CN104842103A - Welding robot - Google Patents
Welding robot Download PDFInfo
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- CN104842103A CN104842103A CN201510266040.5A CN201510266040A CN104842103A CN 104842103 A CN104842103 A CN 104842103A CN 201510266040 A CN201510266040 A CN 201510266040A CN 104842103 A CN104842103 A CN 104842103A
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- Prior art keywords
- reducing motor
- transmission arm
- welding
- arm
- fixed
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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
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a welding robot used for solving the technical problem that the automatic welder in the prior art is low in automation level further leading to low welding forming quality. The welding robot comprises a heeling drive arm, a rotary drive mechanism, an angle oscillating drive arm, a lifting drive arm and a welding mechanism. The rear end of the rotary drive mechanism is in first connection with the tilting drive arm and capable of rotating on the first vertical plane; the front end of the rotary drive mechanism is in second connection with the rear end of the angle oscillating drive arm and capable of rotating on the horizontal plane; the front end of the angle oscillating drive arm is in third connection with the rear end of the lifting drive arm and capable of rotating on the second vertical plane; the welding mechanism is mounted to the front end of the lifting drive arm. Automation and intelligent level of all-position welding of pipelines is heightened greatly, and further welding forming quality can be improved.
Description
Technical field
The invention belongs to technical field of mechanical equipment, particularly relate to a kind of welding robot.
Background technology
The welding of long defeated oil and gas pipeline needs to be welded by automatic welding machine;
Current automatic welding machine all adopts the transmission of two linear motion axis to configure, and namely a welding torch transverse swing linear axis adds a welding gun straight vertical bobbin.Because pipeline welding is all-position welding, posture of welding torch when each phase place of pipeline all needs dynamic conditioning, the technical scheme of existing two linear axis provides that the free degree is few, accessibility scope is little, therefore only have trigonometric sum rectangle two kinds of yaw forms, fully can not meet the multivariant adjustment requirement of posture of welding torch.
Therefore existing automatic welding machine automaticity is not high, and then welding fabrication can be caused of low quality.
Summary of the invention
The object of the present invention is to provide a kind of welding robot, not high in order to existing automatic welding machine automaticity, and then the problem that welding fabrication can be caused of low quality.
Welding robot provided by the present invention comprises: roll transmission arm, rotary drive mechanism, angle swing transmission arm, lifting transmission arm, welding mechanism; Rear end and the described inclination transmission arm of described rotary drive mechanism form first being connected of can carrying out rotating at the first perpendicular, make described inclination transmission arm drive described rotary drive mechanism, and drive described angle swing transmission arm, described lifting transmission arm and described welding mechanism to carry out inclination swing along welding bead direction; Front end and the rear end of described angle swing transmission arm of described rotary drive mechanism form second being connected of can carrying out rotating at a horizontal plane, make described rotary drive mechanism drive described angle swing transmission arm, and drive described lifting transmission arm and described welding mechanism to carry out weaving on the X-Y working face of described welding mechanism; Front end and the rear end of described lifting transmission arm of described angle swing transmission arm form the 3rd being connected of can carrying out rotating at the second perpendicular, and make described angle swing transmission arm drive described lifting transmission arm, and drive described welding mechanism to carry out angle swing campaign; Described welding mechanism is installed on the front end of described lifting transmission arm, makes described lifting transmission arm drive described welding mechanism to carry out lifting action in Z-direction.
Preferably, described inclination transmission arm comprises the first shaft stool, the first reducing motor; Described first reducing motor level is fixed on described first shaft stool, the output shaft of described first reducing motor is fixedly connected on the rear end of described rotary drive mechanism, makes the rear end of described rotary drive mechanism and described inclination transmission arm form described first and is connected; Wherein, described first reducing motor drives described rotary drive mechanism.
Preferably, described rotary drive mechanism comprises the second shaft stool, the second reducing motor, the 3rd axle swing arm, the 4th axle swing arm, the 3rd reducing motor, the 4th reducing motor, the first gear pair; The output shaft of described first reducing motor is fixed on described second shaft stool, makes the output shaft of described first reducing motor be fixedly connected on the rear end of described rotary drive mechanism; Described second reducing motor vertically upward be fixed in described second shaft stool, the first end of described 3rd axle swing arm is above described second shaft stool, the output shaft of described second reducing motor is fixed on the described first end of described 3rd axle swing arm, wherein, described second reducing motor drives described 3rd axle swing arm to swing; Second end of described 3rd axle swing arm is connected by the rear end of rotating shaft with described 4th axle swing arm, vertical described second end being fixed on described 3rd axle swing arm upward of described 3rd reducing motor, between described rotating shaft and described 3rd reducing motor, described first gear pair is installed, wherein, described 3rd reducing motor drives described 4th axle swing arm to rotate around described rotating shaft by described first gear pair; The vertical front end being fixed on described 4th axle swing arm upward of described 4th reducing motor, the output shaft of described 4th reducing motor is fixed on the rear end of described angle swing transmission arm, make the front end of described rotary drive mechanism and the rear end of described angle swing transmission arm form described second to be connected, wherein, described 4th reducing motor drives described angle swing transmission arm to carry out described weaving around the front end of described 4th axle swing arm.
Preferably, described rotating shaft comprises central shaft and bearing; Described central shaft is fixed on the middle part of described 3rd axle swing arm, and the upper end cover of described central shaft is filled with described bearing.
Preferably, described angle swing transmission arm comprises: the 5th axle swing arm, the 5th reducing motor; The output shaft of described 4th reducing motor is fixedly connected on the rear end of described 5th axle swing arm, makes the output shaft of described 4th reducing motor be fixed on the rear end of described angle swing transmission arm; Described 5th reducing motor is towards described 5th axle swing arm and level is fixed on the front end of described 5th axle swing arm, and the output shaft of described 5th reducing motor is fixed on the rear end of described lifting transmission arm; Wherein, described 5th reducing motor drives described lifting transmission arm.
Preferably, described lifting transmission arm comprises: the 6th shaft housing, the 6th reducing motor, the second gear pair, elevating screw; The output shaft of described 5th reducing motor is fixedly connected on the rear end of described 6th shaft housing, makes the output shaft of described 5th reducing motor be fixed on the rear end of described lifting transmission arm; The vertical side being fixed on described 6th shaft housing down of described 6th reducing motor, between the output shaft of described 6th reducing motor and described elevating screw, described second gear pair is installed, wherein, described 6th reducing motor drives described elevating screw to carry out lifting action in described Z-direction by described second gear pair.
Preferably, described welding mechanism comprises: welding gun installing plate, welding gun, guide post; Described welding gun installing plate is fixed on the lower end of described elevating screw, described welding gun is vertically fixed on the front end of described welding gun installing plate down, described 6th shaft housing is fixed in the upper end of described guide post, and lower end and the described welding gun installing plate of described guide post form sliding pair.
One or more technical scheme provided by the present invention, at least has following technique effect or advantage:
Welding robot provided by the present invention is provided with inclination transmission arm, rotary drive mechanism, angle swing transmission arm, and lifting transmission arm connects, the transmission mechanism rolling more than transmission arm can carry out carrying out inclination in welding bead direction and swing, and adds the free degree of welding gun adjustment; Transmission mechanism more than rotary drive mechanism can carry out weaving on X-Y working face, achieve the triangle yaw of welding gun and the combinative movement of circular arc yaw, and make welding mechanism can carry out angle swing campaign and carry out lifting action in Z-direction, meet the requirement of single track multi-layer piping welding.For pipeline all position welding provides larger working range and spatial accessibility, posture of welding torch can carry out real-time automatic adjustment according to the change of welding position, thus substantially increase the automation and intelligentification degree of pipeline all position welding, and then welding fabrication quality can be improved.
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 embodiments of the 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 the accompanying drawing provided.
Fig. 1 is the overall structure schematic diagram of automatic welding machine in the present invention;
Fig. 2 is the front view of automatic welding machine in the present invention;
Fig. 3 is the left view of automatic welding machine in the present invention;
Fig. 4 is the top view of automatic welding machine in the present invention;
Fig. 5 is the A-A cross sectional view of Fig. 4;
Fig. 6 is the B-B cross sectional view of Fig. 4;
Fig. 7 is the C-C cross sectional view of Fig. 4;
Fig. 8 is the D-D cross sectional view of Fig. 4.
Detailed description of the invention
Not high in order to solve existing automatic welding machine automaticity, and then the technical problem that welding fabrication can be caused of low quality, embodiments provide and provide a kind of welding robot, total thinking is as follows:
By the execution terminal of the open kinematic chain welding robot of small-sized multi-axis for pipeline all position welding provides larger working range and spatial accessibility, posture of welding torch carries out real-time automatic adjustment according to the change of welding position, thus improve the automation and intelligentification degree of pipeline all position welding, and then improve welding fabrication quality.
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is 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.
Shown in figure 1, the welding robot that the embodiment of the present invention provides comprises parts: roll transmission arm 1, rotary drive mechanism 2, angle swing transmission arm 3, lifting transmission arm 4, welding mechanism 5.
The rear end of rotary drive mechanism 2 and roll transmission arm 1 and form first being connected of can carrying out rotating at the first perpendicular, make to roll transmission arm 1 and drive rotary drive mechanism 2, and driving angle swing transmission arm 3, lifting transmission arm 4 and Welding Structure 5 are carried out inclination and are swung along welding bead direction; The front end of rotary drive mechanism 2 and the rear end of angle swing transmission arm 3 form second being connected of can carrying out rotating at a horizontal plane, make rotary drive mechanism 2 drive angle swing transmission arm 3, and drive lifting transmission arm 4 and Welding Structure 5 to carry out weaving on the X-Y working face of Welding Structure 5; The rear end of the front end of angle swing transmission arm 3 and lifting transmission arm 4 forms the 3rd being connected of can carrying out rotating at the second perpendicular, and angle swing transmission arm 3 is driven and is elevated transmission arm 4, and drive Welding Structure 5 to carry out angle swing campaign; Welding Structure 5 is installed on the front end of lifting transmission arm 4, makes lifting transmission arm 4 drive Welding Structure 5 to carry out lifting action in Z-direction.
Below in conjunction with Fig. 2 ~ Fig. 8, each parts of welding robot provided by the present invention are described in detail:
Roll transmission arm 1 and comprise the first shaft stool 11, first reducing motor 12.First reducing motor 12 level is fixed on the first shaft stool 11, and the output shaft of the first reducing motor 12 is fixedly connected on the rear end of rotary drive mechanism 2, makes the rear end of rotary drive mechanism 2 form first with inclination transmission arm 1 and is connected; Concrete, the first reducing motor 12 drives the inclination of rotary drive mechanism 2 to swing.
In the present embodiment, above transmission mechanism and welding mechanism can be driven to carry out inclination along welding bead direction by the rotation of the first reducing motor 12 and swing, add the adjustable free degree of Welding Structure.
In conjunction with previous embodiment, in technical scheme provided by the present invention, rotary drive mechanism 2 in the present embodiment comprises the second shaft stool 21, second reducing motor the 22, three axle swing arm the 23, four axle swing arm 24,3rd reducing motor the 25, four reducing motor 26, first gear pair 27.
In the present embodiment, the output shaft of the first reducing motor 12 is fixedly connected on the rear end of rotary drive mechanism 2, be specially: the output shaft of the first reducing motor 12 is fixed on the second shaft stool 21, rear end second reducing motor 22 making the output shaft of the first reducing motor 12 be fixedly connected on rotary drive mechanism 2 vertically upward be fixed in the second shaft stool 21, the first end of the 3rd axle swing arm 23 is above the second shaft stool 21, the output shaft of the second reducing motor 22 is fixed on the first end of the 3rd axle swing arm 23, wherein, second reducing motor 22 drives the 3rd axle swing arm 23 to swing, second end of the 3rd axle swing arm 23 is connected by the rear end of rotating shaft with the 4th axle swing arm 24, concrete, the bearing 29 that rotating shaft comprises central shaft 28 and is set on central shaft 28, and central shaft 28 is fixed along the axis of the 3rd axle swing arm 23.
In the present embodiment, vertical the second end being fixed on the 3rd axle swing arm 23 upward of 3rd reducing motor 25, first gear pair 27 is installed between rotating shaft and the 3rd reducing motor 25, concrete, a gear set of the first gear pair 27 is fixed in the middle part of central shaft 28, another gear is fixed on the output shaft of the 3rd reducing motor 25, and the 3rd reducing motor 25 drives the 4th axle swing arm 24 to rotate around rotating shaft by the first gear pair 27; The vertical front end being fixed on the 4th axle swing arm 24 upward of 4th reducing motor 26, the output shaft of the 4th reducing motor 26 is fixed on the rear end of angle swing transmission arm 3, make the front end of rotary drive mechanism 2 and the rear end of angle swing transmission arm 3 form this second to be connected, wherein, the 4th reducing motor 26 drives angle swing transmission arm 3 to carry out weaving around the front end of the 4th axle swing arm 24.
Can be found out by the above-mentioned description to the present embodiment, in the present embodiment, rotate can Direct driver the 3rd axle swing arm 23 rotate by the second reducing motor 22; 3rd reducing motor 25 drives the 4th axle pivoted arm 24 to rotate around hollow shaft 28 by the first gear pair 27; 4th reducing motor 26 Direct driver angle swing transmission arm 3 rotates around the front end of the 4th axle pivoted arm 24; The combination revolution action of the second reducing motor 22, the 3rd reducing motor 25 and the 4th reducing motor 26 defines SCARA and turns round transmission system, drive angle swing transmission arm 3 and above Welding Structure 5 moving perpendicular on the X-Y working face of welding gun, realize the triangle yaw of welding gun and the combinative movement of circular arc yaw.
In conjunction with previous embodiment, technical scheme provided by the present invention, angle swing transmission arm 3 in the present embodiment comprises: the 5th axle swing arm the 31, five reducing motor 32.
In the present embodiment, the output shaft of the 4th reducing motor 26 is fixed on the rear end of angle swing transmission arm 3, and the output shaft being specially the 4th reducing motor 26 is fixedly connected on the rear end of the 5th axle swing arm 31.5th reducing motor 32 is fixed on the front end of the 5th axle swing arm 31 towards the 5th axle swing arm 31 level, and the output shaft of the 5th reducing motor 32 is fixed on the rear end of lifting transmission arm 4; Concrete, the angle swing campaign of lifting transmission arm 4 is that the 5th reducing motor 32 drives.
Can be found out by the above-mentioned description to the present embodiment, in the present embodiment, the welding gun of Direct driver lifting transmission arm 4 and above welding robot robot end thereof can carry out angle swing action by the rotation of the 5th reducing motor 32.
In conjunction with previous embodiment, in technical scheme provided by the present invention, lifting transmission arm 4 in the present embodiment comprises: the 6th shaft housing the 41, six reducing motor 42, second gear pair 43, elevating screw 44;
In the present embodiment, make the output shaft of the 5th reducing motor 32 be fixed on the rear end of lifting transmission arm 4, be specially: the output shaft of the 5th reducing motor 32 is fixedly connected on the rear end of the 6th shaft housing 41.The vertical side being fixed on the 6th shaft housing 41 down of 6th reducing motor 42, second gear pair 43 is installed between the output shaft of the 6th reducing motor 42 and elevating screw 44, concrete, a gear set of the second gear pair 43 is fixed on the output shaft of the 6th reductor 42, another gear of second gear pair 43 is loaded on elevating screw 44, and the 6th reducing motor 42 drives elevating screw 44 to carry out lifting action in Z-direction by the second gear pair 43.
Can be found out by the above-mentioned description to the present embodiment, in the present embodiment, welding gun 52 vertical lift of robot end can be driven by elevating screw 44.
In conjunction with previous embodiment, in technical scheme provided by the present invention, Welding Structure 5 in the present embodiment comprises: welding gun installing plate 51, welding gun 52, guide post 53; Welding gun installing plate 51 is fixed on the lower end of elevating screw 44, and welding gun 52 is vertically fixed on the front end of welding gun installing plate 51 down, and the 6th shaft housing 41 is fixed in the upper end of guide post 53, and lower end and the welding gun installing plate 51 of guide post 53 form sliding pair.
Can be found out by the above-mentioned description to the present embodiment, in the present embodiment, the 6th reducing motor 42 Direct driver second gear pair 43 on 6th shaft housing 41 rotates, the welding gun installing plate 51 that second gear pair 43 drives elevating screw 44 and is arranged on elevating screw 44 end does vertical lift action along guide post at Z coordinate direction, thus drive welding gun 52 vertical lift, to meet the requirement of single track multi-layer piping welding.
Based on aforementioned multiple embodiment, below the preferred welding robot of one is illustrated, but is not used in restriction by this preferred welding robot of invention, specifically as shown in Fig. 2 ~ Fig. 8:
This preferred welding robot comprises as lower component: the first shaft stool 11, first reducing motor 12, second shaft stool 21, second reducing motor 22, the 3rd axle swing arm 23, hollow shaft 28, bearing 29, first gear pair 27, the 3rd reducing motor 25, the 4th axle swing arm 24, the 4th reducing motor 26, the 5th axle swing arm 31, the 5th reducing motor 32, the 6th shaft housing 41, the 6th reducing motor 42, second gear pair 43, elevating screw 44, welding gun installing plate 51, guide post 53 and welding gun 52.
First reducing motor 12 level is fixed on the first shaft stool 11, the output shaft of the first reducing motor 12 is fixedly connected on the second shaft stool 21, second reducing motor 22 vertically upward be fixed in the second shaft stool 21, the first end of the 3rd axle swing arm 23 is above the second shaft stool 21, the output shaft of the second reducing motor 22 is fixed on the first end of the 3rd axle swing arm 23, second end of the 3rd axle swing arm 23 is connected with the rear end of bearing with the 4th axle swing arm 24 by central shaft, vertical the second end being fixed on the 3rd axle swing arm 23 upward of 3rd reducing motor 25, first gear pair 27 is installed between central shaft and the 3rd reducing motor 25, 3rd reducing motor 25 drives the 4th axle swing arm 24 to rotate around rotating shaft by the first gear pair 27, the vertical front end being fixed on the 4th axle swing arm 24 upward of 4th reducing motor 26, the output shaft of the 4th reducing motor 26 is fixed on the rear end of the 5th axle swing arm 31, 5th reducing motor 32 is fixed on the front end of the 5th axle swing arm 31 towards the 5th axle swing arm 31 level, the output shaft of the 5th reducing motor 32 is fixedly connected on the rear end of the 6th shaft housing 41, the vertical side being fixed on the 6th shaft housing 41 down of 6th reducing motor 42, second gear pair 43 is installed between the output shaft of the 6th reducing motor 42 and elevating screw 44, then the 6th reducing motor 42 drives elevating screw 44 to carry out lifting action in Z-direction by the second gear pair 43.Welding gun installing plate 51 is fixed on the lower end of elevating screw 44, and welding gun 52 is vertically fixed on the front end of welding gun installing plate 51 down, and the 6th shaft housing 41 is fixed in the upper end of guide post 53, and lower end and the welding gun installing plate 51 of guide post 53 form sliding pair.
As can be seen from above-mentioned preferred embodiment, the execution terminal of the open kinematic chain welding robot of six axles is that pipeline all position welding provides larger working range and spatial accessibility, welding gun 52 attitude can carry out real-time automatic adjustment according to the change of welding position, make the yaw mode of welding gun 52 more various, except basic triangle, rectangle yaw, the yaw such as circular arc, crescent moon mode can also be realized, contribute to carrying out pipeline all position welding.
Technical scheme in the invention described above embodiment, at least has following technique effect or advantage:
Welding robot provided by the present invention is provided with inclination transmission arm, rotary drive mechanism, angle swing transmission arm, and lifting transmission arm connects, the transmission mechanism rolling more than transmission arm can carry out carrying out inclination in welding bead direction and swing, and adds the free degree of welding gun adjustment; Transmission mechanism more than rotary drive mechanism can carry out weaving on X-Y working face, achieve the triangle yaw of welding gun and the combinative movement of circular arc yaw, and make welding mechanism can carry out angle swing campaign and carry out lifting action in Z-direction, meet the requirement of single track multi-layer piping welding.For pipeline all position welding provides larger working range and spatial accessibility, posture of welding torch can carry out real-time automatic adjustment according to the change of welding position, thus substantially increase the automation and intelligentification degree of pipeline all position welding, and then welding fabrication quality can be improved.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (7)
1. a welding robot, is characterized in that, comprising: roll transmission arm, rotary drive mechanism, angle swing transmission arm, lifting transmission arm, welding mechanism;
Rear end and the described inclination transmission arm of described rotary drive mechanism form first being connected of can carrying out rotating at the first perpendicular, make described inclination transmission arm drive described rotary drive mechanism, and drive described angle swing transmission arm, described lifting transmission arm and described welding mechanism to carry out inclination swing along welding bead direction;
Front end and the rear end of described angle swing transmission arm of described rotary drive mechanism form second being connected of can carrying out rotating at a horizontal plane, make described rotary drive mechanism drive described angle swing transmission arm, and drive described lifting transmission arm and described welding mechanism to carry out weaving on the X-Y working face of described welding mechanism;
Front end and the rear end of described lifting transmission arm of described angle swing transmission arm form the 3rd being connected of can carrying out rotating at the second perpendicular, and make described angle swing transmission arm drive described lifting transmission arm, and drive described welding mechanism to carry out angle swing campaign;
Described welding mechanism is installed on the front end of described lifting transmission arm, makes described lifting transmission arm drive described welding mechanism to carry out lifting action in Z-direction.
2. welding robot as claimed in claim 1, it is characterized in that, described inclination transmission arm comprises the first shaft stool, the first reducing motor;
Described first reducing motor level is fixed on described first shaft stool, the output shaft of described first reducing motor is fixedly connected on the rear end of described rotary drive mechanism, makes the rear end of described rotary drive mechanism and described inclination transmission arm form described first and is connected;
Wherein, described first reducing motor drives described rotary drive mechanism.
3. welding robot as claimed in claim 2, it is characterized in that, described rotary drive mechanism comprises the second shaft stool, the second reducing motor, the 3rd axle swing arm, the 4th axle swing arm, the 3rd reducing motor, the 4th reducing motor, the first gear pair;
The output shaft of described first reducing motor is fixed on described second shaft stool, makes the output shaft of described first reducing motor be fixedly connected on the rear end of described rotary drive mechanism;
Described second reducing motor vertically upward be fixed in described second shaft stool, the first end of described 3rd axle swing arm is above described second shaft stool, the output shaft of described second reducing motor is fixed on the described first end of described 3rd axle swing arm, wherein, described second reducing motor drives described 3rd axle swing arm to swing;
Second end of described 3rd axle swing arm is connected by the rear end of rotating shaft with described 4th axle swing arm, vertical described second end being fixed on described 3rd axle swing arm upward of described 3rd reducing motor, between described rotating shaft and described 3rd reducing motor, described first gear pair is installed, wherein, described 3rd reducing motor drives described 4th axle swing arm to rotate around described rotating shaft by described first gear pair;
The vertical front end being fixed on described 4th axle swing arm upward of described 4th reducing motor, the output shaft of described 4th reducing motor is fixed on the rear end of described angle swing transmission arm, make the front end of described rotary drive mechanism and the rear end of described angle swing transmission arm form described second to be connected, wherein, described 4th reducing motor drives described angle swing transmission arm to carry out described weaving around the front end of described 4th axle swing arm.
4. welding robot as claimed in claim 3, it is characterized in that, described rotating shaft comprises central shaft and bearing;
Described central shaft is fixed on the middle part of described 3rd axle swing arm, and the upper end cover of described central shaft is filled with described bearing.
5. welding robot as claimed in claim 4, it is characterized in that, described angle swing transmission arm comprises: the 5th axle swing arm, the 5th reducing motor;
The output shaft of described 4th reducing motor is fixedly connected on the rear end of described 5th axle swing arm, makes the output shaft of described 4th reducing motor be fixed on the rear end of described angle swing transmission arm;
Described 5th reducing motor is towards described 5th axle swing arm and level is fixed on the front end of described 5th axle swing arm, and the output shaft of described 5th reducing motor is fixed on the rear end of described lifting transmission arm;
Wherein, described 5th reducing motor drives described lifting transmission arm.
6. welding robot as claimed in claim 5, it is characterized in that, described lifting transmission arm comprises: the 6th shaft housing, the 6th reducing motor, the second gear pair, elevating screw;
The output shaft of described 5th reducing motor is fixedly connected on the rear end of described 6th shaft housing, makes the output shaft of described 5th reducing motor be fixed on the rear end of described lifting transmission arm;
The vertical side being fixed on described 6th shaft housing down of described 6th reducing motor, between the output shaft of described 6th reducing motor and described elevating screw, described second gear pair is installed, wherein, described 6th reducing motor drives described elevating screw to carry out lifting action in described Z-direction by described second gear pair.
7. welding robot as claimed in claim 6, it is characterized in that, described welding mechanism comprises: welding gun installing plate, welding gun, guide post;
Described welding gun installing plate is fixed on the lower end of described elevating screw, described welding gun is vertically fixed on the front end of described welding gun installing plate down, described 6th shaft housing is fixed in the upper end of described guide post, and lower end and the described welding gun installing plate of described guide post form sliding pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266040.5A CN104842103B (en) | 2015-05-22 | 2015-05-22 | Welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266040.5A CN104842103B (en) | 2015-05-22 | 2015-05-22 | Welding robot |
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| CN104842103A true CN104842103A (en) | 2015-08-19 |
| CN104842103B CN104842103B (en) | 2016-11-30 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105458442A (en) * | 2016-01-20 | 2016-04-06 | 东莞王氏港建机械有限公司 | Automatic clamping feeding and automatic welding integrated device |
| CN106695235A (en) * | 2017-03-10 | 2017-05-24 | 深圳诺基业科技有限公司 | Full-automatic welding equipment |
| CN106736115A (en) * | 2016-12-23 | 2017-05-31 | 安徽普伦智能装备有限公司 | One kind welding cooling integrated machine |
| CN106903415A (en) * | 2017-03-23 | 2017-06-30 | 苏州道众机械制造有限公司 | A kind of accuracy CUT high |
| CN112108812A (en) * | 2020-10-30 | 2020-12-22 | 山东晨灿机械设备股份有限公司 | Welding head and welding equipment comprising same |
| CN115283911A (en) * | 2022-10-09 | 2022-11-04 | 华兴智慧(北京)科技有限公司 | Multi freedom welding intelligent robot |
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