CN102225499B - Welding robot - Google Patents
Welding robot Download PDFInfo
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- CN102225499B CN102225499B CN201110144837.XA CN201110144837A CN102225499B CN 102225499 B CN102225499 B CN 102225499B CN 201110144837 A CN201110144837 A CN 201110144837A CN 102225499 B CN102225499 B CN 102225499B
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- traversing
- vertical shift
- arm
- welding gun
- welding
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Abstract
The invention provides a welding robot is disclosed. A speed reducer is fixed to a mounting frame. A tumbler motor drives the input shaft of the speed reducer to rotate; and after the speed is reduced, the output shaft of the speed reducer drives a transverse moving arm to swing. A transverse moving lead screw supported by a bearing I is fixed in the transverse moving arm. A transverse moving motor drives the transverse moving lead screw to rotate, thus driving a transverse moving nut and a vertical moving arm to transversely move along a transverse moving guide rail on the transverse moving arm through transverse moving sliders. A vertical moving lead screw supported by a bearing II is fixed in the vertical moving arm. A vertical moving motor drives a vertical moving lead screw to rotate so as to drive a vertical moving nut and a fastening frame to vertically move along a vertical moving guide rail on the vertical moving arm through vertical moving sliders. The fastening frame is fixedly connected to a welding gun bar which is connected to a welding gun through a welding gun angle regulator. Besides, a welding rod is mounted in the welding gun. The welding robot has the following major advantages: the welding robot is capable of carrying out oscillation within a horizontal plane, movement in radius and movement in a vertical plane; the angle of inclination of the welding gun can be adjusted by the welding gun angle regulator; and automatic welding in a narrow or dangerous environment is realized.
Description
Technical field
The present invention relates to the robot for welding field, be specially adapted to realize the automatic welding under narrow or hazardous environment, belong to a kind of automatic control soldering robot.
Background technology
Welding robot adopts three-jaw or chuck to be installed more at present, is installed in soldered adapter, and the heat that produced by welding conducts to chuck makes it stuck because of thermal deformation, causes chuck to be difficult to dismounting; Clamp pipe type welding robot is in taking over distribution welding closely, weld job space is seriously limited, simultaneously clamp pipe type welding robot, because the working space that the mounting means of self structure stays to operator is also very little, is unfavorable for operating personnel's Real Time Observation and operation; Use the clamp pipe type welding robot of three-jaw or chuck to be difficult to realize to being installed of square tube, elliptical tube, Taper Pipe and other irregular adapter welding, thereby cannot realize being installed, weld; In practice, being badly in need of a kind of workman of being convenient to observes and operates, can avoid chuck be heated stuck and can adapt to the robot that difformity is taken over welding because welding.
The object of the present invention is to provide a kind ofly can adapt to different pipe end shapes and take over welding, can increase work efficiency, guarantee welding quality and effectively reduce the suspension type welding robot of labor strength.By electric part, rotating mechanism, telescoping mechanism, elevating mechanism and hand-operated lifting guiding mechanism, formed.
Adopt structure of the present invention, adjust the relative position of welding robot and adapter and adjust hand-operated lifting guiding mechanism to suitable welding position, suspended type pipe-jointing welding robot just can be realized the interlock of four frees degree, thereby can carry out the automatic welding of difformity adapter, it has the advantages that welding quality is good, efficiency is high and reduce labor strength.
Summary of the invention
Proposition of the present invention, aims to provide a kind of automatic welding machine people who uses under narrow or hazardous environment that realizes.
Technical solution of the present invention is to realize like this;
A kind of welding robot, comprise installing rack, decelerator, tumbler motor, bearing I, bracket I, traversing motor, traversing leading screw, traversing arm, vertical shift motor, bearing I I, bracket I I, vertical shift arm, fastening frame, welding gun bar, angle of welding gun adjuster, welding gun, traversing guide rail, traversing nut, traversing slide block, vertical shift guide rail, vertical shift nut, vertical shift slide block, vertical shift leading screw, it is characterized in that being fixed with decelerator on described installing rack
Tumbler motor drives reducer input shaft to rotate, and after slowing down, its output shaft drives traversing arm swing; With the affixed pair of brackets I of traversing arm fixedly pair of bearings I support respectively traversing leading screw two ends, on traversing arm, be also provided with traversing guide rail, traversing nut and traversing slide block, vertical shift arm are connected and fixed, and form screw pair with traversing leading screw, traversing motor drives traversing leading screw to rotate, and drives traversing nut and vertical shift arm traversing along traversing guide rail by traversing slide block; With the affixed pair of brackets II of vertical shift arm fixedly pair of bearings II support respectively vertical shift leading screw two ends, on vertical shift arm, be also provided with vertical shift guide rail, vertical shift nut and vertical shift slide block, fastening frame are connected and fixed, and form screw pair with vertical shift leading screw, vertical shift motor drives vertical shift leading screw to rotate, drive vertical shift nut and fastening frame by vertical shift slide block along the vertical shift of vertical shift guide rail; The affixed welding gun bar of fastening frame, welding gun bar connects welding gun by angle of welding gun adjuster.
Compared with the prior art, advantage of the present invention is mainly manifested in:
1, welding robot can be realized swing in horizontal plane and the movement on radius, the movement of vertical plane;
2, by angle of welding gun adjuster, can regulate welding gun inclination angle;
3, can realize the automatic welding under narrow or hazardous environment.
Accompanying drawing explanation
The present invention shares accompanying drawing 4 width.Wherein:
Fig. 1 is structural representation front view of the present invention;
Fig. 2 is A-A cutaway view in structural representation front view of the present invention;
Fig. 3 is structural representation left view of the present invention;
Fig. 4 is structural representation top view of the present invention.
In figure: 1, installing rack, 2, decelerator, 3, tumbler motor, 4, bearing I, 5, bracket I, 6, traversing motor, 7, traversing leading screw, 8, traversing arm, 9, vertical shift motor, 10, bearing I I, 11, bracket I I, 12, vertical shift arm, 13, fastening frame, 14, welding gun bar, 15, angle of welding gun adjuster, 16, welding gun, 17, traversing guide rail, 18, traversing nut, 19, traversing slide block, 20, vertical shift guide rail, 21, vertical shift nut, 22, vertical shift slide block, 23, vertical shift leading screw.
The specific embodiment
A kind of welding robot as shown in Figure 1,2,3, 4, comprises installing rack 1, decelerator 2, tumbler motor 3, bearing I 4, bracket I 5, traversing motor 6, traversing leading screw 7, traversing arm 8, vertical shift motor 9, bearing I I10, bracket I I11, vertical shift arm 12, fastening frame 13, welding gun bar 14, angle of welding gun adjuster 15, welding gun 16, traversing guide rail 17, traversing nut 18, traversing slide block 19, vertical shift guide rail 20, vertical shift nut 21, vertical shift slide block 22, vertical shift leading screw 23.Described installing rack 1 can be hung on wall and be used by installing hole.On installing rack 1, be fixed with decelerator 2, tumbler motor 3 is fixed on decelerator end cap, drives decelerator 2 power shafts to rotate, and after reduction gearing is slowed down, its output shaft drives traversing arm 8 to swing; The interior affixed pair of brackets I 5 of traversing arm 8, bearing I 4 is housed respectively on it, support respectively traversing leading screw 7 two ends, on traversing arm 8, be also provided with traversing guide rail 17, traversing nut 18 is fixedly connected with traversing slide block 19, vertical shift arm 12, and forming screw pair with traversing leading screw 7, traversing motor 6 drives traversing leading screw 7 to rotate, and drives traversing nut 18 and vertical shift arm 12 traversing along traversing guide rail 17 by traversing slide block 19; The interior affixed pair of brackets II11 of vertical shift arm 12, bearing I I10 is housed respectively on it, support respectively vertical shift leading screw 23 two ends, on vertical shift arm 12, be also provided with vertical shift guide rail 20, vertical shift nut 21 is fixedly connected with vertical shift slide block 22, fastening frame 13, and form screw pairs with vertical shift leading screw 23, vertical shift motor 9 drives vertical shift leading screws 23 to rotate, drive vertical shift nut 21 and fastening frame 13 by vertical shift slide block 22 along 20 vertical shifts of vertical shift guide rail; The affixed welding gun bar 14 of fastening frame 13, welding gun bar 14 connects welding gun 16, the inclination angle of adjustable welding gun by angle of welding gun adjuster 15.
This invention is mainly manifested in welding robot can realize swing in horizontal plane and the movement on radius, the movement of vertical plane; By angle of welding gun adjuster, can regulate welding gun inclination angle.The automatic welding of realization under narrow or hazardous environment.
Claims (1)
1. a welding robot, comprise installing rack (1), decelerator (2), tumbler motor (3), bearing I (4), bracket I (5), traversing motor (6), traversing leading screw (7), traversing arm (8), vertical shift motor (9), bearing I I (10), bracket I I (11), vertical shift arm (12), fastening frame (13), welding gun bar (14), angle of welding gun adjuster (15), welding gun (16), traversing guide rail (17), traversing nut (18), traversing slide block (19), vertical shift guide rail (20), vertical shift nut (21), vertical shift slide block (22), vertical shift leading screw (23), it is characterized in that being fixed with decelerator (2) on described installing rack (1), tumbler motor (3) drives decelerator (2) power shaft to rotate, after slowing down, its output shaft drives traversing arm (8) to swing, with the affixed pair of brackets I (5) of traversing arm (8) fixedly pair of bearings I (4) support respectively traversing leading screw (7) two ends, on traversing arm (8), be also provided with traversing guide rail (17), traversing nut (18) is connected and fixed with traversing slide block (19), vertical shift arm (12), and form screw pair with traversing leading screw (7), traversing motor (6) drives traversing leading screw (7) to rotate, and drives traversing nut (18) and vertical shift arm (12) traversing along traversing guide rail (17) by traversing slide block (19), with the affixed pair of brackets II (11) of vertical shift arm (12) fixedly pair of bearings II (10) support respectively vertical shift leading screw (23) two ends, on vertical shift arm (12), be also provided with vertical shift guide rail (20), vertical shift nut (21) is connected and fixed with vertical shift slide block (22), fastening frame (13), and form screw pair with vertical shift leading screw (23), vertical shift motor (9) drives vertical shift leading screw (23) to rotate, drive vertical shift nut (21) and fastening frame (13) by vertical shift slide block (22) along vertical shift guide rail (20) vertical shift, the affixed welding gun bar of fastening frame (13) (14), welding gun bar (14) connects welding gun (16) by angle of welding gun adjuster (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110144837.XA CN102225499B (en) | 2011-05-31 | 2011-05-31 | Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110144837.XA CN102225499B (en) | 2011-05-31 | 2011-05-31 | Welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102225499A CN102225499A (en) | 2011-10-26 |
| CN102225499B true CN102225499B (en) | 2014-01-15 |
Family
ID=44806516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110144837.XA Expired - Fee Related CN102225499B (en) | 2011-05-31 | 2011-05-31 | Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102225499B (en) |
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| CN113478140A (en) * | 2021-07-08 | 2021-10-08 | 中铁工程装备集团有限公司 | Robot welding system for welding shield machine cutter |
| CN114234896A (en) * | 2021-11-30 | 2022-03-25 | 南方电网科学研究院有限责任公司 | Device and method for detecting surface state of basin-type insulator |
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| US5332143A (en) * | 1992-08-25 | 1994-07-26 | Aichi Sangyo Co., Ltd. | Self-propelling apparatus for automatic horizontal position welding of big size square steel column |
| CN1408514A (en) * | 2001-10-01 | 2003-04-09 | 日本伺服株式会社 | Multiple joint robot and its arm device |
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| CN201371332Y (en) * | 2008-10-22 | 2009-12-30 | 温岭市风云机器人有限公司 | Welding manipulator |
| CN201744796U (en) * | 2010-04-15 | 2011-02-16 | 常熟市龙鑫机电配件有限公司 | Automatic welding machine |
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| JPS5641081A (en) * | 1979-09-13 | 1981-04-17 | Shin Meiwa Ind Co Ltd | Automatic welding robot |
| JPS5647274A (en) * | 1979-09-26 | 1981-04-28 | Shin Meiwa Ind Co Ltd | Automatic welding robot |
| JPS60123276A (en) * | 1983-12-02 | 1985-07-01 | 三菱重工業株式会社 | Assembly robot |
| US4629860A (en) * | 1984-10-30 | 1986-12-16 | Lindbom Torsten H | Robotic apparatus and method for automatically moving a tool through three dimensions and manually to an extended position |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5332143A (en) * | 1992-08-25 | 1994-07-26 | Aichi Sangyo Co., Ltd. | Self-propelling apparatus for automatic horizontal position welding of big size square steel column |
| CN1408514A (en) * | 2001-10-01 | 2003-04-09 | 日本伺服株式会社 | Multiple joint robot and its arm device |
| CN201371332Y (en) * | 2008-10-22 | 2009-12-30 | 温岭市风云机器人有限公司 | Welding manipulator |
| CN101569972A (en) * | 2009-06-12 | 2009-11-04 | 温岭市风云机器人有限公司 | Welding manipulator |
| CN201744796U (en) * | 2010-04-15 | 2011-02-16 | 常熟市龙鑫机电配件有限公司 | Automatic welding machine |
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| Publication number | Publication date |
|---|---|
| CN102225499A (en) | 2011-10-26 |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Shao Wanzhen Inventor after: Zhang Maoxing Inventor after: Wu Guoqi Inventor after: Yu Keyan Inventor after: Bian Hairui Inventor before: Shao Wanzhen Inventor before: Wu Guoqi Inventor before: Yu Keyan Inventor before: Bian Hairui |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: SHAO WANZHEN WU GUOQI YU KEYAN BIAN HAIRUI TO: SHAO WANZHEN ZHANG MAOXING WU GUOQI YU KEYAN BIAN HAIRUI |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140115 Termination date: 20190531 |