CN216802443U

CN216802443U - Robot electric arc increases and decreases material system

Info

Publication number: CN216802443U
Application number: CN202220134167.7U
Authority: CN
Inventors: 程远; 袁玉荣; 蔡朋飞
Original assignee: Nanjing Yingnigema Industrial Automation Technology Co Ltd
Current assignee: Nanjing Yingnigema Industrial Automation Technology Co Ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-06-24
Anticipated expiration: 2032-01-19

Abstract

The utility model discloses a robot arc adding and subtracting material system, which comprises ground rails arranged in parallel and a milling mechanism erected on the ground rails, and also comprises a welding robot arranged on the ground rails to move horizontally relative to the ground rails; A positioner is arranged between the ground rail structures of the positioner, and the positioner has a turning mechanism, a rotating mechanism and a lifting mechanism; a flexible worktable is fixed on the adapter plate of the positioner. The system of the utility model is based on a multi-function positioner, which can realize the additive manufacturing of large or special-shaped parts. The system includes a welding robot and a milling mechanism, so that the milling operation can be performed on the additive part immediately after adding a part, Thereby, the machining accuracy of the finished product is improved, and after all the printing is completed, the rough product is scanned with a handheld blue light measuring instrument, and then the rough product is milled by a milling mechanism to obtain a finished product after scanning.

Description

Robot electric arc increases and decreases material system

Technical Field

The utility model relates to a robot arc material increase and decrease system.

Background

Based on some specific scenes or the requirements of finish machining, a part needs to be subjected to a milling operation after the part is subjected to additive manufacturing in a 3D printing (additive manufacturing) process, so that the machining precision of a finished product is improved.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims to provide a robot arc material increase and decrease system which can realize three manufacturing processes of welding, metal fuse arc material increase (3D printing) and material decrease.

The technical scheme is as follows: the utility model relates to a robot electric arc material increase and decrease system, which comprises a ground rail arranged in parallel, a milling mechanism erected on the ground rail and a welding robot arranged on the ground rail and moving horizontally relative to the ground rail; a position changing machine is arranged between the ground rails which are arranged in parallel, and the position changing machine is provided with a turnover mechanism, a rotating mechanism and a lifting mechanism; a flexible workbench is fixed on the adapter plate of the positioner.

The ground rail comprises a base, a guide rail fixed on the base, and a transmission mechanism used for driving the welding robot and the milling mechanism to transversely move on the ground rail, wherein the transmission mechanism is a gear and rack transmission mechanism or a transmission mechanism in matched connection of a ball screw and a nut.

The milling mechanism comprises a Z axis, an X axis moving mechanism and a Z axis moving mechanism, a milling cutter and a laser vision camera are arranged at the end part of the Z axis, and the Z axis moves along the X axis direction and the Z axis direction respectively in the X axis moving mechanism and the Z axis moving mechanism.

Wherein, the welding robot includes six moving arms and is located the welder of six moving arm tip.

The rotary mechanism comprises a rotary motor, an adapter plate fixedly connected with a drive shaft of the rotary motor through a slewing bearing, and a flexible workbench fixed on the adapter plate.

The turnover mechanism comprises a first mounting seat, a second mounting seat and a turnover table positioned between the first mounting seat and the second mounting seat; the rotating mechanism is rotationally connected with the overturning platform through a slewing bearing; the turnover mechanism further comprises a turnover motor fixed on the first mounting seat, a drive end of the turnover motor is fixedly connected with the speed reducer, the drive end of the speed reducer is fixedly connected with one side of the turnover table through a rotating shaft, the other side of the turnover table is fixedly connected with the second mounting seat through a driven rotating shaft, and the driven rotating shaft is rotatably connected with the second mounting seat through a bearing.

The lifting mechanism comprises an upright post, and two parallel guide rails are arranged on two opposite side edges of the upright post; the lifting mechanism also comprises a motor and a ball screw in transmission connection with the motor; two end parts of the ball screw are fixed on the upright post through a bearing seat, and a screw nut which is matched and connected with the ball screw is sleeved on the ball screw; the first mounting seat and the second mounting seat of the turnover mechanism are fixedly connected with the corresponding lead screw nuts, and the first mounting seat and the second mounting seat are further provided with sliding blocks which are connected with the guide rails in a matched mode.

Has the advantages that: the system disclosed by the utility model is based on a multifunctional positioner, additive manufacturing of large or special-shaped parts can be realized, the system contains a welding robot and a milling mechanism, so that the additive part can be milled immediately after a part of additive is added, the machining precision of finished products is improved, and after all printing is finished, a blue light measuring instrument is held by hand to scan the rough finished products, and the rough finished products are milled by the milling mechanism after scanning, so that finished products are obtained.

Drawings

FIG. 1 is a system schematic diagram of a robot arc material adding and removing system of the present invention;

FIG. 2 is a schematic structural diagram of a milling mechanism;

FIG. 3 is a schematic structural diagram of the positioner;

FIG. 4 is a schematic structural view of a rotating mechanism in the positioner;

FIG. 5 is a schematic structural diagram of a turnover mechanism in the positioner;

FIG. 6 is a schematic view of the connection between the mounting plate and the lifting mechanism in the turnover mechanism;

fig. 7 is a schematic structural view of a lifting mechanism in the positioner.

Detailed Description

As shown in fig. 1 to 7, the robot arc material-increasing and material-decreasing system of the present invention comprises a ground rail 1 arranged in parallel, a milling mechanism 2 erected on the ground rail 1, and a welding robot 3 arranged on the ground rail 1 and moving horizontally relative to the ground rail 1; a position changing machine 4 is arranged between the ground rails 1 which are arranged in parallel, and the position changing machine 4 is provided with a turnover mechanism, a rotating mechanism and a lifting mechanism; a flexible workbench 5 is fixed on the adapter plate of the positioner 4; the milling mechanism 2 comprises a Z-axis 21, an X-axis moving mechanism 22 and a Z-axis moving mechanism, a milling cutter 24 and a laser vision camera 23 are arranged at the end part of the Z-axis 21, and the Z-axis 21 moves along the X-axis direction and the Z-axis direction respectively in the X-axis moving mechanism 22 and the Z-axis moving mechanism; the welding robot 3 includes a six-axis moving arm and a welding gun located at an end of the six-axis moving arm.

The ground rail 1 comprises a base 11, a guide rail 12 fixed on the base 11, and a transmission mechanism for driving the welding robot 3 and the milling mechanism 2 to move transversely on the guide rail 12, wherein the transmission mechanism is a gear-rack transmission mechanism or a transmission mechanism in matched connection of a ball screw and a nut.

The rotating mechanism of the positioner 4 includes a rotating motor 41, an adapter plate 43 fixedly connected to a drive shaft of the rotating motor 41 via a slewing bearing 42, and a flexible table 5 fixed to the adapter plate 43. The turnover mechanism comprises a first mounting seat 44, a second mounting seat 45 and a turnover table 46 positioned between the first mounting seat 44 and the second mounting seat 45; the rotating mechanism is rotationally connected with the overturning platform 46 through a slewing bearing 42; the turnover mechanism further comprises a turnover motor 47 fixed on the first installation base 44, a driving end of the turnover motor 47 is fixedly connected with one side of the turnover table 46 through a rotating shaft 49, the other side of the turnover table 46 is fixedly connected with the second installation base 45 through a driven rotating shaft 50, and the rotating shaft 49 and the driven rotating shaft 50 are respectively connected with the first installation base 44 and the second installation base 45 through bearings in a rotating mode. The bottom of the overturning platform 46 is also provided with a weight box 51; the two sides of the overturning platform 46 corresponding to the joint of the slewing bearing 42 are also provided with conductive seats 52, and the conductive seats 52 are used for grounding, so that strong current or redundant current generated in the operation of equipment is led into the ground, and the safety is ensured; the turnover mechanism further comprises a brake, the brake comprises a clamp 54 with a notch and a rotary disc 53 rotating in the notch of the clamp 54, the rotary disc 53 is fixed at the end part of the turnover table 46 and rotates together with the turnover table 46, the clamp 54 is fixed on the second mounting seat 45, and when the turnover table 46 is turned over, the rotary disc 53 and the clamp 54 generate friction force to enable the turnover to be stably carried out. The lifting mechanism comprises a vertical column 55, and two parallel guide rails 56 are arranged on two opposite side edges of the vertical column 55; the lifting mechanism also comprises a motor 58, the motor 58 is in transmission connection with a ball screw 61 through a speed reducer 59 and a coupling 60; two end parts of the ball screw 61 are fixed on the upright post 55 through bearing seats 62, and a screw nut 63 which is matched and connected with the ball screw 61 is sleeved on the ball screw 61; the upright column 55 of the lifting mechanism is not less than 2m and is paved under the ground. The first installation seat 44 and the second installation seat 45 of the turnover mechanism are fixedly connected with the corresponding lead screw nuts 63, and the first installation seat 44 and the second installation seat 45 are further provided with sliding blocks 57 which are connected with the guide rails in a matched mode.

Claims

1. A robotic arc adding and subtracting material system, is characterized in that: comprise the ground rail that is arranged in parallel and the milling mechanism that is erected on the ground rail, also comprise the welding robot that is arranged on the ground rail to move horizontally relative to the ground rail; A positioner is arranged between the arranged ground rail structures, and the positioner has a turning mechanism, a rotating mechanism and a lifting mechanism; a flexible worktable is fixed on the adapter plate of the positioner.

2 . The robotic arc adding and subtracting material system according to claim 1 , wherein the ground rail comprises a base, a guide rail fixed on the base, and a guide rail for driving the welding robot and for driving the milling mechanism to move laterally on the guide rail. 3 . transmission mechanism.

3. The robotic arc adding and subtracting material system according to claim 1, wherein the milling mechanism comprises a Z-axis, an X-axis moving mechanism and a Z-axis moving mechanism, and a milling tool and a laser vision are provided at the end of the Z-axis For the camera, the Z-axis is moved in the X-axis direction and the Z-axis moving mechanism is moved in the X-axis direction and the Z-axis direction, respectively.

4 . The robotic arc adding and subtracting material system according to claim 1 , wherein the welding robot comprises a six-axis moving arm and a welding torch located at the end of the six-axis moving arm. 5 .

5 . The robotic arc adding and subtracting material system according to claim 1 , wherein the rotating mechanism comprises a rotating motor, an adapter plate fixedly connected with the drive shaft of the rotating motor through a slewing bearing, and a adapter plate fixed on the adapter plate. 6 . flexible workbench.

6 . The robotic arc adding and subtracting material system according to claim 1 , wherein the turning mechanism comprises a first mounting seat, a second mounting seat, and a turning table between the first mounting seat and the second mounting seat. 7 . The rotating mechanism is rotatably connected with the turning table through the slewing support bearing; the turning mechanism also includes a turning motor fixed on the first mounting seat, the driving end of the turning motor is fixedly connected with the reducer, and the driving end of the reducer is connected to the reducer through the rotating shaft. One side of the overturning table is fixedly connected, and the other side of the overturning table is fixedly connected with the second mounting seat through a driven rotating shaft, and the driven rotating shaft and the second mounting seat are rotatably connected through a bearing.

7. The robotic arc adding and subtracting material system according to claim 6, wherein the turning mechanism further comprises a brake, and the brake comprises a tong with a slot and a turntable rotating in the slot of the tong, and the turntable is fixed on the The end of the turning table rotates together with the turning table, and the clamp is fixed on the second mounting seat.

8 . The robotic arc adding and subtracting material system according to claim 1 , wherein the lifting mechanism comprises a column, and two parallel guide rails are arranged on opposite sides of the column; the lifting mechanism further comprises a motor and a motor connected to the motor. 9 . The ball screw connected by the transmission; the two ends of the ball screw are fixed on the column through the bearing seat, and the ball screw is sleeved with a screw nut that is connected with it; the first mounting seat and the second mounting seat of the turning mechanism Both are fixedly connected with the corresponding screw nuts, and the first mounting seat and the second mounting seat are also provided with sliding blocks which are matched and connected with the guide rails.