CN104785981A - Cutting and welding robot - Google Patents
Cutting and welding robot Download PDFInfo
- Publication number
- CN104785981A CN104785981A CN201510184949.6A CN201510184949A CN104785981A CN 104785981 A CN104785981 A CN 104785981A CN 201510184949 A CN201510184949 A CN 201510184949A CN 104785981 A CN104785981 A CN 104785981A
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- CN
- China
- Prior art keywords
- rotating shaft
- drive unit
- hand
- upper arm
- welding robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a cutting and welding robot. The cutting and welding robot comprises a base, a rotary seat, a lower arm, an upper arm, a first hand part, a second hand part and a third hand part, wherein the rotary seat is arranged on the base and is rotatably connected with the base through a first rotary shaft, the lower arm is arranged on the rotary seat, and one end of the lower arm is rotatably connected with the rotary seat through a second rotary shaft, the upper arm is arranged on the other end of the lower arm and is rotatably connected with the lower arm through a third rotary shaft, the first hand part is arranged on the upper arm and is rotatably connected with the upper arm through a fourth rotary shaft, the second hand part is arranged on the first hand part and is rotatably connected with the first hand part through a fifth rotary shaft, and the third hand part is arranged on the second hand part and is rotatably connected with the second hand part through a sixth rotary shaft. The first rotary shaft is arranged vertically, the second rotary shaft is perpendicular to the first rotary shaft, the third rotary shaft is parallel to the second rotary shaft, the fourth rotary shaft is perpendicular to the third rotary shaft, the fifth rotary shaft is perpendicular to the fourth rotary shaft, and the sixth rotary shaft and the fourth rotary shaft are on the same straight line. The middle portion of the lower arm is in a long strip shape and extends upward, and the cross section of the lower arm is in an ellipse shape. The cutting and welding robot can be freely and flexibly adjusted at will, and is suitable for the cutting and welding work in different angles.
Description
Technical field
The present invention relates to a kind of robot, particularly one cutting welding robot.
Background technology
Carrying out welding to workpiece is a requisite operation in modern industry production process, and existing cutting welding manner normally adopts and manually realizes, this cutting welding manner not only labour intensity is large, and operating efficiency is low, and welding quality cannot be protected.
Along with the development of science and technology, gradually adopt robotic cutting to weld and replace traditional manual operation, but existing robot angular adjustment underaction, in cutting welding process, in order to enable robot find suitable angle, usually needing manually to overturn workpiece, wasting time and energy.
Summary of the invention
The present invention proposes a kind of cutting welding robot, solves the dumb problems brought of robot angular adjustment in prior art.
Technical scheme of the present invention is achieved in that
A kind of cutting welding robot, comprise a base, be located at the rotating seat be rotatably connected on this base and by the first rotating shaft, be located at the underarm that on this rotating seat and one end is rotatably connected by the second rotating shaft, be located at this underarm other end and the upper arm be rotatably connected by the 3rd rotating shaft, be located at one first hand be rotatably connected on this upper arm and by the 4th rotating shaft, to be located on this first hand and one second hand be rotatably connected by the 5th rotating shaft and be located at one the 3rd hand be rotatably connected on this second hand and by the 6th rotating shaft, this first rotating shaft is vertically arranged, this second rotating shaft is horizontally disposed with and perpendicular with the first rotating shaft, 3rd rotating shaft parallels with the second rotating shaft, 4th rotating shaft is vertical with the 3rd rotating shaft to be arranged, 5th rotating shaft is vertical with the 4th rotating shaft to be arranged, 6th rotating shaft is vertical with the 5th rotating shaft to be arranged, and with the 4th rotating shaft on the same line, described underarm comprises the first end be connected with rotating seat, the pars intermedia upwards extended by first end and be located at pars intermedia top and the second end be connected with upper arm, described pars intermedia is the strip upwards extended, its cross section is oval tubular.
Beneficial effect of the present invention is:
Cutting welding robot in the present invention can arbitrarily adjust on freedom and flexibility ground, be applicable to the cutting welding job of all angles, for the automation cutting welding of workpiece provides safeguard, more save manpower compared to existing robotic cutting welding, meet the demand of high-quality in enormous quantities cutting welding.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the stereogram that the present invention cuts welding robot;
Fig. 2 is the stereogram of another angle in Fig. 1.
In figure:
10, welding robot is cut; 11, base; 12, rotating seat; 120, the first rotating shaft; 13, underarm; 130, the second rotating shaft; 14, upper arm; 140, the 3rd rotating shaft; 142, gripper shoe; 15, the first hand; 150, the 4th rotating shaft; 16, the second hand; 160, the 5th rotating shaft; 18, the 3rd hand; 180, the 6th rotating shaft; 121, the first drive unit; 122, pedestal; 123, support portion; 132, first end; 133, pars intermedia; 134, the second end; 131, the second drive unit; 141, the 3rd drive unit; 151, four-drive device; 161, the 5th drive unit; 181, the 6th drive unit.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figures 1 and 2, this cutting welding robot 10 comprises a base 11, be located at the rotating seat 12 be rotatably connected on this base 11 and by the first rotating shaft 120, be located at the underarm 13 be rotatably connected on this rotating seat 12 and by the second rotating shaft 130, be located at the upper arm 14 be rotatably connected on this underarm 13 and by the 3rd rotating shaft 140, be located at one first hand 15 be rotatably connected on this upper arm 14 and by the 4th rotating shaft 150, to be located on this first hand 15 and one second hand 16 be rotatably connected by the 5th rotating shaft 160 and be located at one the 3rd hand 18 be rotatably connected on this second hand 16 and by the 6th rotating shaft 180.
Described base 11 is rectangular plate-like.This base 11 is provided with one first drive unit 121.This first drive unit 121 can be the drive units such as motor, and this first drive unit 121 also connects a reductor, to control its rotating speed.The rotating shaft of this first drive unit 121 upwards extends and is connected with the first rotating shaft 120, with driven rotary seat 12 360 degree of rotations in horizontal plane.
Described rotating seat 12 and the first rotating shaft 120 are fixed, and it comprises a pedestal 122 and is located at the support portion 123 on this pedestal 122.Described pedestal 122 is roughly T-shaped, and its bottom is the cylindrical shape for accommodating the first drive unit 121, and its top is for supporting the discoideus of underarm 13.
Described underarm 13 is rectangular tubular, it the second end 134 comprising the first end 132 be connected with rotating seat 12, the pars intermedia 133 upwards extended by first end 132 and be located at pars intermedia 133 top.This first end 132 and the second end 134 are outwards bent to tilt to extend to the direction away from pars intermedia 133 by the two ends of pars intermedia 133, and first end 132 and the second end 134 relative to the inclination bearing of trend of pars intermedia 133 respectively near rotating seat 12 and upper arm 14.Described pars intermedia 133 is the strip upwards extended, and its cross section is oval tubular.The first end 132 of described underarm 13 is connected by the second rotating shaft 130 with the side of the support portion 123 of rotating seat 12, and is provided with one second drive unit 131 in the rear end of support portion.This second rotating shaft 130 fixes with first end 132.This second drive unit 131 can be the driving arrangements such as motor, and controls its rotating speed by a reductor.The rotating shaft of this second drive unit 131 is connected with the second rotating shaft 130, rotates to drive underarm 13.This second rotating shaft 130 is horizontally disposed with and perpendicular with the first rotating shaft 120.Described the second end 134 is connected by the 3rd rotating shaft 140 pivot joint with upper arm 14, and is provided with one the 3rd drive unit 141 in the rear side of the second end 134.3rd drive unit 141 can be the driving arrangements such as motor, and controls its rotating speed by a reductor.The rotating shaft of the 3rd drive unit 141 is connected with the 3rd rotating shaft 140, rotates to drive upper arm 14.3rd rotating shaft 140 parallels with the second rotating shaft 130.3rd rotating shaft 140 fixes with upper arm 14.
Described upper arm 14 is roughly the strip of horizontal-extending, and it is near extending to form a gripper shoe 142 by the end of underarm 13 is downward-sloping, and this gripper shoe 142 is connected with underarm 13 by the 3rd rotating shaft 140.This upper arm 14 is respectively equipped with four-drive device 151, the 5th drive unit 161 and the 6th drive unit 181 in the end near underarm 13.This four-drive device 151, the 5th drive unit 161 and the 6th drive unit 181 all can be the driving arrangements such as motor, and control its rotating speed by a reductor.5th drive unit 161 and the 6th drive unit 181 also connect the rotation that chain and gear etc. drive the 5th rotating shaft 160 and the 6th rotating shaft 180 respectively simultaneously.The other end of this upper arm 14 connects the first hand the 15, four rotating shaft 150 by the 4th rotating shaft 150 pivot joint and is connected with four-drive device 151, rotates to drive the first hand 15.4th rotating shaft 150 is vertical with the 3rd rotating shaft 140 to be arranged.4th rotating shaft 150 and the first hand 15 fix.
Described second hand 16 is connected with the first hand 15 pivot joint by the 5th rotating shaft 160, and the 5th rotating shaft 160 is vertical with the 4th rotating shaft 150 to be arranged, and the 5th rotating shaft 160 and the second hand 16 fix.5th rotating shaft 160 with drive it to rotate by the 5th drive unit 161, rotate to drive the second hand 16.
Described 3rd hand 18 is connected with the second hand 16 pivot joint by the 6th rotating shaft 180, and the 6th rotating shaft 180 is vertical with the 5th rotating shaft 160 to be arranged, and with the 4th rotating shaft 150 on the same line.6th rotating shaft 180 and the 3rd hand 18 fix.6th rotating shaft 180 drives it to rotate by the 6th drive unit 181, rotates to drive the 3rd hand 18.
This cutting welding robot 10 clamps cutting torch or welding gun by the 3rd hand 18, to carry out cutting or welding, the rotating seat 12 of this cutting welding robot 10, underarm 13, upper arm 14, first hand 15, second hand 16 and the 3rd hand 18 rotate along different directions respectively, entirety can arbitrarily be adjusted on freedom and flexibility ground, be applicable to the cutting welding job of all angles, for the automation cutting welding of workpiece provides safeguard, more save manpower compared to existing robotic cutting welding, meet the demand of high-quality in enormous quantities cutting welding.Meanwhile, the structure of the underarm 13 of this cutting welding robot 10, namely cross section is oval tubular, can uniform distribution pressure, prevents local pressure and affects integrated operation.This cutting welding robot 10 also can be provided with color temperature sensor, to carry out the induction of workpiece, determine the position of workpiece.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a cutting welding robot, it is characterized in that: comprise a base, be located at the rotating seat be rotatably connected on this base and by the first rotating shaft, be located at the underarm that on this rotating seat and one end is rotatably connected by the second rotating shaft, be located at this underarm other end and the upper arm be rotatably connected by the 3rd rotating shaft, be located at one first hand be rotatably connected on this upper arm and by the 4th rotating shaft, to be located on this first hand and one second hand be rotatably connected by the 5th rotating shaft and be located at one the 3rd hand be rotatably connected on this second hand and by the 6th rotating shaft, this first rotating shaft is vertically arranged, this second rotating shaft is horizontally disposed with and perpendicular with the first rotating shaft, 3rd rotating shaft parallels with the second rotating shaft, 4th rotating shaft is vertical with the 3rd rotating shaft to be arranged, 5th rotating shaft is vertical with the 4th rotating shaft to be arranged, 6th rotating shaft is vertical with the 5th rotating shaft to be arranged, and with the 4th rotating shaft on the same line, described underarm comprises the first end be connected with rotating seat, the pars intermedia upwards extended by first end and be located at pars intermedia top and the second end be connected with upper arm, described pars intermedia is the strip upwards extended, its cross section is oval tubular.
2. cut welding robot as claimed in claim 1, it is characterized in that: described first end and the second end are outwards bent to tilt to extend respectively to the direction near rotating seat and upper arm by the two ends of pars intermedia.
3. cut welding robot as claimed in claim 1 or 2, it is characterized in that: described base is also provided with one first drive unit, the reductor of this its rotating speed of the first drive unit connection control, the rotating shaft of this first drive unit upwards extends and is connected with the first rotating shaft, and this first rotating shaft and rotating seat fix.
4. cut welding robot as claimed in claim 3, it is characterized in that: the first end of described underarm is connected by the second rotating shaft with the side of rotating seat, and be provided with one second drive unit in first end, this second drive unit is motor, and the reductor of its rotating speed of connection control, the rotating shaft of this second drive unit is connected with the second rotating shaft, and the first end of this second rotating shaft and underarm fixes.
5. cut welding robot as claimed in claim 4, it is characterized in that: described the second end is connected by the 3rd rotating shaft pivot joint with upper arm, and be provided with one the 3rd drive unit in the rear side of the second end, 3rd drive unit is motor, and the reductor of its rotating speed of connection control, the rotating shaft of the 3rd drive unit is connected with the 3rd rotating shaft, and the 3rd rotating shaft and upper arm fix.
6. cut welding robot as claimed in claim 5, it is characterized in that: described upper arm is the strip of horizontal-extending, it is near extending to form a gripper shoe by the end of underarm is downward-sloping, and this gripper shoe is connected with underarm by the 3rd rotating shaft.
7. cut welding robot as claimed in claim 6, it is characterized in that: this upper arm is provided with four-drive device in the end near underarm, this four-drive device is motor, and the reductor of its rotating speed of connection control, the rotating shaft of this four-drive device is connected with the 4th rotating shaft, and the 4th rotating shaft and the first hand fix.
8. cut welding robot as claimed in claim 7, it is characterized in that: this upper arm is also respectively equipped with the 5th drive unit and the 6th drive unit in the end near underarm, described 5th drive unit and the 6th drive unit connect chain and gear and respectively for driving the rotation of the 5th rotating shaft and the 6th rotating shaft, 5th rotating shaft and the second hand fix, and the 6th rotating shaft and the 3rd hand fix.
9. cut welding robot as claimed in claim 1, it is characterized in that: also comprise the color temperature sensor be located on the 3rd hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510184949.6A CN104785981A (en) | 2015-04-20 | 2015-04-20 | Cutting and welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510184949.6A CN104785981A (en) | 2015-04-20 | 2015-04-20 | Cutting and welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104785981A true CN104785981A (en) | 2015-07-22 |
Family
ID=53551404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510184949.6A Pending CN104785981A (en) | 2015-04-20 | 2015-04-20 | Cutting and welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104785981A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112336A (en) * | 2016-08-15 | 2016-11-16 | 江门市弘程精密制造有限公司 | A kind of six axle welding manipulators |
| CN106166645A (en) * | 2016-08-23 | 2016-11-30 | 沧州致胜机器人科技有限公司 | A kind of electric arc combined welder of robotic laser and method |
| CN107598434A (en) * | 2017-10-10 | 2018-01-19 | 汉能机器人自动化（丹阳）有限公司 | Welding robot |
| CN109108553A (en) * | 2018-10-22 | 2019-01-01 | 赵文东 | A kind of welder for bumper |
| CN109277746A (en) * | 2018-12-17 | 2019-01-29 | 郭玉华 | A kind of welding manipulator for capableing of multi-angle rotary |
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| JP2003136462A (en) * | 2001-10-29 | 2003-05-14 | Yaskawa Electric Corp | Industrial robot |
| CN102218736A (en) * | 2010-04-14 | 2011-10-19 | 株式会社神户制钢所 | Industrial robot arm reference position determining method and industrial robot |
| CN101505926B (en) * | 2006-09-27 | 2012-12-12 | Abb公司 | Industrial robot with pressurized air supply in balancing device |
| CN202781153U (en) * | 2012-08-28 | 2013-03-13 | 安川首钢机器人有限公司 | Welding robot |
| CN102975208A (en) * | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
| CN104339368A (en) * | 2013-07-30 | 2015-02-11 | 株式会社安川电机 | Robot |
| CN204735871U (en) * | 2015-04-20 | 2015-11-04 | 骏马石油装备制造有限公司 | Cutting welding robot |
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2015
- 2015-04-20 CN CN201510184949.6A patent/CN104785981A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003136462A (en) * | 2001-10-29 | 2003-05-14 | Yaskawa Electric Corp | Industrial robot |
| CN101505926B (en) * | 2006-09-27 | 2012-12-12 | Abb公司 | Industrial robot with pressurized air supply in balancing device |
| CN102218736A (en) * | 2010-04-14 | 2011-10-19 | 株式会社神户制钢所 | Industrial robot arm reference position determining method and industrial robot |
| CN202781153U (en) * | 2012-08-28 | 2013-03-13 | 安川首钢机器人有限公司 | Welding robot |
| CN102975208A (en) * | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
| CN104339368A (en) * | 2013-07-30 | 2015-02-11 | 株式会社安川电机 | Robot |
| CN204735871U (en) * | 2015-04-20 | 2015-11-04 | 骏马石油装备制造有限公司 | Cutting welding robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112336A (en) * | 2016-08-15 | 2016-11-16 | 江门市弘程精密制造有限公司 | A kind of six axle welding manipulators |
| CN106166645A (en) * | 2016-08-23 | 2016-11-30 | 沧州致胜机器人科技有限公司 | A kind of electric arc combined welder of robotic laser and method |
| CN106166645B (en) * | 2016-08-23 | 2018-10-09 | 沧州致胜机器人科技有限公司 | A kind of electric arc combined welder of robotic laser-and method |
| CN107598434A (en) * | 2017-10-10 | 2018-01-19 | 汉能机器人自动化（丹阳）有限公司 | Welding robot |
| CN109108553A (en) * | 2018-10-22 | 2019-01-01 | 赵文东 | A kind of welder for bumper |
| CN109277746A (en) * | 2018-12-17 | 2019-01-29 | 郭玉华 | A kind of welding manipulator for capableing of multi-angle rotary |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150722 |
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| RJ01 | Rejection of invention patent application after publication |