CN103317272A - Positioning control mechanism for welding manipulator and welding manipulator thereof - Google Patents
Positioning control mechanism for welding manipulator and welding manipulator thereof Download PDFInfo
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- CN103317272A CN103317272A CN2013102253838A CN201310225383A CN103317272A CN 103317272 A CN103317272 A CN 103317272A CN 2013102253838 A CN2013102253838 A CN 2013102253838A CN 201310225383 A CN201310225383 A CN 201310225383A CN 103317272 A CN103317272 A CN 103317272A
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- small rocker
- rocking arm
- lifting groove
- rotation control
- rotating shaft
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Abstract
The invention relates to the technical field of automatic welding, in particular to a positioning control mechanism for a welding manipulator and the welding manipulator thereof. The positioning control mechanism comprises a rotation control motor, a lifting control motor and a lifting groove formed in the outer side of the small rocker arm, wherein the rotation control motor and the lifting control motor are fixed on a small rocker arm respectively, the lifting groove is of a hollow structure, a tooth-shaped structure is arranged on the lateral surface of the lifting groove, a lifting adjusting gear which is matched with the tooth-shaped structure is arranged on the lifting control motor, a rotary shaft is arranged in the lifting groove and penetrates out of the bottom of the lifting groove, a rotation control member is sleeved on the outer side of the rotary shaft movably, and the rotation control motor is connected with the rotation control member through a transmission member. The rotation control motor is arranged on the small rocker arm, whole load capacity of the lifting groove is reduced, friction between the lifting groove and the lifting adjusting gear is reduced, service life of the lifting groove is prolonged, and pressure born by a base is reduced.
Description
Technical field
ThisInvention
Relate to automatic welding techniqueNeck
The territory is specifically related to location control mechanism that a kind of welding manipulator uses and a kind of welding manipulator of this location control mechanism of application
Background technology
In the process that existing enterprise automation is produced, in order to realize that fast production and minimizing to the injury of human body, often use manipulator various parts are welded; For this reason, China Patent Publication No. is: CN201371332Y, and patent name is: welding manipulator; Patent document in a kind of welding manipulator is disclosed, but, in above-mentioned welding manipulator, because its motor is arranged at the top of vertical shaft, therefore, it has increased the whole load-carrying of vertical shaft greatly, and it has increased the work load of the motor of control lifting greatly, also increased simultaneously the friction between vertical shaft and the motor of controlling lifting, made its easy wearing and tearing; And when the small rocker of manipulator stretched, because footstep bearing carries great weight and moves up and down, it will produce great moment, has increased the pressure that base bears
Summary of the invention
For overcoming defects, the location control mechanism and the welding manipulator thereof that provide a kind of welding manipulator to use namely is provided purpose of the present invention.
The objective of the invention is to be achieved through the following technical solutions:
The present invention is the location control mechanism that a kind of welding manipulator is used, it is arranged at the end of the small rocker in the welding manipulator, comprise: be fixedly installed on respectively rotation control motor and elevating control motor on the small rocker, and setting is movably arranged on the lifting groove in the small rocker outside by slide rail, described lifting groove is hollow structure, and its side is provided with window, the side of described lifting groove also has dentalation, the power output shaft of elevating control motor is connected to the lift adjustment gear, described lift adjustment gear and this dentalation are intermeshing, two ends of described lifting groove are equipped with rotating shaft bearing, described lifting groove inside is provided with rotating shaft, and described rotating shaft all joins with the rotating shaft bearing of lifting groove two ends; Described rotating shaft passes the bottom of this lifting groove, and its outside movable sleeve is provided with the rotation control piece, described rotation control piece is arranged on the inside of lifting groove, the power output shaft of described rotation control motor is provided with driving member, and the window that described driving member passes lifting groove side is connected with described rotation control piece.
Further, described rotating shaft is splined shaft, and described rotation control piece is splined nut.
Further, described driving member comprises: the synchronous pulley on the power output shaft with the lateral surface of rotation control piece and rotation control motor is set respectively, and is arranged on the Timing Belt between two synchronous pulleys.
Further, the synchronous pulley of the lateral surface of described rotation control piece is connected with rotation control piece installation portion on the small rocker by rotation control piece bearing, and described rotation control piece installation portion passes the window of lifting groove side, puts in the inside of described lifting groove.
Further, be equipped with shaft coupling and coding controller on the power output shaft of the power output shaft of described elevating control motor and rotation control motor.
A kind of welding manipulator of the present invention comprises: base, large rocking arm, small rocker, and the location control mechanism used of aforesaid welding manipulator; Described large rocking arm is flexibly connected by large rocking arm rotating shaft and described base, and large rocking arm electric rotating machine and small rocker electric rotating machine are installed on the described large rocking arm, and described large rocking arm rotating shaft is connected with the power output shaft of large rocking arm electric rotating machine; Described small rocker is movably set in by the small rocker rotating shaft on the end of described large rocking arm, and described small rocker rotating shaft is connected with the power output shaft of small rocker electric rotating machine.
Further, described large rocking arm electric rotating machine is arranged on a side of large rocking arm rotating shaft, the top of described large rocking arm rotating shaft is provided with large rocking arm swing pinion, and the power output shaft of described large rocking arm electric rotating machine is meshed with large rocking arm swing pinion by large Rocker arm-motor gear; Described small rocker electric rotating machine is arranged on a side of small rocker rotating shaft, and the top of described small rocker rotating shaft is provided with the small rocker swing pinion, and the power output shaft of described small rocker electric rotating machine is meshed with the small rocker swing pinion by the small rocker motor gear.
Further, be equipped with electromagnetic clutch on the power output shaft of described large rocking arm electric rotating machine and small rocker electric rotating machine.
Further, the rotating shaft lower end in the location control mechanism used of described welding manipulator is provided with the welding gun fixture.
Location control mechanism of the present invention will rotate the control motor and be arranged on the small rocker, alleviated the whole loading capacity of lifting groove, thereby reduced the work load of elevating control motor, also reduced simultaneously the friction between lifting groove and the lift adjustment gear, prolong its service life, reduced the pressure that base bears.
Description of drawings
In order to be easy to explanation, the present invention is described in detail by following preferred embodiment and accompanying drawing.
Fig. 1 is the overall structure schematic diagram of the location control mechanism used of welding manipulator of the present invention;
Fig. 2 is the cross-sectional view of the angle of location control mechanism used of welding manipulator of the present invention;
Fig. 3 is the cross-sectional view of another angle of location control mechanism of using of welding manipulator of the present invention;
Fig. 4 is the cross-sectional view of welding manipulator of the present invention;
Fig. 5 is the overall structure schematic diagram of welding manipulator of the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is described in more detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
See also Fig. 1 to Fig. 3, the present invention is the location control mechanism that a kind of welding manipulator is used, it is arranged at the end of the small rocker 1 in the welding manipulator, comprise: be fixedly installed on respectively rotation control motor 3 and elevating control motor 2 on the small rocker 1, and setting is movably arranged on the lifting groove 4 in small rocker 1 outside by slide rail 5, described lifting groove 4 is hollow structure, and its side is provided with window, the side of described lifting groove 4 also has dentalation 6, the power output shaft of elevating control motor 2 is connected to lift adjustment gear 7, described lift adjustment gear 7 is intermeshing with this dentalation 6, in the present invention can be directly the side of lifting groove 4 be processed as broached-tooth design, or installs the tooth bar that is dentalation in the side of lifting groove 4; Two ends of described lifting groove 4 are equipped with rotating shaft bearing 8, and described lifting groove 4 inside are provided with rotating shaft 9, and described rotating shaft 9 all joins with the rotating shaft bearing 8 of 4 liang of ends of lifting groove; Described rotating shaft 9 passes the bottom of this lifting groove 4, and its outside movable sleeve is provided with rotation control piece 10, described rotation control piece 10 is arranged on the inside of lifting groove 4, the power output shaft of described rotation control motor 3 is provided with driving member, and the window that described driving member passes lifting groove 4 sides is connected with described rotation control piece 10.In the present invention, after large rocking arm and small rocker 1 are all adjusted to the right place, by the control to elevating control motor 2, at lift adjustment gear 7 with under this dentalation 6 cooperates, whole height position to lifting groove 4 is adjusted, and therefore also driven rotary axle 9 moves up and down; And by control rotation control motor 3, can rotate by driven rotary control piece 10, thereby rotating shaft 9 is also being followed to rotate, realizing rotating control, and after the adjustment of finishing height and the anglec of rotation, the automatic welding work that can be correlated with.
Further, described rotating shaft 9 is splined shaft, and described rotation control piece 10 is splined nut.
Further, described driving member comprises: the synchronous pulley 11 on the power output shaft with the lateral surface of rotation control piece and rotation control motor is set respectively, and is arranged on the Timing Belt 12 between two synchronous pulleys 11.
Further, the synchronous pulley of the lateral surface of described rotation control piece 10 is connected with rotation control piece installation portion on the small rocker by rotation control piece bearing 15, described rotation control piece 10 installation portions pass the window of lifting groove 4 sides, put in the inside of described lifting groove 4.
Further, be equipped with shaft coupling 14 and coding controller 13 on the power output shaft of the power output shaft of described elevating control motor 2 and rotation control motor 3.
Please referring to Fig. 4 to Fig. 5, a kind of welding manipulator of the present invention comprises: base 20, large rocking arm 21, small rocker 1, and the location control mechanism 22 used of aforesaid welding manipulator; Described large rocking arm 21 is flexibly connected by large rocking arm rotating shaft 23 and described base 20, large rocking arm electric rotating machine 24 and small rocker electric rotating machine 25 are installed on the described large rocking arm 21, and described large rocking arm rotating shaft 23 is connected with the power output shaft of large rocking arm electric rotating machine 24; Described small rocker 1 is movably set in by small rocker rotating shaft 26 on the end of described large rocking arm 21, and described small rocker rotating shaft 26 is connected with the power output shaft of small rocker electric rotating machine 25.
Further, described large rocking arm electric rotating machine 24 is arranged on a side of large rocking arm rotating shaft 23, the top of described large rocking arm rotating shaft 23 is provided with large rocking arm swing pinion 27, and the power output shaft of described large rocking arm electric rotating machine 24 is meshed with large rocking arm swing pinion 27 by large Rocker arm-motor gear 28; Described small rocker electric rotating machine 25 is arranged on a side of small rocker rotating shaft 26, the top of described small rocker rotating shaft 26 is provided with small rocker swing pinion 29, and the power output shaft of described small rocker electric rotating machine 25 is meshed with small rocker swing pinion 29 by small rocker motor gear 30.
Further, be equipped with electromagnetic clutch 31 on the power output shaft of described large rocking arm electric rotating machine 24 and small rocker electric rotating machine 25.
Further, the rotating shaft lower end in the location control mechanism 22 used of described welding manipulator is provided with welding gun fixture (not shown).The welding gun of all kinds welding machine can be set on this welding gun fixture; it comprises: ac arc wedling machine, dc welding machine, argon arc welding machine, CO2 shield welder, butt welding machine, mash welder, submerged arc welding machine, ratio-frequency welding meet machine, flash butt welder, press welder, butt-welding machine laser welder etc., do not do concrete restriction herein.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. location control mechanism that welding manipulator is used, it is arranged at the end of the small rocker in the welding manipulator, it is characterized in that, comprise: be fixedly installed on respectively rotation control motor and elevating control motor on the small rocker, and setting is movably arranged on the lifting groove in the small rocker outside by slide rail, described lifting groove is hollow structure, and its side is provided with window, the side of described lifting groove has dentalation, the power output shaft of elevating control motor is connected to the lift adjustment gear, described lift adjustment gear and this dentalation are intermeshing, two ends of described lifting groove are equipped with rotating shaft bearing, described lifting groove inside is provided with rotating shaft, and described rotating shaft all joins with the rotating shaft bearing of lifting groove two ends; Described rotating shaft passes the bottom of this lifting groove, and its outside movable sleeve is provided with the rotation control piece, described rotation control piece is arranged on the inside of lifting groove, the power output shaft of described rotation control motor is provided with driving member, and the window that described driving member passes lifting groove side is connected with described rotation control piece.
2. the location control mechanism used of welding manipulator according to claim 1 is characterized in that, described rotating shaft is splined shaft, and described rotation control piece is splined nut.
3. the location control mechanism used of welding manipulator according to claim 2, it is characterized in that, described driving member comprises: the synchronous pulley on the power output shaft with the lateral surface of rotation control piece and rotation control motor is set respectively, and is arranged on the Timing Belt between two synchronous pulleys.
4. the location control mechanism used of welding manipulator according to claim 3, it is characterized in that, the synchronous pulley of the lateral surface of described rotation control piece is connected with rotation control piece installation portion on the small rocker by rotation control piece bearing, described rotation control piece installation portion passes the window of lifting groove side, puts in the inside of described lifting groove.
5. the location control mechanism used of welding manipulator according to claim 4 is characterized in that, is equipped with shaft coupling and coding controller on the power output shaft of the power output shaft of described elevating control motor and rotation control motor.
6. a welding manipulator is characterized in that, comprising: base, large rocking arm, small rocker, and the location control mechanism of using such as each described welding manipulator of claim 1 to 5; Described large rocking arm is flexibly connected by large rocking arm rotating shaft and described base, and large rocking arm electric rotating machine and small rocker electric rotating machine are installed on the described large rocking arm, and described large rocking arm rotating shaft is connected with the power output shaft of large rocking arm electric rotating machine; Described small rocker is movably set in by the small rocker rotating shaft on the end of described large rocking arm, and described small rocker rotating shaft is connected with the power output shaft of small rocker electric rotating machine.
7. welding manipulator according to claim 6, it is characterized in that, described large rocking arm electric rotating machine is arranged on a side of large rocking arm rotating shaft, the top of described large rocking arm rotating shaft is provided with large rocking arm swing pinion, and the power output shaft of described large rocking arm electric rotating machine is meshed with large rocking arm swing pinion by large Rocker arm-motor gear; Described small rocker electric rotating machine is arranged on a side of small rocker rotating shaft, and the top of described small rocker rotating shaft is provided with the small rocker swing pinion, and the power output shaft of described small rocker electric rotating machine is meshed with the small rocker swing pinion by the small rocker motor gear.
8. welding manipulator according to claim 7 is characterized in that, is equipped with electromagnetic clutch on the power output shaft of described large rocking arm electric rotating machine and small rocker electric rotating machine.
9. welding manipulator according to claim 8 is characterized in that, the rotating shaft lower end in the location control mechanism that described welding manipulator is used is provided with the welding gun fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310225383.8A CN103317272B (en) | 2013-06-07 | 2013-06-07 | The location control mechanism of a kind of electroplating equipment wielding machine hand and electroplating equipment wielding machine hand thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310225383.8A CN103317272B (en) | 2013-06-07 | 2013-06-07 | The location control mechanism of a kind of electroplating equipment wielding machine hand and electroplating equipment wielding machine hand thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103317272A true CN103317272A (en) | 2013-09-25 |
| CN103317272B CN103317272B (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310225383.8A Expired - Fee Related CN103317272B (en) | 2013-06-07 | 2013-06-07 | The location control mechanism of a kind of electroplating equipment wielding machine hand and electroplating equipment wielding machine hand thereof |
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| Country | Link |
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| CN (1) | CN103317272B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999427A (en) * | 2015-08-20 | 2015-10-28 | 常州先进制造技术研究所 | Welding coil spring mounting tool |
| CN106514647A (en) * | 2016-12-05 | 2017-03-22 | 无锡明珠增压器制造有限公司 | Simple and fast automatic welder mechanical hand |
| CN107052657A (en) * | 2017-06-05 | 2017-08-18 | 张家港和升数控机床制造有限公司 | A kind of welding robot |
| CN110238572A (en) * | 2019-06-27 | 2019-09-17 | 芜湖安普机器人产业技术研究院有限公司 | A kind of robotic overlay positioning tool of more specification valve sealing faces |
| CN110666418A (en) * | 2019-10-21 | 2020-01-10 | 意欧斯智能科技股份有限公司 | Welding manipulator guiding mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999427A (en) * | 2015-08-20 | 2015-10-28 | 常州先进制造技术研究所 | Welding coil spring mounting tool |
| CN104999427B (en) * | 2015-08-20 | 2017-03-01 | 常州先进制造技术研究所 | A kind of welding wind spring installation tool |
| CN106514647A (en) * | 2016-12-05 | 2017-03-22 | 无锡明珠增压器制造有限公司 | Simple and fast automatic welder mechanical hand |
| CN107052657A (en) * | 2017-06-05 | 2017-08-18 | 张家港和升数控机床制造有限公司 | A kind of welding robot |
| CN110238572A (en) * | 2019-06-27 | 2019-09-17 | 芜湖安普机器人产业技术研究院有限公司 | A kind of robotic overlay positioning tool of more specification valve sealing faces |
| CN110666418A (en) * | 2019-10-21 | 2020-01-10 | 意欧斯智能科技股份有限公司 | Welding manipulator guiding mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103317272B (en) | 2016-06-15 |
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