CN102225499B - Welding robot - Google Patents

Welding robot Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
traversing
vertical shift
arm
welding gun
welding
Prior art date
Application number
CN201110144837.XA
Other languages
Chinese (zh)
Other versions
CN102225499A (en
Inventor
邵万珍
张茂兴
吴国奇
于可衍
边海瑞
Original Assignee
大连交通大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 大连交通大学 filed Critical 大连交通大学
Priority to CN201110144837.XA priority Critical patent/CN102225499B/en
Publication of CN102225499A publication Critical patent/CN102225499A/en
Application granted granted Critical
Publication of CN102225499B publication Critical patent/CN102225499B/en

Links

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

Welding robot
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).
CN201110144837.XA 2011-05-31 2011-05-31 Welding robot CN102225499B (en)

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 CN102225499B (en) 2011-05-31 2011-05-31 Welding robot

Country Status (1)

Country Link
CN (1) CN102225499B (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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
CN103894747B (en) * 2014-02-21 2017-01-04 中铁宝桥集团有限公司 A kind of large-scale combined joist steel girder always spells automatic welding device and automatic soldering method
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
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
CN104801907B (en) * 2015-05-13 2016-09-21 海盐爱家智能科技有限公司 The automatic welding device that a kind of Integral ceiling LED panel lamp aluminum frame produces
CN104858586B (en) * 2015-06-09 2017-08-08 杨帆 Numerical control bonding machine
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
CN105014271B (en) * 2015-08-21 2016-08-17 河海大学常州校区 Truss branch pipe 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
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
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

Citations (5)

* Cited by examiner, † Cited by third party
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
CN101569972A (en) * 2009-06-12 2009-11-04 温岭市风云机器人有限公司 Welding manipulator
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

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 Mitsubishi Heavy Ind Ltd 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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
CN102225499A (en) 2011-10-26

Similar Documents

Publication Publication Date Title
CN105234606B (en) A kind of tank shell inner reinforced plate welding equipment
CN204997257U (en) Integrative machine people of multi -functional five planer -types welding
CN202861602U (en) Gantry type H-shaped steel submerged-arc welding machine
CN102430906B (en) Special portal-type bolster frame assembly manipulator for truck bogie production line
CN201147872Y (en) Pipe intersecting line cutting machine
CN105149831B (en) Multifunctional five-axis gantry type integrated welding robot
CN205129549U (en) Steel pipe inside weld overlap grinding equipment
CN101618489B (en) Surfacing welding machine applied to heavy binding roller or squeeze roller
CN106493463A (en) A kind of machining equipment that can realize arbitrarily angled cutting
CN103612012B (en) A kind of engineering machinery differential casing built-up welder
CN102294561B (en) Upwards lifted soldering machine profiling machine and automatic welding machine
CN105234769A (en) Apparatus for grinding weld beading of inside weld of steel tube
CN204108508U (en) The planer-type H profile steel welding equipment of a kind of pure mechanism wire feed
CN101391354B (en) Suspended type pipe-jointing welding robot
CN105522573A (en) High-speed truss manipulator
CN203696336U (en) Welded machine rack
CN101695799A (en) Gantry type double-head welding machine
CN206010209U (en) A kind of six-axle five-linkage welder
CN104148790B (en) A kind of planer-type H profile steel welding equipment of pure mechanism wire feed
CN102179783B (en) Workpiece tilter
CN2877889Y (en) Revolving body inner and outer surface spraying machine
CN201799765U (en) Numerical control plasma cutting machine for intersection line
CN104117653B (en) High-cleanness enclosed slurry extracting machine
CN104607860A (en) Clamp of pipe hoop-weld welding platform
CN205342265U (en) Pipe flange weldment work station

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into 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

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

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

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