CN105499892B - A kind of axle positioner of double rocking lever four and its application method - Google Patents
A kind of axle positioner of double rocking lever four and its application method Download PDFInfo
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- CN105499892B CN105499892B CN201511008575.9A CN201511008575A CN105499892B CN 105499892 B CN105499892 B CN 105499892B CN 201511008575 A CN201511008575 A CN 201511008575A CN 105499892 B CN105499892 B CN 105499892B
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- hydraulic cylinder
- rocking bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to a kind of axle positioner of double rocking lever four and its application method, the lower end of 2 upper rocking bars is hinged in frame, and the top of upper rocking bar is hinged with upper hydraulic cylinder, and can be under the drive of upper hydraulic cylinder around upper rocking bar main axis；The lower end of 2 lower rocking bars is hinged in frame, and the top of lower rocking bar is hinged with lower hydraulic cylinder, and can be under the drive of lower hydraulic cylinder around lower rocking bar main axis；The upper end of 2 upper rocking bars is hinged with rotating head bottom, and upper end and the rotating head bottom of 2 lower rocking bars are hinged；Rotatable chuck is set at the top of rotating head.The present invention uses quadric chain operation principle, upper rocking bar mechanism and lower rocker device are rotated by correspondence hydraulic cylinder control respectively, rotating head is driven to realize the displacement of arbitrary height and angle, rotating head can also realize the rotation of workpiece at an arbitrary position, it adjusts flexible, can greatly facilitate the weld job of workpiece；Linked by control system and welding robot, can also realize the automatic displacement in workpiece welding process.
Description
Technical field
The present invention relates to a kind of positioner, more particularly to a kind of axle positioner of double rocking lever four and its user
Method.
Background technology
Conventional positioner majority, which can only be realized, at present is simply rotated or turned over action, it is impossible to realizes and appoints in space
The adjustment for height of anticipating and rotary movement, therefore the weld job requirement of complex-shaped large-scale workpiece can not be met, make to welding
Industry is made troubles.
The content of the invention
The invention provides a kind of axle positioner of double rocking lever four, using quadric chain operation principle, upper rocking bar machine
Structure and lower rocker device are rotated by correspondence hydraulic cylinder control respectively, drive rotating head to realize the displacement of arbitrary height and angle,
Rotating head can also realize the rotation of workpiece at an arbitrary position, and it adjusts flexible, can greatly facilitate the welding of each angle of workpiece
Operation；Linked by control system and welding robot, can also realize the automatic displacement in workpiece welding process；The present invention is simultaneously
There is provided the application method of the positioner.
In order to achieve the above object, the present invention is realized using following technical scheme：
A kind of axle positioner of double rocking lever four, including frame, upper rocking bar mechanism, lower rocker device, upper hydraulic cylinder, lower liquid
Be arranged in parallel 2 upper rocking bars in cylinder pressure and rotating head, the upper rocking bar mechanism, and the lower end of 2 upper rocking bars passes through upper rocking bar master
Axle is hinged in frame, and the top of upper rocking bar is hinged by hydraulic pressure support bar and the upper hydraulic cylinder that is fixed in frame, and can be
Around upper rocking bar main axis under upper hydraulic cylinder drive；Be arranged in parallel 2 lower rocking bars, the lower end of 2 lower rocking bars in lower rocker device
It is hinged on by lower rocking bar main shaft in frame, the top of lower rocking bar passes through hydraulic pressure support bar and the lower hydraulic cylinder being fixed in frame
It is hinged, and can be under the drive of lower hydraulic cylinder around lower rocking bar main axis；The upper end of 2 upper rocking bars passes through upper rocking bar connecting shaft and rotation
Favourable turn head bottom is hinged, and the upper end of 2 lower rocking bars is hinged by lower rocking bar connecting shaft and rotating head bottom；At the top of rotating head
If rotatable chuck.
It is additionally provided with linkage between the upper rocking bar connecting shaft and lower rocking bar connecting shaft, linkage parallel is set by 2
The connecting rod composition put, the two ends of 2 connecting rods are fixed in upper rocking bar connecting shaft and lower rocking bar connecting shaft by axle sleeve respectively.
The rotating head is made up of housing, floating bearing, gear, chuck and servomotor, outside the bearing of floating bearing
Circle is fixed in housing, bearing inner race and the meshed transmission gear located at its side, and gear is driven by servomotor to be rotated, chuck
It is fixed on bearing inner race outer end and can be rotated with bearing inner race.
The upper hydraulic cylinder, lower hydraulic cylinder and servomotor connect control system respectively.
A kind of application method of the axle positioner of double rocking lever four, comprises the following steps：
1) during original state, chuck is in low level vertical state, facilitates card engaging workpiece；After workpiece is loaded on chuck,
Start servomotor, servomotor drive gear rotates and drives the inner ring of floating bearing to rotate, and is fixed on the work on chuck
Part is with bearing inner race synchronous axial system；The weld job of relative stations can now be carried out；
2) when workpiece needs to overturn displacement, lower hydraulic cylinder push rod stretches out, and makes the lifting simultaneously of 2 lower rocking bars and drives rotation
Head bottom is raised, and drives upper rocking bar to realize that rotating head is turned at any angle in restriction height by upper hydraulic cylinder push rod
Rotate and make；When the push rod of upper hydraulic cylinder and lower hydraulic cylinder is fixed, rotating head rests on a fixed position, now
Chuck can still drive workpiece to rotate, and realize the weld job of relative stations；
3) repeat step 2), until completing whole weld jobs of workpiece exposed parts.
Upper hydraulic cylinder, lower hydraulic cylinder and servomotor are connected after control system respectively, control system that can be with welding robot
System realizes linkage, by the welding procedure setting program of workpiece, control the sequence of movement of each portion mechanism, the rotating speed of chuck, 2 up and down
The start and stop of hydraulic cylinder and the overhang of hydraulic cylinder push rod, so as to realize the position lock function in automatic displacement and welding process.
Compared with prior art, the beneficial effects of the invention are as follows：
1) quadric chain operation principle is used, upper rocking bar mechanism and lower rocker device are turned by correspondence hydraulic cylinder control respectively
It is dynamic, drive rotating head to realize the displacement of arbitrary height and angle, rotating head can also realize the rotation of workpiece at an arbitrary position,
It adjusts flexible, can greatly facilitate the weld job of each angle of workpiece；
2) linked by control system and welding robot, can also realize the automatic displacement in workpiece welding process；
3) revolution driving of rotating head is stepless time adjustment, positive, reverse rotation can be achieved, rotary speed is steady and can protect
The rotating speed of card at maximum load；Pitch drives peak load is 5000kg；
4) constant speed is overturn in the range of 90 °, and stable action is reliable, and with auto-lock function.
Brief description of the drawings
Fig. 1 is the side view of the axle positioner of double rocking lever four of the present invention.
Fig. 2 is Fig. 1 right view.
Fig. 3 is Fig. 1 top view.
In figure：1. the hydraulic pressure of rocker device 6. times of upper rocking bar mechanism 5. times of 2. gear of rotating head, 3. servomotor 4.
8. frame of hydraulic cylinder, 9. floating bearing, 10. chuck, 11. linkage 12., 13. times rocking bars of upper rocking bar connecting shaft on cylinder 7.
14. hydraulic pressure support bar of connecting shaft, 15. times axle sleeves of 16. upper rocking bar main shaft of rocking bar main shaft 17.
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings：
See Fig. 1-Fig. 3, be the structural representation of positioner of the present invention.The axle of a kind of double rocking lever four of the present invention
Positioner, including frame 8, upper rocking bar mechanism 4, lower rocker device 5, upper hydraulic cylinder 7,6 times hydraulic cylinders and 1 rotating head,
Be arranged in parallel 2 upper rocking bars in the upper rocking bar mechanism 4, and the lower end of 2 upper rocking bars is hinged on frame 8 by upper rocking bar main shaft 16
On, the top of upper rocking bar is hinged by hydraulic pressure support bar 14 and the upper hydraulic cylinder 7 that is fixed in frame 8, and can be in upper hydraulic cylinder 7
Rotated under drive around upper rocking bar main shaft 16；Be arranged in parallel 2 lower rocking bars in lower rocker device 5, and the lower end of 2 lower rocking bars is under
Rocking bar main shaft 15 is hinged in frame 8, and the top of lower rocking bar passes through hydraulic pressure support bar 14 and the lower hydraulic cylinder being fixed in frame 8
6 are hinged, and can be rotated under the drive of lower hydraulic cylinder 6 around lower rocking bar main shaft 15；The upper end of 2 upper rocking bars passes through upper rocking bar connecting shaft
12 are hinged with the bottom of rotating head 1, and the upper end of 2 lower rocking bars is hinged by 1 bottom of lower rocking bar connecting shaft 13 and whirler；Rotation
First 1 top of favourable turn sets rotatable chuck 10.
Linkage 11 is additionally provided between the upper rocking bar connecting shaft 12 and lower rocking bar connecting shaft 13, linkage 11 is by 2
The individual connecting rod composition be arrangeding in parallel, the two ends of 2 connecting rods are fixed on upper rocking bar connecting shaft 12 by axle sleeve respectively and lower rocking bar connects
In spindle 13.
The rotating head 1 is made up of housing, floating bearing 9, gear 2, chuck 10 and servomotor 3, floating bearing 9
Bearing outer ring is fixed in housing, and bearing inner race and the engaged transmission of gear 2 located at its side, gear 2 are driven by servomotor 3
Rotation, chuck 10 is fixed on bearing inner race outer end and can rotated with bearing inner race.
The upper hydraulic cylinder 7, lower hydraulic cylinder 6 and servomotor 3 connect control system respectively.
A kind of application method of the axle positioner of double rocking lever four, comprises the following steps：
1) during original state, chuck 10 is in low level vertical state, facilitates card engaging workpiece；Workpiece is loaded on chuck 10
Afterwards, servomotor 3 is started, the drive gear 2 of servomotor 3 rotates and drives the inner ring of floating bearing 9 to rotate, and is fixed on chuck
Workpiece on 10 is with bearing inner race synchronous axial system；The weld job of relative stations can now be carried out；
2) when workpiece needs to overturn displacement, the lower push rod of hydraulic cylinder 6 stretches out, and makes the lifting simultaneously of 2 lower rocking bars and drives rotation
First 1 bottom of favourable turn is raised, and drives upper rocking bar to realize that rotating head 1 is limiting random angle in height by the upper push rod of hydraulic cylinder 7
The rotary movement of degree；When the push rod of upper hydraulic cylinder 7 and lower hydraulic cylinder 6 is fixed, rotating head 1 rests on a fixation
Position, now chuck 10 can still drive workpiece to rotate, and realize the weld job of relative stations；
3) repeat step 2), until completing whole weld jobs of workpiece exposed parts.
Upper hydraulic cylinder 7, lower hydraulic cylinder 6 and servomotor 3 are connected after control system respectively, control that can be with welding robot
System realizes linkage, by the welding procedure setting program of workpiece, control the sequence of movement of each portion mechanism, the rotating speed of chuck 10, on
The start and stop of lower 2 hydraulic cylinders 7,6 and the overhang of hydraulic cylinder push rod, so as to realize the position lock in automatic displacement and welding process
Determine function.
In the present invention, the bottom of rotating head 1 of the axle positioner of double rocking lever four respectively with upper rocking bar mechanism 4 and lower rocking bar
Mechanism 5 is hinged, and with that freely can overturn and adjust the function of height, its flip angle is 0 °~90 °, upset shifting movement by
Upper and lower 2 hydraulic cylinders 7,6 are completed.Can be according to the shape of workpiece, welding requirements by workpiece turning to preferable welding and assembling height and angle
Degree, is very easy to weld job.
The rotating head 1 of the axle positioner of double rocking lever four can realize rotation of the workpiece in any locus, four
Chuck jaw is evenly arranged on chuck 10 for fixing workpiece, and workpiece is fixed on rotating head 1 by chuck 10, in servo electricity
Under the driving of machine 3, workpiece can with floating bearing 9 bearing inner race synchronous axial system.
Upper hydraulic cylinder 7 and lower hydraulic cylinder 6 are separately fixed in frame 8, and its push rod one end is hinged with hydraulic pressure support bar 14, on
Rocker device 4, linkage 11, lower rocker device 5 and frame 8 constitute quadric chain.In the fixed situation of frame 8
Under, drive upper rocking bar mechanism 4, lower rocker device 5 and linkage 11 are relative to transport by the upper hydraulic cylinder 7 of regulation and lower hydraulic cylinder 6
It is dynamic, so as to realize the change of the locus of rotating head 1.
The axle positioner of double rocking lever four of the present invention is a kind of advanced, efficient, to realize Complex Different Shape structure
Workpiece welds the welding displacement equipment with built-up welding, can be with argon arc welding machine, gas metal-arc welder, plasma welding machine, submerged arc
The welding machines such as welding machine, open arc welding machine use cooperatively and can constitute robot welding system.Coordinate welding robot or mechanical arm and set
Controlling extent can realize profile-followed welding and full-automatic build-up welding.The rotating speed of rotating head 1 is adjustable, and with each speed regulation circuit, program
Controller can directly preset fusion length, angle of inclination can adjust setting as needed.
The axle positioner of double rocking lever four of the present invention it is simple in construction, trouble point is few, thus service life is long.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (4)
1. a kind of axle positioner of double rocking lever four, it is characterised in that including frame, upper rocking bar mechanism, lower rocker device, upper liquid
Cylinder pressure, lower hydraulic cylinder and rotating head；
Be arranged in parallel 2 upper rocking bars in the upper rocking bar mechanism, and the lower end of 2 upper rocking bars is hinged on frame by upper rocking bar main shaft
On, the top of upper rocking bar is hinged by hydraulic pressure support bar and the upper hydraulic cylinder that is fixed in frame, and can be driven in upper hydraulic cylinder
Under around upper rocking bar main axis；
Be arranged in parallel 2 lower rocking bars in lower rocker device, and the lower end of 2 lower rocking bars is hinged in frame by lower rocking bar main shaft,
The top of lower rocking bar is hinged by hydraulic pressure support bar and the lower hydraulic cylinder that is fixed in frame, and can under the drive of lower hydraulic cylinder around
Lower rocking bar main axis；
The upper end of 2 upper rocking bars is hinged by upper rocking bar connecting shaft with rotating head bottom, and the upper end of 2 lower rocking bars is shaken under
Bar connecting shaft is hinged with rotating head bottom；Linkage, connecting rod are additionally provided between upper rocking bar connecting shaft and lower rocking bar connecting shaft
Mechanism is made up of 2 connecting rods be arrangeding in parallel, and the two ends of 2 connecting rods are fixed on upper rocking bar connecting shaft by axle sleeve respectively and shaken with
In bar connecting shaft；Upper rocking bar mechanism, linkage, lower rocker device and frame constitute quadric chain；Fixed not in frame
It is relative by the upper hydraulic cylinder of regulation and lower Driven by Hydraulic Cylinder upper rocking bar mechanism, lower rocker device and linkage in the case of dynamic
Motion, realizes the change of rotating head locus；
The rotating head is made up of housing, floating bearing, gear, chuck and servomotor, and the bearing outer ring of floating bearing is consolidated
It is scheduled in housing, bearing inner race and the meshed transmission gear located at its side, gear is driven by servomotor to be rotated；Rotating head
Top sets rotatable chuck, and chuck is fixed on bearing inner race outer end and can rotated with bearing inner race.
2. the axle positioner of a kind of double rocking lever four according to claim 1, it is characterised in that the upper hydraulic cylinder, under
Hydraulic cylinder and servomotor connect control system respectively.
3. the application method of the axle positioner of a kind of double rocking lever four according to claim 1, it is characterised in that including such as
Lower step：
1) during original state, chuck is in low level vertical state, facilitates card engaging workpiece；After workpiece is loaded on chuck, start
Servomotor, servomotor drive gear rotates and drives the bearing inner race of floating bearing to rotate, and is fixed on the workpiece on chuck
With bearing inner race synchronous axial system；The weld job of relative stations can now be carried out；
2) when workpiece needs to overturn displacement, lower hydraulic cylinder push rod stretches out, and makes the lifting simultaneously of 2 lower rocking bars and drives rotating head
Bottom is raised, and drives upper rocking bar to realize that rotating head is overturn at any angle in restriction height by upper hydraulic cylinder push rod dynamic
Make；When the push rod of upper hydraulic cylinder and lower hydraulic cylinder is fixed, rotating head rests on a fixed position, now chuck
It can still drive workpiece to rotate, and realize the weld job of relative stations；
3) repeat step 2), until completing whole weld jobs of workpiece exposed parts.
4. a kind of application method of the axle positioner of double rocking lever four according to claim 3, it is characterised in that upper hydraulic pressure
Cylinder, lower hydraulic cylinder and servomotor are connected after control system respectively, can be realized and be linked with the control system of welding robot, by work
The welding procedure setting program of part, control the sequence of movement of each portion mechanism, the rotating speed of chuck, up and down the start and stop of 2 hydraulic cylinders and
The overhang of hydraulic cylinder push rod, so as to realize the position lock function in automatic displacement and welding process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008575.9A CN105499892B (en) | 2015-12-29 | 2015-12-29 | A kind of axle positioner of double rocking lever four and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008575.9A CN105499892B (en) | 2015-12-29 | 2015-12-29 | A kind of axle positioner of double rocking lever four and its application method |
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| Publication Number | Publication Date |
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| CN105499892A CN105499892A (en) | 2016-04-20 |
| CN105499892B true CN105499892B (en) | 2017-08-08 |
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| CN111590263B (en) * | 2020-05-28 | 2022-04-12 | 安徽机电职业技术学院 | A positioner for welding |
| CN111791004A (en) * | 2020-06-19 | 2020-10-20 | 斯图加特航空自动化（青岛）有限公司 | a positioner |
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| CN201201140Y (en) * | 2008-06-18 | 2009-03-04 | 克拉玛依安泰炼化工程有限责任公司 | Turnover device of welding positioner |
| CN201511226U (en) * | 2009-10-30 | 2010-06-23 | 沈阳黎明航空发动机(集团)有限责任公司 | Indexing mechanism of multistage welding system |
| CN201841396U (en) * | 2010-10-28 | 2011-05-25 | 新疆威奥科技股份有限公司 | Synchronous self-centering multi-jaw chuck for weld assembly |
| CN201871874U (en) * | 2010-11-22 | 2011-06-22 | 杭州中科新松光电有限公司 | Clamp device for laser welding of disk-shaped part |
| JP2012148392A (en) * | 2011-01-21 | 2012-08-09 | Nachi Fujikoshi Corp | Industrial robot |
| CN202763350U (en) * | 2012-09-18 | 2013-03-06 | 上海泉盛金属材料有限公司 | Multi-station three-dimensional rotating welding set for filter |
| CN203018979U (en) * | 2013-01-16 | 2013-06-26 | 无锡肯克重工设备有限公司 | Sliding table welding position changing machine |
| CN203031161U (en) * | 2013-01-24 | 2013-07-03 | 无锡市陆生机械设备有限公司 | Mechanical arm assisting production of steel structural components |
| CN103143863B (en) * | 2013-03-18 | 2016-05-11 | 太仓旭莱自动化机械有限公司 | A kind of double-deck concertina type welding robot system |
| JP5949745B2 (en) * | 2013-12-20 | 2016-07-13 | 株式会社安川電機 | Robot and robot maintenance method |
| CN204221284U (en) * | 2014-11-14 | 2015-03-25 | 成都尔珏科技有限公司 | The easy rotating jig for welding of lift |
| CN104552288A (en) * | 2014-12-30 | 2015-04-29 | 青岛中信欧德机械科技股份有限公司 | Flexible six-shaft robot |
| CN204545772U (en) * | 2015-04-20 | 2015-08-12 | 德州学院 | A kind of multi link welding robot containing closed-loop subchain |
| CN105171324B (en) * | 2015-07-22 | 2017-09-29 | 山东豪迈机械制造有限公司 | Three-jaw self-centering chuck clamping device |
| CN205363130U (en) * | 2015-12-29 | 2016-07-06 | 辽宁天利再造科技股份有限公司 | Double -rocker four -axis positioner |
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Address after: 114011 No. 6, Hongqi Street South, Qianshan District, Liaoning, Anshan Applicant after: LIAONING TIANLI RECONSTRUCTION TECHNOLOGY CO., LTD. Address before: 114011 No. 6, Hongqi Street South, Qianshan District, Liaoning, Anshan Applicant before: ANSHAN TIANLI ENGINEERING MACHINERY CO., LTD. |
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