CN103100810A - Mechanical arm for welding robot - Google Patents

Mechanical arm for welding robot Download PDF

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Publication number
CN103100810A
CN103100810A CN2012105086438A CN201210508643A CN103100810A CN 103100810 A CN103100810 A CN 103100810A CN 2012105086438 A CN2012105086438 A CN 2012105086438A CN 201210508643 A CN201210508643 A CN 201210508643A CN 103100810 A CN103100810 A CN 103100810A
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CN
China
Prior art keywords
welding
manipulator
mechanical arm
shaft
vertical shaft
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.)
Pending
Application number
CN2012105086438A
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Chinese (zh)
Inventor
章功国
谢勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maanshan Hengyi Machinery Manufacturing Co Ltd
Original Assignee
Maanshan Hengyi Machinery Manufacturing Co Ltd
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 Maanshan Hengyi Machinery Manufacturing Co Ltd filed Critical Maanshan Hengyi Machinery Manufacturing Co Ltd
Priority to CN2012105086438A priority Critical patent/CN103100810A/en
Publication of CN103100810A publication Critical patent/CN103100810A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a mechanical arm for welding a robot. The mechanical arm for welding the robot comprises a base seat, movable idler wheels are arranged at the bottom end of the base seat, a vertical shaft is fixedly connected with the base seat, the top end of the vertical shaft is rotatably arranged on a big rocker arm, a small rocker arm is hinged at the outer end of the big rocker arm, a stand shaft is rotatably arranged at the outer end of the small rocker arm, an outer sleeve shaft is sleeved outside the stand shaft, a welding gun frame is hinged at the lower end the stand shaft, a welding gun head is fixedly arranged on the welding gun frame, a winding spring balance mechanism is arranged outside the stand shaft, and the other end of a steel wire led out of the inner portion of the winding spring balance mechanism is fixed at the lower end of the stand shaft. The mechanical arm for welding the robot is used for welding on a workpiece without concave surfaces, uses a selective compliance assembly robot arm (SCARA) mechanical arm, the number of the shafts are reduced by two, cost is reduced, a control algorithm is simple, an operation is fast, the mechanical arm can move fast, and working efficiency is high.

Description

Welding robot human manipulator
Technical field
The present invention relates to the manipulator welding field, specifically belong to welding robot human manipulator.
Background technology
Adopting the manipulator welding is the revolutionary advancement of Automation of Welding, and it has broken through traditional welding rigidity automation mode, has opened up the new mode of a kind of flexible automation, makes the automatic welding production of be pilot become possibility.With regard to present teaching reproduction pattern welding manipulator, welding manipulator is completed a weld task, only need the people to do a teaching to it, it can accurately reproduce each step operation of teaching, as want manipulator to do another work, need not change any hardware, as long as to its teaching that tries again.Therefore, on a welding manipulator production line, can automatically produce several weldment simultaneously.
The major advantage of welding manipulator is as follows:
1) be easy to realize stabilizing and increasing of welding product quality, guarantee its homogeneity;
2) boost productivity, but one day 24h produces continuously;
3) improve workman's working condition, can be in long-term work under hostile environment:
4) requirement of reduction to workman's operating technology difficulty;
5) shorten the preparatory period that product remodeling is regenerated, reduce corresponding equipment investment;
6) can realize the be pilot Automation of Welding;
7) provide technical foundation for the welding flexible production line.
The welding manipulator of extensive use now all belongs to first generation six-shaft industrial manipulator, and its basic functional principle is that teaching is reproduced.Teaching also claims guiding, namely guide manipulator by the user, operate one time by actual task step by step, the position of manipulator each action of automatic Memory teaching in guided procedure, attitude, kinematic parameter, technological parameter etc., and automatically generate a program of carrying out continuously all operations were.After completing teaching, only need to startup command of manipulator, manipulator will accurately by the teaching action, be completed all operations were step by step.Teaching that Here it is and reproduction.
Realize the groundwork principle of above-mentioned functions, be summarized as follows:
(1) general industry mechanical arm of system architecture of manipulator is divided by its function, generally is comprised of 3 parts that interrelate: manipulator assembly, controller, teaching system.
The manipulator assembly is the executing agency of manipulator, and it is comprised of driver, transmission mechanism, mechanical arm, joint, end-effector and internal sensor etc.Its task is accurately to guarantee end-effector desired position, attitude and realize its motion.
Controller is the nerve center of manipulator.It is made of computer hardware, software and some special circuits; its software comprises controller system software, manipulator specific language, Manipulator Kinematics, dynamics software, manipulator control software, manipulator self diagnosis, white defencive function software etc., and its processing machine is manual to be made the full detail in process and controls its whole actions.
Teaching system is manipulator and people's interactive interface, and it will control whole actions of manipulator in the teaching process, and its full detail is sent in the memory of controller, and it is in fact the intelligent terminal of a special use.
(2) mechanical arm of manipulator arm kinematics manipulator is to be connected in series by rotation or mobile joint by several rigidity bodies of rod, it is an open loop articulated chain, one end of open chain is fixed on pedestal, the other end is freely, end-effector (as welding gun) is installed, when Robot actions, the end-effector of manipulator arm front end must be in position and the attitude that adapts with workpiece to be machined, and these positions and attitude are to be synthesized by the motion of several shoulder joints.
But the welding manipulator shortcoming of this pattern also clearly.Welding manipulator in the market is all that Unimate take six axles is as main basically; In these six axles, beneath three shaft spaces location, above three axles carry out the attitude adjustment.Normal solution and the anti-solution of motion are all used the Li Shi matrix, and the amount of calculation of every some motion is all very large.Therefore, the control of manipulator is very high to the quality requirement of computer hardware and software.Main Problems is that price is high, and is difficult in maintenance, easily damages.And not that every kind of welding all is fit to select this type.He is very improper such as plane-welding and cambered surface are welded.
Summary of the invention
The purpose of this invention is to provide a kind of welding robot human manipulator, weld on the workpiece that does not contain concave curved surface, use SCARA type manipulator, the number of axle reduces two, cost, and control algolithm is simple, and computing is fast, and manipulator moves rapidly, high efficiency.
Technical scheme of the present invention is as follows:
Welding robot human manipulator, include base, the base bottom is equipped with shifting roller, be fixedly connected with vertical pivot on base, the vertical pivot top is rotated and is arranged on large rocking arm, the outer end of large rocking arm is hinged with small rocker, the outer end of small rocker is rotated and is provided with vertical shaft, vertical shaft is set with the overcoat axle outward, the lower end of vertical shaft is hinged with gun rack, be installed with arc welding gun head on gun rack, vertical shaft is outside equipped with the clockwork spring balanced controls, and the steel wire other end of drawing in the clockwork spring balanced controls is fixed in the lower end of vertical shaft.
Described base corner is equipped with leveling support.
The mechanical feature of plane articulation formula manipulator of the present invention is to move up and down to be made of rectilinear motion, and other move by the formation that rotatablely moves.This structure rigidity in the vertical direction is large, and horizontal direction is very flexible again, is fit to plane-welding and convex surface weld job, is called again SCARA type manipulator, and we select this form just to be based on above-mentioned advantage.
The concrete structure of SCARA type manipulator is varied, but is all to be formed by Mechanism Combination commonly used.Each joint is driven by a servomotor, and manipulator is to adopt gear reduction, bar transmission, but the mechanism that different manufacturers adopts is not quite similar, and this type adopts harmonic speed reducer.Its key problem in technology is to guarantee the two-way gapless of transmission (being the equal gapless of positive and negative transmission), and this is the machinery assurance of Manipulator Accuracy, certainly also requires efficient high, and mechanism is compact.
Welding manipulator of the present invention adopts servomotor to drive, and adopts the AC servomotor system, and this system has all advantages of DC servomechanism, and has cancelled the commutation carbon brush, does not need to regularly replace carbon brush, has greatly extended the maintenance cycle of manipulator.
The drive arrangement of industry mechanical arm all adopts one, joint driver.Basic composition is of a driver: power supply, power amplification plate, Servo Control Board, motor, goniometer, velometer and brake.Its function can not only provide enough each joints of power drive manipulator, and will realize fast and frequently start-stop, accurately puts in place and moves.Therefore must adopt position closed loop, speed closed loop, acceleration closed loop.In order to protect motor and circuit, also current closed-loop to be arranged.For the frequent start-stop of adaptation mechanical hand and high dynamic quality requirement, generally all adopt low-inertia motor, therefore, the driver of manipulator is an exigent drive system.
In order to realize above-mentioned 3 motion closed loops, high precision angle-measuring, tachogenerator are housed all in robotic drive.Tachogenerator generally all adopts tachometer generator, and angular measurement sensor generally all adopts precision potentiometer or photoelectric code disk, especially photoelectric code disk.Photoelectric code disk and the coaxial installation of motor are when motor rotates, with the synchronized rotation of code-disc of segmentation cutting, the switch-on and-off of light beam of fixed light source directive photoelectric tube, thereby output electric pulse.Actual code-disc is the pulse of output two-way, owing to having arranged two pairs of photoelectric tubes in code-disc, has certain angle poor between them, therefore the two-way pulse also has fixing phase difference, during motor forward/backward rotation, the phase difference of its output pulse is different, thereby can judge the direction of rotation of motor.A machine above pulse.
Manipulator Controller is the core component of manipulator, and the full detail that its implements manipulator is processed and to the motion control of manipulator.The industrial machinery hand controls adopts the second computer structure mostly, is first order computer in the dotted line frame, and its task is planning and management.Manipulator is accepted each taught point position and attitude information, kinematic parameter and technological parameter that teaching system is sent here when teach mode, and by calculating, the teaching of each point (joint) coordinate figure is converted to the rectangular co-ordinate value, deposits calculator memory in.
Description of drawings
Fig. 1 is structural representation of the present invention.
The specific embodiment
referring to accompanying drawing, welding robot human manipulator, include base 1, base 1 corner is equipped with leveling support 11, base 1 bottom is equipped with shifting roller 2, be fixedly connected with vertical pivot 3 on base 1, vertical pivot 3 tops are rotated and are arranged on large Rocker arm 4, the outer end of large Rocker arm 4 is hinged with small rocker 5, the outer end of small rocker 5 is rotated and is provided with vertical shaft 6, the outer overcoat axle 7 that is set with of vertical shaft 6, the lower end of vertical shaft 6 is hinged with gun rack 8, be installed with arc welding gun head 9 on gun rack 8, vertical shaft 3 is outside equipped with clockwork spring balanced controls 10, the steel wire other end of drawing in clockwork spring balanced controls 10 is fixed in the lower end of vertical shaft.

Claims (2)

1. welding robot human manipulator, include base, the base bottom is equipped with shifting roller, it is characterized in that: be fixedly connected with vertical pivot on base, the vertical pivot top is rotated and is arranged on large rocking arm, the outer end of large rocking arm is hinged with small rocker, the outer end of small rocker is rotated and is provided with vertical shaft, vertical shaft is set with the overcoat axle outward, the lower end of vertical shaft is hinged with gun rack, be installed with arc welding gun head on gun rack, vertical shaft is outside equipped with the clockwork spring balanced controls, and the steel wire other end of drawing in the clockwork spring balanced controls is fixed in the lower end of vertical shaft.
2. welding robot human manipulator according to claim 1 is characterized in that: described base corner is equipped with leveling support.
CN2012105086438A 2012-12-03 2012-12-03 Mechanical arm for welding robot Pending CN103100810A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012105086438A CN103100810A (en) 2012-12-03 2012-12-03 Mechanical arm for welding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012105086438A CN103100810A (en) 2012-12-03 2012-12-03 Mechanical arm for welding robot

Publications (1)

Publication Number Publication Date
CN103100810A true CN103100810A (en) 2013-05-15

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103331562A (en) * 2013-07-12 2013-10-02 苏州澳冠自动化设备有限公司 L-type position shifting welding robot
CN104029222A (en) * 2014-06-19 2014-09-10 常州先进制造技术研究所 Gravity balancing mechanism for welding robot
CN104552245A (en) * 2014-12-12 2015-04-29 广西大学 Wheeled mobile welding robot with plurality of closed-loop sub-chains
CN106041386A (en) * 2016-07-27 2016-10-26 江门市蓬江区新荷不锈钢制品有限公司 Path-tracking composite welding platform capable of realizing fine adjustment
CN106078026A (en) * 2016-06-30 2016-11-09 江苏捷帝机器人股份有限公司 A kind of intelligent automatic welding machinery hands
CN107900273A (en) * 2017-12-20 2018-04-13 安徽吉思特智能装备有限公司 A kind of Manipulator transmission mechanism of multi-stage cold former

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0438988A1 (en) * 1990-01-24 1991-07-31 FIAT AUTO S.p.A. A system for welding together pressed sheet-metal structures, particularly small subassemblies of the bodywork or mechanical parts of motor vehicles
CN201070762Y (en) * 2007-07-20 2008-06-11 深圳市远望工业自动化设备有限公司 Rotary friction welding mechanical arm
CN201128055Y (en) * 2007-12-21 2008-10-08 上海恒通焊接设备成套有限公司 Machine for cutting pipe intersection line
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
CN203062125U (en) * 2012-12-03 2013-07-17 马鞍山市恒毅机械制造有限公司 Mechanical arm for welding robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0438988A1 (en) * 1990-01-24 1991-07-31 FIAT AUTO S.p.A. A system for welding together pressed sheet-metal structures, particularly small subassemblies of the bodywork or mechanical parts of motor vehicles
CN201070762Y (en) * 2007-07-20 2008-06-11 深圳市远望工业自动化设备有限公司 Rotary friction welding mechanical arm
CN201128055Y (en) * 2007-12-21 2008-10-08 上海恒通焊接设备成套有限公司 Machine for cutting pipe intersection line
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
CN203062125U (en) * 2012-12-03 2013-07-17 马鞍山市恒毅机械制造有限公司 Mechanical arm for welding robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103331562A (en) * 2013-07-12 2013-10-02 苏州澳冠自动化设备有限公司 L-type position shifting welding robot
CN104029222A (en) * 2014-06-19 2014-09-10 常州先进制造技术研究所 Gravity balancing mechanism for welding robot
CN104552245A (en) * 2014-12-12 2015-04-29 广西大学 Wheeled mobile welding robot with plurality of closed-loop sub-chains
CN106078026A (en) * 2016-06-30 2016-11-09 江苏捷帝机器人股份有限公司 A kind of intelligent automatic welding machinery hands
CN106041386A (en) * 2016-07-27 2016-10-26 江门市蓬江区新荷不锈钢制品有限公司 Path-tracking composite welding platform capable of realizing fine adjustment
CN107900273A (en) * 2017-12-20 2018-04-13 安徽吉思特智能装备有限公司 A kind of Manipulator transmission mechanism of multi-stage cold former
CN107900273B (en) * 2017-12-20 2019-01-15 安徽吉思特智能装备有限公司 A kind of Manipulator transmission mechanism of multi-stage cold former

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Application publication date: 20130515