

[0053] The connecting plate 91 is fixedly connected with the first guide block seat 83, so that the third motor 92 mounted on the connecting plate 91 is located on the lifting assembly 8, the output end of the third motor 92 is fixedly connected with the connecting seat 93 through the connecting plate 91, so as to drive the welding gun body 7 mounted on the connecting seat 93 to rotate.

[0054] Referring to Figure 2 and Figure 3 In some embodiments, the translation assembly 11 comprises a fourth motor 111 arranged at one end of the guide rail seat 114, a second lead screw 113 arranged transversely on the middle part of the guide rail seat 114 and connected with the output end of the fourth motor 111, and a second guide block seat 112 threadedly sleeved on the second lead screw 113 and used for supporting the movement of the guide rail column 21.

[0055] The fourth motor 111 is installed at one end of the guide rail seat 114, and the fourth motor 111 drives the second screw rod 113 connected to the output end to rotate, so that the second guide block seat 112 threaded on the second screw rod 113 rotates, and the sliding block on the second guide block seat 112 slides on the guide rail of the guide rail seat 114, so that the second guide block seat 112 slides on the surface of the guide rail seat 114 in parallel, and is used for driving the guide rail column 21 installed on the top of the guide rail seat 114 to move left and right, so as to conveniently adjust the distance between the welding gun body 7 and the clamp 5.

[0056] Referring to Figure 5 In some embodiments, the rotating table 4 is provided with rotating shafts 41 at two ends respectively, the support frame 3 is provided with ball bearings matched with the rotating shafts 41 at two sides respectively, the rotating shafts 41 are inserted into the ball bearings, the second overturning assembly 12 comprises a mounting shell 122 fixedly arranged on one side of the support frame 3, a fifth motor 121 fixedly arranged on one side of the mounting shell 122, a second driving wheel 123 fixedly arranged on the output end of the fifth motor 121 in the mounting shell 122, and a second driven wheel 124 fixedly arranged on one end of the rotating shaft 41 in the mounting shell 122, and the second driving wheel 123 and the second driven wheel 124 are connected through a synchronous belt.

[0057] The fifth motor 121 is fixed on the side of the support frame 3 through the mounting shell 122 arranged on one side of the support frame 3, the second driving wheel 123 connected to the output end of the fifth motor 121 is driven to rotate through the power supply, the second driving wheel 123 is rotated through the synchronous belt and the second driven wheel 124 connected to the rotating shaft 41, so that the rotating shaft 41 is rotated, the rotating table 4 connected to the rotating shaft 41 is rotated, the clamp 5 on the rotating table 4 is inclined, and the product on the clamp 5 is conveniently welded by the welding gun body 7.

[0058] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0059] In the utility model, unless another definite provision and limitation, the term "installation", "arrangement", "connection", "fixation", "screw connection" and so on term should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be direct connection, also can indirectly connect through intermediate medium, can be two element inside's intercommunication or two element's mutual action relation, unless another definite limitation, for the ordinary skill of the art, can understand the above-mentioned term in the utility model specific meaning according to specific circumstances.

[0060] Although the embodiments of the utility model have been shown and described, it will be appreciated by those of ordinary skill in the art that various changes, modifications, alternatives, and variations can be made thereto without departing from the principles and spirit of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A six-axis welding robot, comprising a cabinet (1), a welding gun body (7), further comprising a bottom plate (2) horizontally arranged inside and below the cabinet (1), a support frame (3) fixed vertically arranged on the top of the bottom plate (2), a guide rail seat (114) fixed transversely arranged on the top of the bottom plate (2), and a guide rail column (21) transversely sliding arranged on the surface of the guide rail seat (114), characterized in that: a rotary table (4) is rotationally arranged on the inner side above the support frame (3); a clamp (5) is rotationally arranged on the top of the rotary table (4); a rotating assembly (6) is arranged below the rotary table (4) for driving the clamp (5) to rotate; a lifting assembly (8) is arranged on one side of the guide rail column (21); a first overturning assembly (9) is arranged on the side of the guide rail column (21) for driving the welding gun body (7) to rotate, the welding end of the welding gun body (7) being located above the clamp (5), the first overturning assembly (9) being located on the lifting assembly (8), and the first overturning assembly (9) moving up and down by using the lifting assembly (8); a translation assembly (11) is arranged at one end of the guide rail seat (114) for driving the guide rail column (21) to move horizontally; and a second overturning assembly (12) is arranged on one side of the support frame (3) for driving the rotary table (4) to rotate. A connecting shaft (51) extending downward through the rotary table (4) is arranged at the bottom of the clamp (5), and the connecting shaft (51) can be rotationally supported on the rotary table (4). The rotating assembly (6) comprises a first motor (61) and a speed reducer (62) fixedly installed below the rotary table (4), a first driving wheel (63) fixedly arranged on the output end of the first motor (61), a first driven wheel (65) fixedly arranged on the output end of the speed reducer (62), and a first synchronous belt (64) sleeved on the first driving wheel (63) and the first driven wheel (65), and the bottom end of the connecting shaft (51) is fixedly connected to the upper surface of the first driven wheel (65). The lifting assembly (8) comprises a second motor (81) fixedly arranged on the upper end of the guide rail column (21), a first lead screw (82) fixedly connected to the output end of the second motor (81), and a first guide block seat (83) threadedly sleeved on the first lead screw (82) and sliding on the surface of the guide rail column (21). The first overturning assembly (9) comprises a connecting plate (91) fixedly connected to the side of the first guide block seat (83), a third motor (92) fixedly arranged on the connecting plate (91), and a connecting seat (93) fixedly connected to the output end of the motor and located on both sides of the connecting plate (91), and the connecting seat (93) is used for mounting the welding gun body (7). ​ ​ ​ 2. The six-axis welding robot of claim 1, wherein: ​ 3. The six-axis welding robot of claim 2, wherein: ​ 4. The six-axis welding robot of claim 1, wherein: ​ 5. A six-axis welding robot according to claim 4, characterized in that: ​ 6. The six-axis welding robot of claim 1, wherein: The translation assembly (11) comprises a fourth motor (111) arranged at one end of a guide rail base (114), a second screw rod (113) arranged in the middle of the guide rail base (114) and connected with the output end of the fourth motor (111) in a transverse rotating mode, and a second guide block base (112) threadedly sleeved on the second screw rod (113) and used for supporting the movement of the guide rail column (21).

7. The six-axis welding robot of claim 1, wherein: Both ends of the rotating table (4) are respectively provided with rotating shafts (41), both sides of the inside of the support frame (3) are respectively provided with ball bearings matched with the rotating shafts (41), and the rotating shafts (41) are inserted into the ball bearings.

8. The six-axis welding robot of claim 7, wherein: The second overturning assembly (12) comprises a mounting shell (122) fixedly arranged at one side of the support frame (3), a fifth motor (121) fixedly arranged at one side of the mounting shell (122), a second driving wheel (123) fixedly arranged at the output end of the fifth motor (121) in the mounting shell (122), and a second driven wheel (124) fixedly arranged at one end of the rotating shaft (41) in the mounting shell (122), and the second driving wheel (123) and the second driven wheel (124) are connected through a synchronous belt.

Images