CN102091899A - Simple spot-welding robot mechanism - Google Patents
Simple spot-welding robot mechanism Download PDFInfo
- Publication number
- CN102091899A CN102091899A CN201010600252XA CN201010600252A CN102091899A CN 102091899 A CN102091899 A CN 102091899A CN 201010600252X A CN201010600252X A CN 201010600252XA CN 201010600252 A CN201010600252 A CN 201010600252A CN 102091899 A CN102091899 A CN 102091899A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- servomotor
- rack
- driving lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a simple spot-welding robot mechanism which comprises a first welding torch rack position adjusting mechanism, a first welding torch rack attitude adjusting mechanism, a second welding torch rack position adjusting mechanism, a second welding torch rack attitude adjusting mechanism, a welding torch rack and a stand, wherein the welding torch rack is composed of a swinging rack and a rotating rack, the swinging rack is connected with the rotating rack by a fourteenth rotating pair, the swinging rack is connected with the first welding torch rack position adjusting mechanism by a fifteenth rotating pair, the swinging rack is connected with the first welding torch rack attitude adjusting mechanism by a tenth rotating pair, the rotating rack is connected with the second welding torch rack attitude adjusting mechanism by a second spherical pair, and a welding torch is arranged on the rotating rack. The simple spot-welding robot mechanism provided by the invention is driven by external rotating pairs, and all servo motors are installed on the stand, therefore, the weight of working bar parts can be reduced effectively, the accurate positioning of the working bar parts can be realized, and the working efficiency of the working bar parts can be improved.
Description
Technical field
The present invention relates to the industrial welding robot field, particularly a kind of simple and easy spot welding robot mechanism.
Background technology
Welding robot is to be engaged in welding, comprises cutting and the industrial robot that sprays.Definition according to International Organization for Standardization industrial robot terminology standard, but industrial robot is a kind of automatic control operation machine (Manipulator) of multiduty overprogram, have three or more programmable axles, be used for the industrial automation field.Spot welding is not very high to the requirement of used robot.Because spot welding only need be put position control, not to be strict with at motion track between points as for soldering turret, the welding that countries in the world produce all belongs to prosthetic robot basically with robot, and the overwhelming majority has 6 axles.Wherein, end-of-arm tooling can be delivered to different locus for 1,2,3, and the different requirements of 4,5,6 solution instrument attitudes.Welding robot human body's frame for movement mainly contains two kinds of forms: a kind of is parallelogram sturcutre, a kind of is side-mounted or the pendulum-type structure, the scope of activities that major advantage side-mounted or the pendulum-type structure is upper and lower arm is big, makes the working space of robot almost can reach a spheroid.But the artificial cantilever design of this side-mounted machine has reduced the rigidity of robot, generally is applicable to the robot that load is less.Tradition articulated type welding robot all needs motor is installed in joint, makes the robot architecture have deficiencies such as rotary inertia is big, deviation accumulation is big like this.
Summary of the invention
The object of the present invention is to provide a kind of simple and easy spot welding robot mechanism, deficiencies such as it can avoid the rotary inertia of traditional articulated type welding robot big, deviation accumulation big, rigidity property difference.And can effectively reduce the weight of described mechanism work rod member, realize accurately location, increase work efficiency.
The present invention achieves the above object by the following technical programs: a kind of simple and easy spot welding robot mechanism comprises the first gun rack position adjusting mechanism and attitude governor motion, the second gun rack position adjusting mechanism and frame attitude governor motion, gun rack and frame.Described frame is installed on the revolving dial, realizes the motion of entire machine people space five-freedom.
The described first gun rack position adjusting mechanism is by first servomotor, first driving lever, first connecting rod, second connecting rod, slide block, swing span and frame are formed by connecting, first driving lever, one end is connected with first servomotor by first revolute pair, first servomotor is installed on the frame, the first driving lever other end is connected with first connecting rod by second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod middle part is connected with slide block by the 4th revolute pair, slide block is connected with frame by sliding pair, and the second connecting rod other end is connected with swing span by the 15 revolute pair.
The described first gun rack attitude governor motion is made up of the 3rd servomotor, the 3rd driving lever, the 4th connecting rod and swing span, the 3rd driving lever one end is connected with the 3rd servomotor by the 8th revolute pair, the 3rd servomotor is installed on the frame, the 3rd driving lever other end is connected with the 4th connecting rod by the 9th revolute pair, and the 4th connecting rod other end is connected with swing span by the tenth revolute pair.
The described second gun rack position adjusting mechanism is made up of second servomotor, second driving lever, third connecting rod, slide block and frame, second driving lever, one end is connected with second servomotor by the 5th revolute pair, second servomotor is installed on the frame, the second driving lever other end is connected with third connecting rod by the 6th revolute pair, the third connecting rod other end is connected with slide block by the 7th revolute pair, and slide block is connected with frame by sliding pair.
The described second gun rack attitude governor motion is by the 4th servomotor, the 4th driving lever, the 5th connecting rod, tripod, slide block, the 6th connecting rod, rotating turret, swing span is formed, the 4th driving lever one end is connected with the 4th servomotor by the 11 revolute pair, the 4th servomotor is installed on the frame, the 4th driving lever other end is connected with the 5th connecting rod by the 12 revolute pair, the 5th connecting rod other end is connected with tripod one end by the 13 revolute pair, tripod second end is connected with slide block by the 7th revolute pair, slide block is connected with frame by sliding pair, tripod the 3rd end is connected with the 6th connecting rod by first spherical pair, the 6th connecting rod other end is connected with rotating turret by second spherical pair, and rotating turret is connected with swing span by the 14 revolute pair.
Described gun rack is made up of swing span and rotating turret, and swing span is connected the axis of the 14 revolute pair and the axis normal of other revolute pair by the 14 revolute pair with rotating turret.
Outstanding advantage of the present invention is:
1, adopt outer revolute pair to drive, motor is installed on the frame, can effectively reduce the weight of work rod member, makes work rod member rotary inertia little, effectively improves operating rate and efficient.
2, compare with articulated welding robot, work accumulated error of the present invention is little, can realize more accurate localization.
3, adopt the multiple degrees of freedom controllable type mechanism of closed loop structure, its mechanism's rigidity property is good.
4, simple and compact for structure, process and assemble requires low, low cost of manufacture.
Description of drawings
Fig. 1 is the structural representation of a kind of simple and easy spot welding robot of the present invention mechanism.
Fig. 2 is the first gun rack position adjusting mechanism schematic diagram of a kind of simple and easy spot welding robot of the present invention mechanism.
Fig. 3 is the first gun rack attitude governor motion schematic diagram of a kind of simple and easy spot welding robot of the present invention mechanism.
Fig. 4 is the second gun rack position adjusting mechanism schematic diagram of a kind of simple and easy spot welding robot of the present invention mechanism.
Fig. 5 is the second gun rack attitude governor motion schematic diagram of a kind of simple and easy spot welding robot of the present invention mechanism.
Fig. 6 is installed in first working state schematic representation on the revolving dial for a kind of simple and easy spot welding robot of the present invention mechanism.
Fig. 7 is installed in second working state schematic representation on the revolving dial for a kind of simple and easy spot welding robot of the present invention mechanism.
Fig. 8 is installed in the 3rd working state schematic representation on the revolving dial for a kind of simple and easy spot welding robot of the present invention mechanism.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1,2,3,4 and 5, a kind of simple and easy spot welding robot mechanism comprises the first gun rack position adjusting mechanism, the second gun rack position adjusting mechanism, the first gun rack attitude governor motion, the second gun rack attitude governor motion, gun rack and frame 2.Described frame 2 can be installed on the revolving dial 1, realizes the motion of entire machine people space five-freedom.
Contrast Fig. 1,2, the described first gun rack position adjusting mechanism is by first servomotor 3, first driving lever 5, first connecting rod 36, second connecting rod 7, slide block 35, swing span 10 and frame 2 are formed by connecting, first driving lever, 5 one ends are connected with first servomotor 3 by first revolute pair 4, first servomotor 3 is installed on the frame 2, first driving lever, 5 other ends are connected with first connecting rod 36 by second revolute pair 6, first connecting rod 36 other ends are connected with second connecting rod 7 by the 3rd revolute pair 37, second connecting rod 7 middle parts are connected with slide block 35 by the 4th revolute pair 8, slide block 35 is connected with frame 2 by sliding pair 38, and second connecting rod 7 other ends are connected with swing span 10 by the 15 revolute pair 9.
Contrast Fig. 1,4, the described first gun rack attitude governor motion is made up of the 3rd servomotor 11, the 3rd driving lever 13, the 4th connecting rod 15 and swing span 10, the 3rd driving lever 13 1 ends are connected with the 3rd servomotor 11 by the 8th revolute pair 12, the 3rd servomotor 11 is installed on the frame 2, the 3rd driving lever 13 other ends are connected with the 4th connecting rod 15 by the 9th revolute pair 14, and the 4th connecting rod 15 other ends are connected with swing span 10 by the tenth revolute pair 16.
Contrast Fig. 1,3, the described second gun rack position adjusting mechanism is made up of second servomotor 20, second driving lever 22, third connecting rod 24, slide block 35 and frame 2, second driving lever, 22 1 ends are connected with second servomotor 20 by the 5th revolute pair 21, second servomotor 20 is installed on the frame 2, second driving lever, 22 other ends are connected with third connecting rod 24 by the 6th revolute pair 23, third connecting rod 24 other ends are connected with slide block 35 by the 7th revolute pair 25, and slide block 35 is connected with frame 2 by sliding pair 38.
Contrast Fig. 1,5, the described second gun rack attitude governor motion is by the 4th servomotor 29, the 4th driving lever 31, the 5th connecting rod 33, tripod 26, slide block 35, the 6th connecting rod 28, rotating turret 18, swing span 10 is formed, the 4th driving lever 31 1 ends are connected with the 4th servomotor 29 by the 11 revolute pair 30, the 4th servomotor 29 is installed on the frame 2, the 4th driving lever 31 other ends are connected with the 5th connecting rod 33 by the 12 revolute pair 32, the 5th connecting rod 33 other ends are connected with tripod 26 1 ends by the 13 revolute pair 34, tripod 26 second ends are connected with slide block 35 by the 7th revolute pair 25, slide block 35 is connected with frame 2 by sliding pair 38, tripod 26 the 3rd end is connected with the 6th connecting rod 28 by first spherical pair 27, the 6th connecting rod 28 other ends are connected with rotating turret 18 by second spherical pair 19, and rotating turret 18 is connected with swing span 10 by the 14 revolute pair 17.
Contrast Fig. 1 and 3, described gun rack is made up of swing span 10 and rotating turret 18, and swing span 10 is connected with rotating turret 18 by the 14 revolute pair 17.
Contrast Fig. 6,7 and 8, four servomotor interlocks of described a kind of simple and easy spot welding robot mechanism can realize two translations, two actions of rotating.But frame 2 is installed in the action of implementation space five degree of freedom on the revolving dial 1, can finishes complicated welding job.
Contrast Fig. 1,6,7 and 8, the first gun rack position adjusting mechanism and the second gun rack position adjusting mechanism of described a kind of simple and easy spot welding robot mechanism are delivered to desired location with gun rack, the action that the first gun rack attitude governor motion, the second gun rack attitude governor motion can make weld holder do swing or rotate is regulated welding gun to the angle of being convenient to work.Repeat above-mentioned action and finish the work of welding gun of sending to difference.
Claims (1)
1. simple and easy spot welding robot mechanism is characterized in that comprise the first gun rack position adjusting mechanism and attitude governor motion, the second gun rack position adjusting mechanism and frame attitude governor motion, gun rack and frame, its structure and connected mode are:
The described first gun rack position adjusting mechanism is by first servomotor, first driving lever, first connecting rod, second connecting rod, slide block, swing span and frame are formed by connecting, first driving lever, one end is connected with first servomotor by first revolute pair, first servomotor is installed on the frame, the first driving lever other end is connected with first connecting rod by second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod middle part is connected with slide block by the 4th revolute pair, slide block is connected with frame by sliding pair, the second connecting rod other end is connected with swing span by the 15 revolute pair
The described first gun rack attitude governor motion is made up of the 3rd servomotor, the 3rd driving lever, the 4th connecting rod and swing span, the 3rd driving lever one end is connected with the 3rd servomotor by the 8th revolute pair, the 3rd servomotor is installed on the frame, the 3rd driving lever other end is connected with the 4th connecting rod by the 9th revolute pair, the 4th connecting rod other end is connected with swing span by the tenth revolute pair
The described second gun rack position adjusting mechanism is made up of second servomotor, second driving lever, third connecting rod, slide block and frame, second driving lever, one end is connected with second servomotor by the 5th revolute pair, second servomotor is installed on the frame, the second driving lever other end is connected with third connecting rod by the 6th revolute pair, the third connecting rod other end is connected with slide block by the 7th revolute pair, slide block is connected with frame by sliding pair
The described second gun rack attitude governor motion is by the 4th servomotor, the 4th driving lever, the 5th connecting rod, tripod, slide block, the 6th connecting rod, rotating turret, swing span is formed, the 4th driving lever one end is connected with the 4th servomotor by the 11 revolute pair, the 4th servomotor is installed on the frame, the 4th driving lever other end is connected with the 5th connecting rod by the 12 revolute pair, the 5th connecting rod other end is connected with tripod one end by the 13 revolute pair, tripod second end is connected with slide block by the 7th revolute pair, slide block is connected with frame by sliding pair, tripod the 3rd end is connected with the 6th connecting rod by first spherical pair, the 6th connecting rod other end is connected with rotating turret by second spherical pair, rotating turret is connected with swing span by the 14 revolute pair
Described gun rack is made up of swing span and rotating turret, and swing span is connected the axis of the 14 revolute pair and the axis normal of other revolute pair by the 14 revolute pair with rotating turret.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010600252.XA CN102091899B (en) | 2010-12-22 | 2010-12-22 | Simple spot-welding robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010600252.XA CN102091899B (en) | 2010-12-22 | 2010-12-22 | Simple spot-welding robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102091899A true CN102091899A (en) | 2011-06-15 |
| CN102091899B CN102091899B (en) | 2014-08-06 |
Family
ID=44125264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010600252.XA Expired - Fee Related CN102091899B (en) | 2010-12-22 | 2010-12-22 | Simple spot-welding robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102091899B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103752448A (en) * | 2013-12-07 | 2014-04-30 | 广西大学 | Multi-degree-of-freedom spraying robot |
| CN104439813A (en) * | 2014-12-16 | 2015-03-25 | 广西大学 | Large-space multi-DOF (degree of freedom) controlled mechanism type robot |
| CN104551471A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by utilizing six-degree of freedom rocker arm type movable connecting rod mechanism |
| CN104607787A (en) * | 2015-02-02 | 2015-05-13 | 安徽机电职业技术学院 | Multi-degree of freedom and multi-angle rocker arm type spot welder |
| CN105904133A (en) * | 2016-07-06 | 2016-08-31 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
| CN107414371A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of welding robot |
| CN107433413A (en) * | 2017-07-13 | 2017-12-05 | 柳州福能机器人开发有限公司 | Screw type welding robot arm |
| CN108213795A (en) * | 2016-12-12 | 2018-06-29 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3345615A1 (en) * | 1983-12-16 | 1985-07-04 | Daimler-Benz Ag, 7000 Stuttgart | Welding robot |
| CN101323046A (en) * | 2007-06-14 | 2008-12-17 | 发那科株式会社 | Spot welding system and method for adjusting welding-gun closing speed |
| CN101327547A (en) * | 2007-06-18 | 2008-12-24 | 发那科株式会社 | Positioning method of spot welding robot |
| CN201900399U (en) * | 2010-12-22 | 2011-07-20 | 广西大学 | Simple spot welding robot mechanism |
-
2010
- 2010-12-22 CN CN201010600252.XA patent/CN102091899B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3345615A1 (en) * | 1983-12-16 | 1985-07-04 | Daimler-Benz Ag, 7000 Stuttgart | Welding robot |
| CN101323046A (en) * | 2007-06-14 | 2008-12-17 | 发那科株式会社 | Spot welding system and method for adjusting welding-gun closing speed |
| CN101327547A (en) * | 2007-06-18 | 2008-12-24 | 发那科株式会社 | Positioning method of spot welding robot |
| CN201900399U (en) * | 2010-12-22 | 2011-07-20 | 广西大学 | Simple spot welding robot mechanism |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103752448A (en) * | 2013-12-07 | 2014-04-30 | 广西大学 | Multi-degree-of-freedom spraying robot |
| CN104439813A (en) * | 2014-12-16 | 2015-03-25 | 广西大学 | Large-space multi-DOF (degree of freedom) controlled mechanism type robot |
| CN104551471A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by utilizing six-degree of freedom rocker arm type movable connecting rod mechanism |
| CN104607787A (en) * | 2015-02-02 | 2015-05-13 | 安徽机电职业技术学院 | Multi-degree of freedom and multi-angle rocker arm type spot welder |
| CN104607787B (en) * | 2015-02-02 | 2016-10-12 | 安徽机电职业技术学院 | A kind of multiple degrees of freedom multi-angle rocker arm spot welder |
| CN105904133A (en) * | 2016-07-06 | 2016-08-31 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
| CN108213795A (en) * | 2016-12-12 | 2018-06-29 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
| CN107433413A (en) * | 2017-07-13 | 2017-12-05 | 柳州福能机器人开发有限公司 | Screw type welding robot arm |
| CN107414371A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102091899B (en) | 2014-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102091899B (en) | Simple spot-welding robot mechanism | |
| CN201900399U (en) | Simple spot welding robot mechanism | |
| CN103737577B (en) | A kind of Six-DOF industrial robot driven containing ball screw assembly, | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN102785239B (en) | Industrial robot of six-degrees of freedom | |
| CN110811843B (en) | Force feedback main manipulator for minimally invasive surgery | |
| CN204976631U (en) | Eight pole connection in series -parallel spraying machine people of 6 -degree of freedom | |
| CN102085659A (en) | Space-controlled five degree of freedom twelve-rod welding robot mechanism | |
| CN102632394B (en) | Three- DOF (degree of freedom) parallel mechanism with two vertical intersecting rotating shafts | |
| CN103737582B (en) | A kind of six degree of freedom welding robot robot mechanism | |
| CN102284959A (en) | Wrist for two-degree-of-freedom industrial robot | |
| CN201881377U (en) | Five-degree of freedom twelve-rod welded robot mechanism with controllable space | |
| CN104646881A (en) | Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism | |
| CN202539952U (en) | Three-freedom-degree parallel mechanism with two vertical interested rotating shafts | |
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN106956251A (en) | A kind of nine connecting rod closed linkage spot welding manipulators | |
| CN208179510U (en) | Six axis serial-parallel mirror robots | |
| CN202556406U (en) | Parallel-connection welding robot performing three-dimensional translation and one-dimensional complete-cycle rotation | |
| CN102601788A (en) | Parallel welding robot with four degrees of freedom and capable of three-dimensionally traversing and one-dimensionally rotating | |
| CN106985135A (en) | A kind of combination drive assembly manipulator in parallel | |
| CN104625506A (en) | Welding construction method using multi-degree-of-freedom rocker arm type movable connecting rod mechanism | |
| CN109604880A (en) | A kind of combination drive sealed joint Duo Gan stitch welding machine mechanism | |
| CN104551476A (en) | Method for carrying out welding construction by using multi-freedom-degree rocker arm type connection rod mechanism | |
| CN109604093A (en) | It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device | |
| CN104552254A (en) | Multi-degree-of-freedom rocker arm type welding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140806 Termination date: 20211222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |