CN113500346A - Large-bending-moment positioner with torsion compensation function - Google Patents

Abstract

The invention relates to the technical field of industrial automatic welding, in particular to a large-bending-moment positioner with torque force compensation, which reduces the cost of a machined part, enlarges a working surface, enlarges the working range and improves the practicability of equipment; including eight star-shaped three-dimensional platform, a pedestal, the left branch dagger, first trip shaft assembly, the second rotation axis assembly, the right branch dagger, first upset support assembly, gyration support bearing and power balance tension spring, eight star-shaped three-dimensional platform fixed mounting and the top of second rotation axis assembly, second rotation axis assembly fixed mounting is on the mounting panel of first trip shaft assembly, first trip shaft assembly supports through left branch dagger and right branch dagger, the bottom of left branch dagger and right branch dagger is connected with the top of base, inside integrated second axle servo motor and the second axle RV speed reducer of second rotation axis assembly, inside integrated first axle RV speed reducer and the first axle servo motor of first trip shaft assembly, set up first upset support assembly on the first upset axis.

Description

Large-bending-moment positioner with torsion compensation function

Technical Field

The invention relates to the technical field of industrial automatic welding, in particular to a large-bending-moment positioner with torque force compensation.

Background

The positioner is oriented to the field of industrial automation or industrial robot welding, can automatically execute work, realizes the rotation of a first shaft and a second shaft by means of self power control, and can enable a welding part to rotate to a position to be welded in all directions. The positioner consists of three basic parts, namely a working table, a driving system and a control system.

Disclosure of Invention

In order to solve the technical problems, the invention provides the large bending moment positioner with the torsion compensation, which reduces the cost of a machined part, enlarges a working surface, enlarges the working range and improves the practicability of equipment.

The invention relates to a large-bending-moment positioner with torque force compensation, which comprises an octagonal three-dimensional platform, a base, a left support column, a first overturning shaft assembly, a second rotating shaft assembly, a right support column, a first overturning support assembly, a rotary support bearing and a force balancing tension spring, wherein the octagonal three-dimensional platform is fixedly arranged at the top of the second rotating shaft assembly, the second rotating shaft assembly is fixedly arranged on a mounting plate of the first overturning shaft assembly, the first overturning shaft assembly is supported by the left support column and the right support column, the bottom ends of the left support column and the right support column are connected with the top end of the base, a second shaft servo motor and a second shaft RV reducer are integrated in the second rotating shaft assembly, a first shaft RV reducer and a first shaft servo motor are integrated in the first overturning shaft assembly, a first overturning support assembly is arranged on the first overturning axis, and the first overturning support assembly coaxially overturns through pairing conical roller bearings, the first overturning shaft assembly is provided with a left force balancing tension spring and a right force balancing tension spring which are used for balancing the gravity weight moment when the second rotating shaft assembly rotates from 0 degree to +/-90 degrees, and a second shaft RV reducer on the second rotating shaft assembly is radially provided with a rotary supporting bearing.

According to the large bending moment positioner with the torsion compensation, the octagonal three-dimensional platform is provided with the holes, and various clamps are mounted for positioning and use and are used for fixing welding parts.

According to the large bending moment positioner with the torsion compensation, the mounting plate is arranged at the bottom end of the base, and the mounting plate is provided with the fixing hole.

According to the large-bending-moment positioner with the torsion compensation, the bottom end of the force balance tension spring is fixedly connected with the base.

Compared with the prior art, the invention has the beneficial effects that:

1. the left and right extension springs which balance the gravity weight moment when the second rotating shaft assembly rotates from 0 degrees to +/-90 degrees are designed on the first overturning shaft assembly, compared with a traditional positioner, the left and right extension springs can use a servo motor with smaller power and torque and an RV reducer with small torque and small size, the servo motor and the RV reducer can use smaller torque, and the cost of a machined part is reduced;

2. the second rotating shaft assembly speed reducer is radially provided with a rotary support bearing, so that the axial bending moment of the speed reducer is reduced, the working range of the plane of the workbench is larger, and compared with the working table of the traditional positioner, the working range can be doubled and is larger;

3. welding parts can be replaced at will, any position of a working table is clamped and fixed, a traditional positioner only gives a welding part design table, and only specific welding parts can be welded;

4. the automatic positioning machine is suitable for small-batch, large-batch and multi-variety welding parts, the welding parts are clamped and fixed at any position, only a single variety of welding parts can be used in the traditional positioning machine, and the designed position is clamped and fixed on the welding parts.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the front cross-sectional structure of the present invention;

FIG. 3 is a schematic left side view of the present invention;

FIG. 4 is a schematic diagram of the architecture in which the present invention operates;

in the drawings, the reference numbers: 1. an octagonal three-dimensional platform; 2. a base; 3. a left support column; 4. a first trip shaft assembly; 5. a second rotating shaft assembly; 6. a right support column; 7. a first flip support assembly; 8. a slewing support bearing; 9. a force balancing tension spring; 10. a first turnover axis; 11. a second rotary member part centroid point; 12. a second rotating member mass; 13. a mating tapered roller bearing; 14. a first shaft RV reducer; 15. a first shaft servo motor; 16. a second shaft RV reducer; 17. a second shaft servo motor; 18. a rotating component part centroid point; 19. turning over the shaft axis; 20. fixing a far mounting point of the balance tension spring; 21. the fixed balance tension spring is close to the mounting point; 22. the centroid point is loaded.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 4, the large bending moment positioner with torque compensation of the invention comprises an octagonal three-dimensional platform 1, a base 2, a left support pillar 3, a first overturning shaft assembly 4, a second rotating shaft assembly 5, a right support pillar 6, a first overturning support assembly 7, a slewing support bearing 8 and a force balance tension spring 9, wherein the octagonal three-dimensional platform 1 is fixedly installed at the top of the second rotating shaft assembly 5, the second rotating shaft assembly 5 is fixedly installed on an installation plate of the first overturning shaft assembly 4, the first overturning shaft assembly 4 is supported by the left support pillar 3 and the right support pillar 6, the bottom ends of the left support pillar 3 and the right support pillar 6 are connected with the top end of the base 2, a second shaft servo motor 17 and a second shaft RV 16 are integrated in the second rotating shaft assembly 5, a first shaft RV reducer 14 and a first shaft servo motor 15 are integrated in the first overturning shaft assembly 4, a first overturning support assembly 7 is arranged on a first overturning axial lead 10, the first overturning support assembly 7 coaxially overturns through a paired tapered roller bearing 13, a force balance tension spring 9 for balancing the gravity weight moment when the second rotating shaft assembly 5 rotates from 0 degrees to +/-90 degrees is arranged on the first overturning shaft assembly 4, and a rotary support bearing 8 is radially arranged on a second shaft RV reducer 16 on the second rotating shaft assembly 5; fix the welding member through eight corner three-dimensional platform 1, later weld the welding member through welding equipment, when the angle of putting of welding member is adjusted in needs, open second shaft servo motor 17, make second shaft RV speed reducer 16 provide power for second rotation axis assembly 5, make eight corner three-dimensional platform 1 drive welding member and rotate, the angle of putting of adjustment welding member, when needing to incline the messenger to the welding member, open first shaft servo motor 15, make first shaft RV speed reducer 14 provide electronically for first trip shaft assembly 4, make forward or backward tilting, and the range of slope is 0 to 90, and support assembly 7 and power balance tension spring 9 through first upset, make things convenient for equipment to use great eight corner three-dimensional platform 1, reliability when improving the upset, thereby improve the practicality of equipment

According to the attached drawings, when the load mass M1, the load force arm H1, the second rotating component mass M0 and the second rotating component force arm HG, and the second rotating component mass M0 and the load mass M1 are from the horizontal plane to the vertical plane, namely 0 to +/-90 degrees, the moment received by the servo motor and the RV reducer of the first shaft is the largest, the rated moment of the servo motor and the RV reducer of the first shaft is P (Nm), the elongation L1-L0 of the tension spring (meanwhile, the elasticity of the spring is maintained, and the requirement of (L1-L0) < L0/2) is met), the force arm H of the tension spring is K (kgf/mm), the coefficient of the spring is K (kgf/mm) < Gd ^4/8nD 3,

g ═ shear modulus (8000 for steel wire); d is the wire diameter; n is the effective number of turns (the total number of turns is reduced by 2); d-center diameter

From the moment balance it is possible to obtain: 2 × K (L1-L0) × H + P > M0 × HG + M1 × H1,

since the dimensions of the center diameter and the spring length L0 are already given by the design model layout, the dimensions of the draw hook L0D n + are also fixed, and the diameter D can be directly calculated.

According to the large-bending-moment positioner with the torsion compensation, the octagonal three-dimensional platform 1 is provided with a plurality of holes, and various clamps are mounted for positioning; the convenience is fixed the welding to the bits of will welding conveniently drop, thereby improve equipment's practicality.

According to the large bending moment positioner with the torsion compensation, the bottom end of the base 2 is provided with the mounting plate, and the mounting plate is provided with the fixing hole; make things convenient for the staff to install and adjust equipment through the mounting panel, make equipment and welding equipment cooperation use to improve equipment's convenience.

According to the large-bending-moment positioner with the torsion compensation, the bottom end of the force balance tension spring 9 is fixedly connected with the base 2; the force balance tension spring 9 is convenient to replace, and therefore the convenience of equipment maintenance is improved.

The invention relates to a large bending moment positioner with torque force compensation, which is characterized in that when in work, a welding piece is fixed through an octagonal three-dimensional platform 1, then the welding piece is welded through welding equipment, when the arrangement angle of the welding piece needs to be adjusted, a second shaft servo motor 17 is turned on, a second shaft RV reducer 16 provides power for a second rotating shaft assembly 5, the octagonal three-dimensional platform 1 drives the welding piece to rotate, the arrangement angle of the welding piece is adjusted, when the welding piece needs to be inclined, a first shaft servo motor 15 is turned on, a first shaft RV reducer 14 provides electric power for a first overturning shaft assembly 4, the first overturning shaft assembly 4 is enabled to incline forwards or backwards, the inclination amplitude is 0-90 degrees, and the equipment is convenient to use the large octagonal three-dimensional platform 1 through a first overturning support assembly 7 and a force balancing tension spring 9, so that the reliability during overturning is improved, thereby improving the practicability of the equipment.

According to the large bending moment positioner with the torsion compensation, the installation mode, the connection mode or the arrangement mode are common mechanical modes, and the large bending moment positioner can be implemented as long as the beneficial effects can be achieved, and technicians in the industry only need to install and operate according to the accompanying instructions.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (4)

1. A large bending moment positioner with torque force compensation is characterized by comprising an octagonal three-dimensional platform (1), a base (2), a left support column (3), a first overturning shaft assembly (4), a second rotating shaft assembly (5), a right support column (6), a first overturning support assembly (7), a rotary support bearing (8) and a force balance tension spring (9), wherein the octagonal three-dimensional platform (1) is fixedly installed at the top of the second rotating shaft assembly (5), the second rotating shaft assembly (5) is fixedly installed on an installation plate of the first overturning shaft assembly (4), the first overturning shaft assembly (4) is supported by the left support column (3) and the right support column (6), the bottom ends of the left support column (3) and the right support column (6) are connected with the top end of the base (2), a second shaft servo motor (17) and a second shaft RV reducer (16) are integrated in the second rotating shaft assembly (5), a first shaft RV speed reducer (14) and a first shaft servo motor (15) are integrated in a first overturning shaft assembly (4), a first overturning support assembly (7) is arranged on a first overturning shaft axis (10), the first overturning support assembly (7) coaxially overturns through a paired tapered roller bearing (13), a force balance tension spring (9) for balancing the gravity weight moment when a second rotating shaft assembly (5) rotates from 0 degrees to +/-90 degrees is arranged on the first overturning shaft assembly (4), the left and the right of the force balance tension spring are respectively provided, and a rotary support bearing (8) is radially arranged on a second shaft RV speed reducer (16) on the second rotating shaft assembly (5).

2. The large bending moment positioner with torsion compensation function according to claim 1, wherein the octagonal three-dimensional platform (1) is provided with a plurality of holes, and various clamps are arranged for positioning and use to fix welding parts.

3. The large bending moment positioner with torsion compensation function according to claim 1, wherein the bottom end of the base (2) is provided with a mounting plate, and the mounting plate is provided with a fixing hole.

4. The large bending moment positioner with torsion compensation according to claim 1, wherein the bottom end of the force balancing tension spring (9) is fixedly connected with the base (2).

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