CN102225499A - Welding robot - Google Patents
Welding robot Download PDFInfo
- Publication number
- CN102225499A CN102225499A CN201110144837XA CN201110144837A CN102225499A CN 102225499 A CN102225499 A CN 102225499A CN 201110144837X A CN201110144837X A CN 201110144837XA CN 201110144837 A CN201110144837 A CN 201110144837A CN 102225499 A CN102225499 A CN 102225499A
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- traversing
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- 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 be used for the robot of welding field, be specially adapted to be implemented in the automatic welding under narrow or the hazardous environment, belong to a kind of automatic control welding robot.
Background technology
Welding robot adopts three-jaw or chuck to be installed more at present, is installed in the soldered adapter, and the heat that is very easily welded generation conducts to chuck makes it stuck because of thermal deformation, causes chuck to be difficult to dismounting; The clamp pipe type welding robot is in taking over the welding closely that distributes, the weld job space is seriously limited, the clamp pipe type welding robot is unfavorable for operating personnel's Real Time Observation and operation because of the mounting means of self structure is also very little to the working space that the operator stays simultaneously; Use the clamp pipe type welding robot of three-jaw or chuck that being installed of square tube, elliptical tube, Taper Pipe and other irregular adapter welding is difficult to realize, thereby can't realize being installed weld; Be badly in need of a kind of workman's of being convenient to observation and operation in the practice, can avoid chuck to be heated stuck and can adapt to the robot that difformity is taken over welding because of 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 reduce the suspension type welding robot of labor strength effectively.Constitute by electric part, rotating mechanism, telescoping mechanism, elevating mechanism and hand-operated lifting guiding mechanism.
Adopt structure of the present invention, adjust the relative position of welding robot and adapter and adjust the 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 that difformity is taken over, it has the advantages that welding quality is good, efficient 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 narrow or that hazardous environment uses down that is implemented in.
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, welding gun angle demodulator, 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 the described installing rack
Tumbler motor drives reducer input shaft and rotates, and its output shaft drives traversing arm swing after slowing down; With the affixed pair of brackets I of traversing arm fixedly pair of bearings I support traversing leading screw two ends respectively, also be provided with traversing guide rail on the traversing arm, traversing nut and traversing slide block, vertical shift arm are connected and fixed, and form screw pair with traversing leading screw, the traversing leading screw of traversing motor-driven rotates, and it is traversing along traversing guide rail by traversing slide block to drive traversing nut and vertical shift arm; With the affixed pair of brackets II of vertical shift arm fixedly pair of bearings II support vertical shift leading screw two ends respectively, also be provided with the vertical shift guide rail on the vertical shift arm, vertical shift nut and vertical shift slide block, fastening frame are connected and fixed, and form screw pair with the vertical shift leading screw, vertical shift motor-driven vertical shift leading screw rotates, drive vertical shift nut and fastening frame by the vertical shift slide block along the vertical shift of vertical shift guide rail; The affixed welding gun bar of fastening frame, the welding gun bar connects welding gun by the welding gun angle demodulator.
Compared with the prior art, advantage of the present invention mainly shows:
1, welding robot can be realized moving on swing in the horizontal plane and the radius, the moving of vertical plane;
2, can regulate the welding gun inclination angle by the welding gun angle demodulator;
3, can be implemented in automatic welding under narrow or the hazardous environment.
Description of drawings
Shared accompanying drawing 4 width of cloth of the present invention.Wherein:
Fig. 1 is a structural representation front view of the present invention;
Fig. 2 is an A-A cutaway view in the structural representation front view of the present invention;
Fig. 3 is a structural representation left view of the present invention;
Fig. 4 is a structural representation vertical view of the present invention.
Among the 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, the vertical shift arm, 13, fastening frame, 14, the welding gun bar, 15, the welding gun angle demodulator, 16, welding gun, 17, traversing guide rail, 18, traversing nut, 19, traversing slide block, 20, the vertical shift guide rail, 21, vertical shift nut, 22, the vertical shift slide block, 23, the vertical shift leading screw.
The specific embodiment
A kind of welding robot shown in Fig. 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, welding gun angle demodulator 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 by installing hole and use.Be fixed with decelerator 2 on the installing rack 1, tumbler motor 3 is fixed on the decelerator end cap, drives decelerator 2 power shafts and rotates, and its output shaft drives traversing arm 8 swings after reduction gearing is slowed down; Affixed pair of brackets I 5 in the traversing arm 8, bearing I 4 is housed respectively on it, support traversing leading screw 7 two ends respectively, also be provided with traversing guide rail 17 on the traversing arm 8, traversing nut 18 is fixedlyed connected with traversing slide block 19, vertical shift arm 12, and form screw pairs with traversing leading screw 7, and traversing motor 6 drives traversing leading screw 7 and rotates, and it is traversing along traversing guide rail 17 by traversing slide block 19 to drive traversing nut 18 and vertical shift arm 12; Affixed pair of brackets II11 in the vertical shift arm 12, bearing I I10 is housed respectively on it, support vertical shift leading screw 23 two ends respectively, also be provided with vertical shift guide rail 20 on the vertical shift arm 12, vertical shift nut 21 is fixedlyed 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 and rotates, drive vertical shift nut 21 and fastening frame 13 by vertical shift slide block 22 along 20 vertical shifts of vertical shift guide rail; Fastening frame 13 affixed welding gun bars 14, welding gun bar 14 connects welding gun 16 by welding gun angle demodulator 15, can regulate the inclination angle of welding gun.
This invention shows that mainly welding robot can realize moving on swing in the horizontal plane and the radius, the moving of vertical plane; Can regulate the welding gun inclination angle by the welding gun angle demodulator.Be implemented in the automatic welding under narrow or the hazardous environment.
Claims (1)
1. 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), welding gun angle demodulator (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 on the described installing rack (1) decelerator (2), tumbler motor (3) drives decelerator (2) power shaft and rotates, and its output shaft drives traversing arm (8) swing after slowing down; With the affixed pair of brackets I (5) of traversing arm (8) fixedly pair of bearings I (4) support traversing leading screw (7) two ends respectively, also be provided with traversing guide rail (17) on the traversing arm (8), 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) and rotates, and it is traversing along traversing guide rail (17) by traversing slide block (19) to drive traversing nut (18) and vertical shift arm (12); With the affixed pair of brackets II (11) of vertical shift arm (12) fixedly pair of bearings II (10) support vertical shift leading screw (23) two ends respectively, also be provided with vertical shift guide rail (20) on the vertical shift arm (12), 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) and rotates, 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 welding gun angle demodulator (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 true CN102225499A (en) | 2011-10-26 |
| CN102225499B CN102225499B (en) | 2014-01-15 |
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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 |
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| Country | Link |
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| CN (1) | CN102225499B (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601559A (en) * | 2012-03-26 | 2012-07-25 | 无锡华联科技集团有限公司 | Welding arm shifting device of U-rib welding machine |
| CN102601563A (en) * | 2012-03-07 | 2012-07-25 | 广州明珞汽车装备有限公司 | Intelligent positioning system for vehicle white body production line |
| CN103317503A (en) * | 2013-06-07 | 2013-09-25 | 深圳华意隆电气股份有限公司 | Lifting and rotation adjusting device on manipulator and welding manipulator with same |
| CN103894747A (en) * | 2014-02-21 | 2014-07-02 | 中铁宝桥集团有限公司 | Large combined joist steel girder assembling automatic welding device and automatic welding method |
| CN104347056A (en) * | 2013-07-25 | 2015-02-11 | 中科英华湖州工程技术研究中心有限公司 | Rhythmically rocking music box |
| CN104439805A (en) * | 2014-11-18 | 2015-03-25 | 无锡恒富科技有限公司 | Main movable frame movable adjusting mechanism on movable welding device |
| CN104493392A (en) * | 2014-11-04 | 2015-04-08 | 国家电网公司 | Multi-dimensional adjusting cross slider device |
| CN104708244A (en) * | 2015-01-30 | 2015-06-17 | 李世强 | Annular 360-degree numerical control welding machine |
| CN104801907A (en) * | 2015-05-13 | 2015-07-29 | 海盐爱家智能科技有限公司 | Automated welder for production of aluminium frames of integrated ceiling LED (light-emitting diode) panel lamps |
| CN104801906A (en) * | 2015-05-06 | 2015-07-29 | 王英英 | Omnidirectional industrial spot welding robot based on laser positioning |
| CN104858586A (en) * | 2015-06-09 | 2015-08-26 | 杨帆 | Numerical control welding machine |
| CN105014271A (en) * | 2015-08-21 | 2015-11-04 | 河海大学常州校区 | Welding robot for truss branch pipe |
| CN105014270A (en) * | 2015-08-10 | 2015-11-04 | 徐金鹏 | Automatic welding robot |
| CN105345333A (en) * | 2015-12-09 | 2016-02-24 | 重庆镭宝激光智能机器人制造有限公司 | Suspended type moving mechanism of welding robot |
| CN107322174A (en) * | 2017-07-07 | 2017-11-07 | 安徽禄讯电子科技有限公司 | A kind of welding equipment for radio communication passive device |
| CN107363380A (en) * | 2017-09-18 | 2017-11-21 | 德阳天元重工股份有限公司 | Suspension bridge saddle integrated partition welding manipulator |
| CN107814232A (en) * | 2017-12-04 | 2018-03-20 | 苏州威仕薄膜科技有限公司 | A kind of film roll support roller |
| CN107971665A (en) * | 2017-11-09 | 2018-05-01 | 江苏新光数控技术有限公司 | A kind of welding manipulator with quick cooling function |
| CN108067780A (en) * | 2016-11-17 | 2018-05-25 | 天津奥华通航科技有限公司 | A kind of Simple welding machine |
| CN109894782A (en) * | 2019-04-15 | 2019-06-18 | 河北华环化工设备制造有限公司 | A kind of spiral plate end face welder |
| 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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| 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 |
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Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601563A (en) * | 2012-03-07 | 2012-07-25 | 广州明珞汽车装备有限公司 | Intelligent positioning system for vehicle white body production line |
| CN102601563B (en) * | 2012-03-07 | 2015-02-18 | 广州明珞汽车装备有限公司 | Intelligent positioning system for vehicle white body production line |
| CN102601559B (en) * | 2012-03-26 | 2014-06-04 | 无锡华联科技集团有限公司 | Welding arm shifting device of U-rib welding machine |
| CN102601559A (en) * | 2012-03-26 | 2012-07-25 | 无锡华联科技集团有限公司 | Welding arm shifting device of U-rib welding machine |
| CN103317503B (en) * | 2013-06-07 | 2016-06-29 | 深圳龙云天地信息技术有限公司 | Lifting rotation adjusting apparatus on a kind of mechanical hand and have its welding manipulator |
| CN103317503A (en) * | 2013-06-07 | 2013-09-25 | 深圳华意隆电气股份有限公司 | Lifting and rotation adjusting device on manipulator and welding manipulator with same |
| CN104347056A (en) * | 2013-07-25 | 2015-02-11 | 中科英华湖州工程技术研究中心有限公司 | Rhythmically rocking music box |
| CN103894747A (en) * | 2014-02-21 | 2014-07-02 | 中铁宝桥集团有限公司 | Large combined joist steel girder assembling automatic welding device and automatic welding method |
| CN104493392A (en) * | 2014-11-04 | 2015-04-08 | 国家电网公司 | Multi-dimensional adjusting cross slider device |
| CN104493392B (en) * | 2014-11-04 | 2016-11-30 | 国网江苏省电力公司经济技术研究院 | Can multidimensional adjust cross slide seat device |
| CN104439805A (en) * | 2014-11-18 | 2015-03-25 | 无锡恒富科技有限公司 | Main movable frame movable adjusting mechanism on movable welding device |
| CN104708244A (en) * | 2015-01-30 | 2015-06-17 | 李世强 | Annular 360-degree numerical control welding machine |
| CN104801906A (en) * | 2015-05-06 | 2015-07-29 | 王英英 | Omnidirectional industrial spot welding robot based on laser positioning |
| CN104801906B (en) * | 2015-05-06 | 2016-04-20 | 哈尔滨工大智慧工厂有限公司 | A kind of industry of the full angle based on laser positioning spot welding robot |
| CN104801907A (en) * | 2015-05-13 | 2015-07-29 | 海盐爱家智能科技有限公司 | Automated welder for production of aluminium frames of integrated ceiling LED (light-emitting diode) panel lamps |
| CN104858586A (en) * | 2015-06-09 | 2015-08-26 | 杨帆 | Numerical control welding machine |
| CN104858586B (en) * | 2015-06-09 | 2017-08-08 | 杨帆 | Numerical control bonding machine |
| CN105014270A (en) * | 2015-08-10 | 2015-11-04 | 徐金鹏 | Automatic welding robot |
| CN105014270B (en) * | 2015-08-10 | 2016-08-24 | 哈尔滨工大服务机器人有限公司 | A kind of automatic welding machine people |
| CN105014271A (en) * | 2015-08-21 | 2015-11-04 | 河海大学常州校区 | Welding robot for truss branch pipe |
| CN105345333A (en) * | 2015-12-09 | 2016-02-24 | 重庆镭宝激光智能机器人制造有限公司 | Suspended type moving mechanism of welding robot |
| CN108067780A (en) * | 2016-11-17 | 2018-05-25 | 天津奥华通航科技有限公司 | A kind of Simple welding machine |
| CN107322174A (en) * | 2017-07-07 | 2017-11-07 | 安徽禄讯电子科技有限公司 | A kind of welding equipment for radio communication passive device |
| CN107363380A (en) * | 2017-09-18 | 2017-11-21 | 德阳天元重工股份有限公司 | Suspension bridge saddle integrated partition welding manipulator |
| CN107363380B (en) * | 2017-09-18 | 2023-09-19 | 德阳天元重工股份有限公司 | Welding manipulator for welding integral type baffle plate of suspension bridge saddle |
| CN107971665A (en) * | 2017-11-09 | 2018-05-01 | 江苏新光数控技术有限公司 | A kind of welding manipulator with quick cooling function |
| CN107814232A (en) * | 2017-12-04 | 2018-03-20 | 苏州威仕薄膜科技有限公司 | A kind of film roll support roller |
| CN109894782A (en) * | 2019-04-15 | 2019-06-18 | 河北华环化工设备制造有限公司 | A kind of spiral plate end face welder |
| 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 |
| WO2023098195A1 (en) * | 2021-11-30 | 2023-06-08 | 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102225499B (en) | 2014-01-15 |
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| 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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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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Granted publication date: 20140115 Termination date: 20190531 |