A type of mixer frame dual-shaft positioner

Abstract

This application relates to a biaxial positioner for a mixer frame, comprising a frame, a U-axis assembly, a V-axis assembly, a driven support assembly, a drive mechanism, and a mixing frame. The U-axis assembly is mounted on the frame and fixedly connected to it. The V-axis assembly is mounted on both the U-axis assembly and the driven support assembly, and both are detachably connected. The driven support assembly is mounted on the frame and fixedly connected to it. The mixing frame is mounted on the V-axis assembly and detachably connected to it. Two sets of drive mechanisms are mounted on the U-axis assembly and the V-axis assembly, respectively, and provide power to the U-axis assembly and the V-axis assembly. This application has the technical effect of improving the welding quality stability of the mixing frame.

Description

Technical Field

[0001] This application relates to the technical field of robotic automatic welding, and in particular to a two-axis positioner for a mixer frame. Background Technology

[0002] In the chemical industry, the quality of the mixer frame, as a key and commonly used component in chemical equipment, directly affects the service life of the mixing equipment.

[0003] Currently, the manufacturing of mixer frames mainly relies on manual welding. Under this process, product quality is greatly affected by factors such as the operator's skill level, operational proficiency, and working condition. This is because welding operations are required on both the inside and outside of the mixer frame. However, in the existing mixer frame structure, there are some locations where the welding torch of an automatic welding robot cannot reach smoothly. As a result, these locations cannot be automatically welded by an automatic welding robot and can only be welded manually.

[0004] Regarding the aforementioned technologies, the applicant believes that there is a defect of unstable welding quality. Utility Model Content

[0005] To solve the above-mentioned technical problems, this application provides a two-shaft positioner for a mixer frame.

[0006] This application provides a two-shaft positioner for a mixer frame, which adopts the following technical solution:

[0007] A biaxial positioner with a mixer frame includes a frame, a U-axis assembly, a V-axis assembly, a driven support assembly, a drive mechanism, and a mixing frame. The U-axis assembly is mounted on the frame and is fixedly connected to the frame. The V-axis assembly is mounted on both the U-axis assembly and the driven support assembly, and both the V-axis assembly and the U-axis assembly are detachably connected. The driven support assembly is mounted on the frame and is fixedly connected to the frame. The mixing frame is mounted on the V-axis assembly and is detachably connected to the V-axis assembly. Two sets of drive mechanisms are mounted on the U-axis assembly and the V-axis assembly, respectively, and the two sets of drive mechanisms provide power to the U-axis assembly and the V-axis assembly.

[0008] By adopting the above technical solution, the U-axis assembly is mounted on the frame and fixedly connected to the frame. The V-axis assembly is mounted on both the U-axis assembly and the driven support assembly. The V-axis assembly is detachably connected to both the U-axis assembly and the driven support assembly. The U-axis assembly can rotate horizontally, and the V-axis assembly can adjust the pitch angle. The linkage of the two axes can accurately position the mixing rack to any welding station, avoiding angle deviations caused by manual workpiece flipping. The V-axis assembly can quickly complete the replacement of the mixing rack, and the high repeatability and positioning accuracy avoid the wear and cumulative errors of the positioning holes caused by repeated disassembly in the traditional bolt fixing method. This solves the problem of unstable quality caused by manual operation and insufficient equipment precision in the traditional welding process.

[0009] Preferably, the U-axis assembly includes a first frame and a U-axis slewing support. The U-axis slewing support includes an outer U-axis ring and an inner U-axis ring. The outer U-axis ring is installed on one side of the first frame and is bolted to the first frame. The outer side of the inner U-axis ring is rotatably connected to the inner side of the outer U-axis ring. An inner U-axis gear is provided on the inner side of the inner U-axis ring. The first frame is installed on the machine frame and is fixedly connected to the machine frame.

[0010] By adopting the above technical solution, the first frame is connected to the machine frame by bolts. The inner ring of the U-shaft and the outer ring of the U-shaft achieve low-friction rotation through rolling elements. It has strong load-bearing capacity and large anti-overturning torque, and is suitable for the angle adjustment of heavy-duty stirring shaft. When the gear in the U-shaft meshes with the gear mechanism, the overlap is high and the transmission is smooth, which can reduce vibration and noise, and is especially suitable for high-precision stirring shaft positioning.

[0011] Preferably, the driven support assembly includes a second frame, a rotating shaft, and a seated bearing. The second frame is mounted on one end of the frame away from the first frame and is fixedly connected to the frame. The rotating shaft is mounted on the outside of the second frame via the seated bearing, which is detachably connected to the second frame. The rotating shaft is rotatably connected to the seated bearing.

[0012] By adopting the above technical solution, the second frame is fixed to the machine frame by welding and other methods, forming a symmetrical support structure corresponding to the first frame. This ensures that the rotating shaft is subjected to uniform force at both ends during operation, avoiding shaft bending or shaking caused by unilateral support. It is especially suitable for long shaft workpieces. The seated bearing is fixed to the outside of the second frame through a detachable connection, providing precise axial and radial positioning for the rotating shaft.

[0013] Preferably, the top of the first frame and the second frame are provided with a plurality of lifting eye bolts, and the plurality of lifting eye bolts are detachably connected to the first frame and the second frame.

[0014] Preferably, a U-shaped frame is provided between the U-axis rotary support and the second frame. One end of the U-shaped frame is installed on the inner ring of the U-axis and bolted to the inner ring of the U-axis. The other end of the U-shaped frame is installed on the rotating shaft and fixedly connected to the rotating shaft. A V-axis cable hole is provided at the end of the U-shaped frame that is connected to the U-axis rotary support.

[0015] By adopting the above technical solution, one end is connected to the inner ring bolt of the U-axis by bolts, and the other end is fixedly connected to the rotating shaft. The rotation of the U-axis rotary support is synchronously transmitted to the rotating shaft. A V-axis cable hole is provided at the connection end between the U-shaped frame and the U-axis rotary support to prevent the U-axis rotation from damaging the cable.

[0016] Preferably, the V-axis assembly includes a V-axis rotary support, a chuck, a clamping plate, and a screw. The V-axis rotary support includes an inner V-axis ring and an outer V-axis ring. The outer V-axis ring is mounted on a U-shaped frame and bolted to the U-shaped frame. The inner V-axis ring is rotatably connected to the outer V-axis ring. An internal V-axis gear is provided on the inner side of the inner V-axis ring. The chuck is mounted on the inner V-axis ring and detachably connected to it. One end of the screw is mounted on the middle part of the chuck and threadedly connected to it. The clamping plate is mounted on the other end of the screw and threadedly connected to it. The stirring frame is mounted on the chuck and detachably connected to it.

[0017] By adopting the above technical solution, the inner and outer rings of the V-shaft achieve low-friction rotation through ball bearings or rollers. Combined with the internal gear transmission structure of the V-shaft, the repeatability accuracy of the stirring shaft angle adjustment is ensured. The V-shaft rotary support is installed on the U-shaped frame and can achieve global angle adjustment with the inner ring of the U-shaft. At the same time, the inner ring of the V-shaft achieves local fine rotation through the internal gear drive, forming a multi-dimensional space control to meet the full range of angle adjustment needs. The screw passes through the center of the chuck and is threadedly connected to the clamping plate. When the screw is rotated, the mechanical gain of the threaded pair is used to convert the rotational force into axial pressure, ensuring that the stirring frame and the chuck fit tightly.

[0018] Preferably, the drive mechanism includes a servo motor, a right-angle planetary reducer, a fixed plate, and a tensioning block. The servo motor is mounted on the fixed plate via the right-angle planetary reducer, and the servo motor and the right-angle planetary reducer are detachably connected. The right-angle planetary reducer is detachably connected to the fixed plate. The tensioning block is positioned above the fixed plate. In one set of the drive mechanism, the tensioning block and the fixed plate are bolted to the outside of the first frame. In another set of the drive mechanism, the tensioning block and the fixed plate are bolted to the bottom of the U-shaped frame. The right-angle planetary reducer is equipped with a gear mechanism, which meshes with the corresponding U-axis internal gear or V-axis internal gear for transmission.

[0019] By adopting the above technical solution, the output shaft of the reducer is perpendicular to the motor shaft, saving axial space and allowing the drive mechanism to be installed more compactly on the first frame or U-shaped frame. The tension block and the fixing plate are connected to the first frame or U-shaped frame by bolts. Tightening the bolts generates preload, making the drive mechanism and the support structure form a rigid whole. The position of the tension block can be finely adjusted. By adjusting the relative position of the fixing plate and the support structure, the drive gear can be precisely controlled.

[0020] Preferably, an electric slip ring is provided on the U-shaped frame 7 on one side of the V-axis rotary support. The base of the electric slip ring is detachably connected to the U-shaped frame 7, and the rotating end of the electric slip ring is synchronously connected to the V-axis rotary support. The electric slip ring is used to ensure continuous conductivity of the stirring rack during rotation.

[0021] By adopting the above technical solution, the slip ring maintains continuous current transmission during equipment rotation through precise contact between the brush and the conductive ring, avoiding power outages caused by the breakage of traditional cables due to entanglement.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] The U-axis assembly is mounted on the frame and is fixedly connected to the frame. The V-axis assembly is mounted on both the U-axis assembly and the driven support assembly. The V-axis assembly is detachably connected to both the U-axis assembly and the driven support assembly. The U-axis assembly allows for horizontal rotation, while the V-axis assembly allows for pitch angle adjustment. The two axes working together can precisely position the mixing rack to any welding station, avoiding angular deviations caused by manual workpiece flipping. The V-axis assembly allows for quick mixing rack replacement, and its high repeatability avoids wear and cumulative errors in the positioning holes caused by repeated disassembly in traditional bolt fixing methods. This solves the problem of unstable quality caused by manual operation and insufficient equipment precision in traditional welding processes.

[0024] The inner and outer rings of the V-shaft achieve low-friction rotation via ball bearings or rollers. Combined with the internal gear transmission structure of the V-shaft, this ensures the repeatability of the stirring shaft angle adjustment. The V-shaft rotary support is mounted on a U-shaped frame, allowing for global angle adjustment along with the inner ring of the U-shaft. Simultaneously, the inner ring of the V-shaft achieves localized fine rotation via internal gear drive, forming a multi-dimensional spatial control system to meet the full range of angle adjustment needs. The screw passes through the center of the chuck and is threadedly connected to the clamping plate. When the screw rotates, the mechanical gain of the threaded pair converts the rotational force into axial pressure, ensuring a tight fit between the stirring frame and the chuck. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure in the embodiment.

[0026] Figure 2 This is a schematic diagram of the structure of the U-axis assembly and the drive mechanism in the embodiment.

[0027] Figure 3 This is a schematic diagram of the V-axis assembly and drive mechanism in the embodiment.

[0028] Figure 4 This is a schematic diagram of the driven support component in the embodiment.

[0029] Explanation of reference numerals in the attached drawings: 1. Frame; 2. U-axis assembly; 21. First frame; 22. U-axis rotary support; 221. U-axis outer ring; 222. U-axis inner ring; 2221. U-axis internal gear; 3. Driven support assembly; 31. Second frame; 32. Rotary shaft; 33. Bearing with seat; 4. V-axis assembly; 41. V-axis rotary support; 411. V-axis inner ring; 4111. V-axis internal gear; 412. V-axis outer ring; 42. Chuck; 43. Pressure plate; 44. Screw; 5. Drive mechanism; 51. Servo motor; 52. Right-angle planetary reducer; 53. Fixing plate; 54. Tensioning block; 55. Gear mechanism; 6. Lifting eye bolt; 7. U-shaped frame; 71. V-axis cable hole; 8. Electric slip ring; 9. Mixing rack. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0031] This application discloses a two-shaft positioner for a mixer frame. (Refer to...) Figure 1The system includes a frame 1, a U-axis assembly 2, a V-axis assembly 4, a driven support assembly 3, a drive mechanism 5, and a stirring rack 9. The U-axis assembly 2 includes a first frame 21 and a U-axis rotary support 22. The U-axis rotary support 22 includes an outer U-axis ring 221 and an inner U-axis ring 222. An inner U-axis gear 2221 is provided inside the inner U-axis ring 222 and is fixedly connected to the inner U-axis ring. The inner U-axis ring 222 is rotatably connected to the outer U-axis ring 221. The outer U-axis ring 221 is bolted to one side of the first frame 21. The first frame 21 is installed at one end of the frame 1 and is fixedly connected to the frame 1. The driven support assembly 3 is provided at the other end of the frame 1. The driven support assembly 3 includes a second frame 31, a rotating shaft 32, and a seated bearing 33. The seated bearing 33 is installed on the side of the second frame 31 away from the first frame 21 and is fixedly connected to the second frame 31. The rotating shaft 32 is installed on the seated bearing 33, with one end of the rotating shaft 32 rotatably connected to the seated bearing 33 and the other end of the rotating shaft 32 disposed on the other side of the second frame 31 through a hole. A U-shaped frame 7 is provided between the rotating shaft 32 and the U-axis rotary support 22. One end of the U-shaped frame 7 is bolted to the inner ring of the U-axis, and the other end of the U-shaped frame 7 is fixedly connected to the rotating shaft 32. A V-axis cable hole is provided at the connection end between the U-shaped frame 7 and the U-axis rotary support 22 to prevent the U-axis rotation from damaging the cable. Four vertical reinforcing ribs are fixedly connected to both sides of the U-shaped frame 7, and two long strip reinforcing ribs are fixedly connected to the bottom of the U-shaped frame 7.

[0032] V-axis assembly 4 includes a V-axis rotary support 41, a chuck 42, a clamping plate 43, and a screw 44. The V-axis rotary support 41 includes an inner V-axis ring 411 and an outer V-axis ring 412. The outer V-axis ring 412 is bolted to the U-shaped bracket 7. The inner V-axis ring 411 is mounted on the outer V-axis ring 412, and the inner V-axis ring 411 and the outer V-axis ring 412 are rotatably connected. The chuck 42 is bolted to the inner V-axis ring 411, and the screw 44 is installed at the center of the chuck 42. One end of the screw 44 is threadedly connected to the chuck 42, and the other end of the screw 44 is equipped with a clamping plate 43. When the stirring frame 9 is installed on the chuck 42, the clamping plate 43 is threadedly connected to the screw 44, causing the clamping plate 43 to rotate and clamp the stirring frame 9. The drive mechanism 5 is provided with two sets, which drive the U-axis assembly 2 and the V-axis assembly 4 respectively. The drive mechanism 5 includes a servo motor 51, a right-angle planetary reducer 52, a fixed plate 53, and a tensioning block 54. 51 is connected to the right-angle planetary reducer 52, which is connected to the fixed plate 53. The tension block 54 is set above the fixed plate 53. The two sets of fixed plates 53 and tension blocks 54 are respectively installed on the bottom of the U-shaped frame 7 and the outside of the first frame 21 by bolts. A gear mechanism 55 is provided on the right-angle planetary reducer 52. The gear mechanisms 55 of the two sets of drive mechanisms 5 mesh with the U-shaft internal gear 2221 and the V-shaft internal gear 4111 respectively, so that the drive mechanism 5 provides power for the U-shaft assembly 2 and the V-shaft assembly 4 to move in multiple directions. An electric slip ring 8 is provided on the U-shaped frame 7 on one side of the V-shaft rotary support 41. The base of the electric slip ring 8 is bolted to the U-shaped frame 7. The rotating end of the electric slip ring 8 is synchronously connected to the V-shaft rotary support 41. The electric slip ring 8 is used for continuous conductivity of the stirring rack 9 in the rotating state. The top of the first frame 21 and the second frame 31 are connected by multiple lifting eye bolts 6 through threads to facilitate the hoisting of the positioner.

[0033] The working principle of the two-axis positioner of the mixer frame 1 in this application is as follows: a set of servo motors 51 are connected to a right-angle planetary reducer 52. The servo motors 51 and the right-angle planetary reducer 52 are mounted on one side of the first frame 21 through a fixing plate 53. The gear mechanism 55 mounted on the right-angle planetary reducer 52 moves the U-axis rotary support 22 by meshing with the U-axis inner gear 2221 fixedly connected to the U-axis inner ring 222 in the U-axis rotary support 22 mounted on the other side of the first frame 21. The frame 1 is equipped with a first frame 21 and a second frame 31 at both ends. The second frame 31 is equipped with a seated bearing 33 and a rotating shaft 32 rotatably connected to the seated bearing 33. A U-shaped frame 7 is installed between the rotating shaft 32 and the U-axis inner ring 222. The rotation of the servo motor 51 causes the U-shaped frame 7 to rotate. A corresponding drive motor is installed at the bottom of the U-shaped frame 7. In the drive mechanism 5, the gear mechanism 55 meshes with the gear 4111 inside the V-shaft, causing the inner ring 411 of the V-shaft to rotate. This drives the chuck 42 mounted on the inner ring 411 of the V-shaft to move. The stirring frame 9 is mounted on the chuck 42 and fixed to the chuck 42 by the screw 44 and the clamping plate 43. The U-shaft assembly 2 and the V-shaft assembly 4 are linked by the drive mechanism 5 to complete the multi-angle adjustment of the stirring frame 9 to the appropriate position for welding. The lifting eye bolts 6 on the top of the first frame 21 and the second frame 31 are used for the overall hoisting or transportation of the equipment. The base of the electric slip ring 8 is fixed to the U-shaped frame 7, and the rotating end rotates synchronously with the V-shaft rotary support 41 to ensure that the stirring frame 9 is continuously powered while rotating, thus solving the problem of cable entanglement. The V-shaft cable hole 71 is used to pass through the control cable or power cable of the V-shaft assembly 4 and the stirring frame 9 to avoid the cable entanglement and damage during rotation.

[0034] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A gantry two-axis positioner, characterized by: The assembly includes a frame (1), a U-axis assembly (2), a V-axis assembly (4), a driven support assembly (3), a drive mechanism (5), and a stirring rack (9). The U-axis assembly (2) is mounted on the frame (1) and is fixedly connected to the frame (1). The V-axis assembly (4) is mounted on the U-axis assembly (2) and the driven support assembly (3) respectively. The V-axis assembly (4) is detachably connected to both the U-axis assembly (2) and the driven support assembly (3). The driven support assembly (3) is mounted on the frame (1) and is fixedly connected to the frame (1). The stirring rack (9) is mounted on the V-axis assembly (4) and is detachably connected to the V-axis assembly (4). Two sets of drive mechanisms (5) are mounted on the U-axis assembly (2) and the V-axis assembly (4) respectively. The two sets of drive mechanisms (5) provide power to the U-axis assembly (2) and the V-axis assembly (4) respectively.

2. The two-shaft positioner for a mixer frame according to claim 1, characterized in that: The U-axis assembly (2) includes a first frame (21) and a U-axis rotary support (22). The U-axis rotary support (22) includes an outer U-axis ring (221) and an inner U-axis ring (222). The outer U-axis ring (221) is installed on one side of the first frame (21) and bolted to the first frame (21). The outer side of the inner U-axis ring (222) is rotatably connected to the inner side of the outer U-axis ring (221). An inner U-axis gear (2221) is provided on the inner side of the inner U-axis ring (222). The first frame (21) is installed on the frame (1) and fixedly connected to the frame (1).

3. A two-shaft positioner for a mixer frame according to claim 2, characterized in that: The driven support assembly (3) includes a second frame (31), a rotating shaft (32), and a seated bearing (33). The second frame (31) is mounted on one end of the frame (1) away from the first frame (21). The second frame (31) is fixedly connected to the frame (1). The rotating shaft (32) is mounted on the outside of the second frame (31) through the seated bearing (33). The seated bearing (33) is detachably connected to the second frame (31). The rotating shaft (32) is rotatably connected to the seated bearing (33).

4. A two-shaft positioner for a mixer frame according to claim 3, characterized in that: The top of the first frame (21) and the second frame (31) are provided with a plurality of eye bolts (6), and the plurality of eye bolts (6) are detachably connected to the first frame (21) and the second frame (31).

5. A two-shaft positioner for a mixer frame according to claim 3, characterized in that: A U-shaped frame (7) is provided between the U-axis rotary support (22) and the second frame (31). One end of the U-shaped frame (7) is installed on the inner ring (222) of the U-axis and bolted to the inner ring (222) of the U-axis. The other end of the U-shaped frame (7) is installed on the rotating shaft (32) and fixedly connected to the U-shaped frame (7). A V-axis cable hole (71) is provided at the end of the U-shaped frame (7) connected to the U-axis rotary support (22).

6. A two-shaft positioner for a mixer frame according to claim 1, characterized in that: The V-axis assembly (4) includes a V-axis rotary support (41), a chuck (42), a clamping plate (43), and a screw (44). The V-axis rotary support (41) includes an inner V-axis ring (411) and an outer V-axis ring (412). The outer V-axis ring (412) is mounted on a U-shaped frame (7) and bolted to the U-shaped frame (7). The inner V-axis ring (411) is rotatably connected to the outer V-axis ring (412). An internal V-axis gear (44) is provided on the inner side of the inner V-axis ring (411). 111), the chuck (42) is mounted on the inner ring (411) of the V-shaft, and the chuck (42) is detachably connected to the inner ring (411) of the V-shaft. One end of the screw (44) is mounted on the middle part of the chuck (42), and the screw (44) is threadedly connected to the chuck (42). The clamping plate (43) is mounted on the other end of the screw (44), and the screw (44) is threadedly connected to the clamping plate (43). The stirring rack (9) is mounted on the chuck (42), and the stirring rack (9) is detachably connected to the chuck (42).

7. A two-shaft positioner for a mixer frame according to claim 1, characterized in that: The drive mechanism (5) includes a servo motor (51), a right-angle planetary reducer (52), a fixed plate (53), and a tension block (54). The servo motor (51) is mounted on the fixed plate (53) via the right-angle planetary reducer (52). The servo motor (51) and the right-angle planetary reducer (52) are detachably connected. The right-angle planetary reducer (52) and the fixed plate (53) are detachably connected. The tension block (54) is located above the fixed plate (53). In one set of the drive mechanism (5), the tension block (54) and the fixed plate (53) are bolted to the outside of the first frame (21). In another set of the drive mechanism (5), the tension block (54) and the fixed plate (53) are bolted to the bottom of the U-shaped frame (7). The right-angle planetary reducer (52) is equipped with a gear mechanism (55). The gear mechanism (55) meshes with the corresponding U-axis internal gear (2221) or V-axis internal gear (4111) for transmission.

8. A two-shaft positioner for a mixer frame according to claim 6, characterized in that: An electric slip ring (8) is provided on a U-shaped frame (7) on one side of the V-axis rotary support (41). The base of the electric slip ring (8) is detachably connected to the U-shaped frame (7). The rotating end of the electric slip ring (8) is synchronously connected to the V-axis rotary support (41). The electric slip ring (8) is used to ensure continuous conductivity of the stirring rack (9) in the rotating state.

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