CN105798496A - Three-translation-one-rotation four-freedom-degree adjusting support for intelligent welding robot - Google Patents
Three-translation-one-rotation four-freedom-degree adjusting support for intelligent welding robot Download PDFInfo
- Publication number
- CN105798496A CN105798496A CN201610344122.1A CN201610344122A CN105798496A CN 105798496 A CN105798496 A CN 105798496A CN 201610344122 A CN201610344122 A CN 201610344122A CN 105798496 A CN105798496 A CN 105798496A
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- slide rail
- electric slide
- driving
- transverse
- lowering
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- 238000003466 welding Methods 0.000 title claims abstract description 44
- 239000000463 material Substances 0.000 claims abstract description 7
- 229910001209 Low-carbon steel Inorganic materials 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000010894 electron beam technology Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 229920001169 thermoplastic Polymers 0.000 description 1
- 239000004416 thermosoftening plastic Substances 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a three-translation-one-rotation four-freedom-degree adjusting support for an intelligent welding robot. The three-translation-one-rotation four-freedom-degree adjusting support comprises a moving base, a lifting device and a rotary drive device. A square fixed platform is arranged at the upper end of the moving base, and is made of low-carbon steel materials, and one-way walking wheels are symmetrically arranged on the four top corners of the bottom face of the square fixed platform correspondingly; and a welding machine is arranged on the front side of the upper end of the moving base, the lifting device is located at the rear side end of the moving base, and is fixedly connected with the moving base, and the rotary drive device is located over the lifting device and is fixedly connected with the lifting device. Supporting and position adjusting effects are provided for the welding robot, the bearing capacity is high, adjusting is good, motion flexibility is high, and the welding quality and efficiency of the welding robot are indirectly improved.
Description
Technical field
The present invention relates to welding technology field, a kind of Intelligent welding robot translates a rotation four-degree-of-freedom with three and regulates support specifically.
Background technology
Welding is also referred to as welding or connects, and welding is manufacturing process and the technology of a kind of jointing metal or other thermoplastics such as plastics in the way of heating, high temperature or high pressure；The energy source of modern welding has a variety of, including gas flame, electric arc, laser, electron beam, friction and ultrasound wave etc., except using in the factory, welding can also carry out in a variety of contexts, such as field, under water and space, no matter wherein, welding is all likely to bring danger to operator, so must take suitable safeguard procedures when welding, welding the injury being likely to result in human body, to include burn, electric shock, inpairment of vision, suction toxic gas, ultraviolet radiation excessive etc..Human weld is adopted more for current welding, so not only occupy substantial amounts of cost of labor, welding efficiency is low, poor welding quality, and due to human weld, welding process is often accompanied by peril produce, certain Personal Risk is brought to welder, currently also progressively begin with welding robot and carry out the welding job of workpiece, current welding robot is generally individually to be made up of welding support, welding equipment and control system, but the problem such as current welding support all exists that modulability difference, bearing capacity be weak and kinematic dexterity is poor.In consideration of it, the invention provides a kind of Intelligent welding robot to translate a rotation four-degree-of-freedom adjustment support with three.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of Intelligent welding robot and translate a rotation four-degree-of-freedom adjustment support with three.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of Intelligent welding robot translates a rotation four-degree-of-freedom with three and regulates support, including mobile base, lowering or hoisting gear and device for revolving and driving；Described mobile base upper end is provided with square fixed platform, and the material of square fixed platform is low-carbon steel material, and four drift angle places of square fixed platform bottom surface are arranged with one-way traveling wheel respectively, are provided with welding machine on front side of mobile base upper end；Described lowering or hoisting gear is positioned at mobile base rear side end, and is connected between lowering or hoisting gear and mobile base, and device for revolving and driving is positioned at directly over lowering or hoisting gear, and device for revolving and driving and lowering or hoisting gear are connected.
Further, described lowering or hoisting gear includes lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving gear, locking end cap, fixed mount and driven gear；Described lifting screw, the quantity of sleeve and driven gear is two, lifting screw lower end is arranged in sleeve, sleeve inner offers the female thread that the external screw thread with lifting screw matches, sleeve bottom end is arranged on base upper surface by bearing, lifting motor adopts adjustable speed reducing motor, lifting motor is fixed on base upper surface by motor cabinet, it is connected between rotating shaft one end with lifting motor main shaft, key is adopted to be attached between the rotating shaft other end and driving gear, and driving gear upper end is locked by locking end cap, it is fixed by fixed mount in the middle part of rotating shaft, fixed mount is in the U-shape structure stood upside down, fixed mount medium position place is provided with the bearing installed that matches with rotating shaft, driven gear is fixed on sleeve medium position place, and driven gear is meshed with driving gear；By the rotation rotarily driving driving gear of lifting motor, driving gear is meshed with driven gear, two driven gear synchronous axial system in the same direction, and driven gear and sleeve are fixing is connected, thus the synchronous rotary in the same direction with moving sleeve, carry out transmission by screw thread between lifting screw and sleeve, and then achieve the function of the raising and lowering motion of lifting screw, it is simple to regulate the whole height of lowering or hoisting gear.
Further, described device for revolving and driving includes elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, transverse electric slide rail, transverse slider and fixing seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side is fixed on elevator front end, longitudinal electric slide rail two ends are respectively arranged with longitudinal baffle, longitudinal sliding block is arranged on longitudinal electric slide rail, electric turntable rear end is fixed on longitudinal sliding block, electric turntable front end is provided with transverse electric slide rail, and the quantity of transverse electric slide rail and transverse slider is two, transverse electric slide rail Parallel Symmetric is arranged, transverse electric slide rail front end is provided with transverse baffle, the vertical cross section of transverse electric slide rail is I-shaped structure, transverse slider is arranged on transverse electric slide rail, fixing seat structure in the form of annular discs, fixing seat two ends are connected with transverse slider respectively；Device for revolving and driving can realize moving left and right and gyration movable and on the vertical plane on horizontal plane, namely the motion in two translation one rotation three degree of freedom directions altogether in space, can ensure that the adjustment in the welding robot overall large scale when welding and big orientation by device for revolving and driving.
Compared with prior art, the invention have the advantages that
(1) present invention is that welding robot provides the effect supported with position adjustments, and bearing capacity is strong, and modulability is good and kinematic dexterity high, indirectly improves welding quality and the efficiency of welding robot.
(2) lowering or hoisting gear of the present invention is meshed with driven gear by driving gear, two driven gear synchronous axial system in the same direction, it is achieved that the synchronization of lifting screw rises and synchronizes the function of descending motion, it is simple to regulate the whole height of lowering or hoisting gear.
(3) device for revolving and driving of the present invention can realize moving left and right and gyration movable and on the vertical plane on horizontal plane, the i.e. motion in two translation one rotation three degree of freedom directions altogether in space, be can ensure that the adjustment in the welding robot overall large scale when welding and big orientation by device for revolving and driving, improve the welding performance of the present invention.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of lowering or hoisting gear of the present invention；
Fig. 3 is the top view of lowering or hoisting gear of the present invention；
Fig. 4 is the perspective view of device for revolving and driving of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, below in conjunction with being specifically illustrating, the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of Intelligent welding robot translates a rotation four-degree-of-freedom with three and regulates support, including mobile base 1, lowering or hoisting gear 2 and device for revolving and driving 3；Described mobile base 1 upper end is provided with square fixed platform, and the material of square fixed platform is low-carbon steel material, and four drift angle places of square fixed platform bottom surface have been respectively symmetrically one-way traveling wheel；Described lowering or hoisting gear 2 is positioned at mobile base 1 rear side end, and is connected between lowering or hoisting gear 2 and mobile base 1, and device for revolving and driving 3 is positioned at directly over lowering or hoisting gear 2, and device for revolving and driving 3 is connected with lowering or hoisting gear 2.
As shown in Figure 1 to Figure 3, described lowering or hoisting gear 2 includes lifting screw 21, sleeve 22, lifting motor 23, motor cabinet 24, rotating shaft 25, driving gear 26, locking end cap 27, fixed mount 28 and driven gear 29；nullDescribed lifting screw 21、The quantity of sleeve 22 and driven gear 29 is two，Lifting screw 21 lower end is arranged in sleeve 22，Sleeve 22 is internal offers the female thread that the external screw thread with lifting screw 21 matches，Sleeve 22 bottom is arranged on base 1 upper surface by bearing，Lifting motor 23 adopts adjustable speed reducing motor，Lifting motor 23 is fixed on base 1 upper surface by motor cabinet 24，It is connected between rotating shaft 25 one end with lifting motor 23 main shaft，Key is adopted to be attached between rotating shaft 25 other end and driving gear 26，And driving gear 26 upper end is locked by locking end cap 27，It is fixed by fixed mount 28 in the middle part of rotating shaft 25，Fixed mount 28 is in the U-shape structure stood upside down，Fixed mount 28 medium position place is provided with the bearing installed that matches with rotating shaft 25，Driven gear 29 is fixed on sleeve 22 medium position place，And driven gear 29 is meshed with driving gear 26；By the rotation rotarily driving driving gear 26 of lifting motor 23, driving gear 26 is meshed with driven gear 29, two driven gear 29 synchronous axial system in the same direction, and driven gear 29 and sleeve 22 is fixing is connected, thus the synchronous rotary in the same direction with moving sleeve 22, carry out transmission by screw thread between lifting screw 21 and sleeve 22, and then achieve the function of the raising and lowering motion of lifting screw 21, it is simple to regulate the whole height of lowering or hoisting gear 2.
nullAs shown in Figure 1 and Figure 4，Described device for revolving and driving 3 includes elevator 31、Longitudinal electric slide rail 32、Longitudinal sliding block 33、Electric turntable 34、Transverse electric slide rail 35、Transverse slider 36 and fixing seat 37，Described elevator 31 rectangular-blocklike structure，Longitudinal electric slide rail 32 back side is fixed on elevator 31 front end，Longitudinal electric slide rail 32 two ends are respectively arranged with longitudinal baffle，Longitudinal sliding block 33 is arranged on longitudinal electric slide rail 32，Electric turntable 34 rear end is fixed on longitudinal sliding block 33，Electric turntable 34 front end is provided with transverse electric slide rail 32，And the quantity of transverse electric slide rail 35 and transverse slider 36 is two，Transverse electric slide rail 35 Parallel Symmetric is arranged，Transverse electric slide rail 35 front end is provided with transverse baffle，The vertical cross section of transverse electric slide rail 35 is I-shaped structure，Transverse slider 36 is arranged on transverse electric slide rail 35，Fixing seat 37 structure in the form of annular discs，Fixing seat 37 two ends are connected with transverse slider 36 respectively；Device for revolving and driving 3 can realize moving left and right and gyration movable and on the vertical plane on horizontal plane, the i.e. motion in two translation one rotation three degree of freedom directions altogether in space, be can ensure that the adjustment in the welding robot overall large scale when welding and big orientation by device for revolving and driving 3, improve the welding performance of the present invention.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; description in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (1)
1. an Intelligent welding robot translates a rotation four-degree-of-freedom with three and regulates support, it is characterised in that: include mobile base, lowering or hoisting gear and device for revolving and driving；Described mobile base upper end is provided with square fixed platform, and the material of square fixed platform is low-carbon steel material, and four drift angle places of square fixed platform bottom surface are arranged with one-way traveling wheel respectively；Described lowering or hoisting gear is positioned at mobile base rear side end, and is connected between lowering or hoisting gear and mobile base, and device for revolving and driving is positioned at directly over lowering or hoisting gear, and device for revolving and driving and lowering or hoisting gear are connected；Wherein:
Described lowering or hoisting gear includes lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving gear, locking end cap, fixed mount and driven gear；Described lifting screw, the quantity of sleeve and driven gear is two, lifting screw lower end is arranged in sleeve, sleeve inner offers the female thread that the external screw thread with lifting screw matches, sleeve bottom end is arranged on mobile base upper surface by bearing, lifting motor adopts adjustable speed reducing motor, lifting motor is fixed on mobile base upper surface by motor cabinet, it is connected between rotating shaft one end with lifting motor main shaft, key is adopted to be attached between the rotating shaft other end and driving gear, and driving gear upper end is locked by locking end cap, it is fixed by fixed mount in the middle part of rotating shaft, fixed mount is in the U-shape structure stood upside down, fixed mount medium position place is provided with the bearing installed that matches with rotating shaft, driven gear is fixed on sleeve medium position place, and driven gear is meshed with driving gear；
Described device for revolving and driving includes elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, transverse electric slide rail, transverse slider and fixing seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side is fixed on elevator front end, longitudinal electric slide rail two ends are respectively arranged with longitudinal baffle, longitudinal sliding block is arranged on longitudinal electric slide rail, electric turntable rear end is fixed on longitudinal sliding block, electric turntable front end is provided with transverse electric slide rail, and the quantity of transverse electric slide rail and transverse slider is two, transverse electric slide rail Parallel Symmetric is arranged, transverse electric slide rail front end is provided with transverse baffle, the vertical cross section of transverse electric slide rail is I-shaped structure, transverse slider is arranged on transverse electric slide rail, fixing seat structure in the form of annular discs, fixing seat two ends are connected with transverse slider respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344122.1A CN105798496B (en) | 2016-05-23 | 2016-05-23 | A kind of Intelligent welding robot rotates four-degree-of-freedom adjusting bracket with three translations one |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344122.1A CN105798496B (en) | 2016-05-23 | 2016-05-23 | A kind of Intelligent welding robot rotates four-degree-of-freedom adjusting bracket with three translations one |
Publications (2)
| Publication Number | Publication Date |
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| CN105798496A true CN105798496A (en) | 2016-07-27 |
| CN105798496B CN105798496B (en) | 2017-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610344122.1A Active CN105798496B (en) | 2016-05-23 | 2016-05-23 | A kind of Intelligent welding robot rotates four-degree-of-freedom adjusting bracket with three translations one |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106586897A (en) * | 2016-12-27 | 2017-04-26 | 广州市远能物流自动化设备科技有限公司 | Lifting mechanism |
| CN107363913A (en) * | 2017-01-04 | 2017-11-21 | 广州品帝智能科技有限公司 | A kind of clamping device for plank |
| CN108297107A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of height-adjustable combination type intelligent robot |
| CN110216629A (en) * | 2019-06-21 | 2019-09-10 | 神华包神铁路集团有限责任公司 | Locomotive axle case lid dismantling device |
| CN112091958A (en) * | 2020-09-09 | 2020-12-18 | 深圳市智美高科技有限公司 | Intelligent robot transmission mechanism |
| CN112744310A (en) * | 2020-12-29 | 2021-05-04 | 诸暨市蓝了电子科技有限公司 | Multi-action-dimension wheeled walking foot of robot and multi-foot robot |
| CN114587325A (en) * | 2022-03-03 | 2022-06-07 | 无锡市人民医院 | Pancreatitis abdominal cavity high pressure non-invasive pressure measuring device and using method |
| CN114924272A (en) * | 2022-07-22 | 2022-08-19 | 广东天品医疗科技有限公司 | Robot roadblock recognizer and using method thereof |
| CN115365730A (en) * | 2022-10-21 | 2022-11-22 | 常州市武进苏南制冷设备有限公司 | Welding device for drying filter |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106586897A (en) * | 2016-12-27 | 2017-04-26 | 广州市远能物流自动化设备科技有限公司 | Lifting mechanism |
| CN107363913A (en) * | 2017-01-04 | 2017-11-21 | 广州品帝智能科技有限公司 | A kind of clamping device for plank |
| CN108297107A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of height-adjustable combination type intelligent robot |
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| CN112744310A (en) * | 2020-12-29 | 2021-05-04 | 诸暨市蓝了电子科技有限公司 | Multi-action-dimension wheeled walking foot of robot and multi-foot robot |
| CN114587325A (en) * | 2022-03-03 | 2022-06-07 | 无锡市人民医院 | Pancreatitis abdominal cavity high pressure non-invasive pressure measuring device and using method |
| CN114587325B (en) * | 2022-03-03 | 2022-12-27 | 无锡市人民医院 | Pancreatitis abdominal cavity high pressure non-invasive pressure measuring device and using method |
| CN114924272A (en) * | 2022-07-22 | 2022-08-19 | 广东天品医疗科技有限公司 | Robot roadblock recognizer and using method thereof |
| CN115365730A (en) * | 2022-10-21 | 2022-11-22 | 常州市武进苏南制冷设备有限公司 | Welding device for drying filter |
| CN115365730B (en) * | 2022-10-21 | 2023-03-17 | 常州市武进苏南制冷设备有限公司 | Welding device for drying filter |
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| CN105798496B (en) | 2017-12-19 |
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Inventor after: Chen He Inventor before: Ding Shilin |
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Effective date of registration: 20171122 Address after: 221400 Xuzhou, Jiangsu City, Xinyi province Xinyi Economic Development Zone, latitude five road north, seven Road East Applicant after: Jiangsu Hong Han Biological Technology Co., Ltd. Address before: 105, room 2, unit 119, Jade Rainbow Street, Daguan District, Anhui, Anqing 246001, China Applicant before: Ding Shilin |
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