CN105880892B - A kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot - Google Patents

A kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot Download PDF

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Publication number
CN105880892B
CN105880892B CN201610347964.2A CN201610347964A CN105880892B CN 105880892 B CN105880892 B CN 105880892B CN 201610347964 A CN201610347964 A CN 201610347964A CN 105880892 B CN105880892 B CN 105880892B
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welding
fixed
wire feed
rotating shaft
wire
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CN105880892A (en
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王金龙
丁士林
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Yuhuan Chengxiang Technology Co., Ltd
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王金龙
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0533Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps

Abstract

The present invention relates to a kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot, including base, lowering or hoisting gear, device for revolving and driving, delta parallel institutions, weld performs device and fixing device, lowering or hoisting gear is located at base rear side end, device for revolving and driving is located at directly over lowering or hoisting gear, delta parallel institutions are located at turn around below drive device front end, welding performs device is located at immediately below delta parallel institutions, and welding performs device is connected with delta parallel institutions, fixing device quantity is four, fixing device is respectively symmetrically arranged on base upper surface, and it is connected between fixing device and base.The present invention can be to carrying out fully-automatic intelligent weld job between sewage treatment pipeline and sewage blocking plate, and integral position can adjust during welding, and local location motion is flexible, stability is high, it can realize and be welded while feeding the function of welding wire simultaneously, welding efficiency is high, and welding quality is good.

Description

A kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot
Technical field
The present invention relates to welding technology field, specifically a kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate weldering Connect industrial robot.
Background technology
Welding is also referred to as welding Huo person's Rong and connect, welding be a kind of jointing metal in a manner of heating, high temperature or high pressure or The manufacturing process and technology of other thermoplastics such as plastics;There are many kinds, including gas flame, electricity in the energy source that modern times weld Arc, laser, electron beam, friction and ultrasonic wave etc., in addition to use in the factory, welding can also be carried out in a variety of contexts, Such as field, underwater and space, no matter wherein, welding all may bring danger to operator, so necessary when being welded Take appropriate safeguard procedures, weld to human body may caused by injury includes burn, electric shock, inpairment of vision, suction have poison gas Body, ultraviolet overexposure etc..
Sewage treatment pipeline is mainly used in the occasions such as municipal works, chemical plant, petroleum works and public waterworks, at sewage Sewage blocking plate is always welded among reason pipeline, sewage blocking plate main function is that gear blocks the debris flowed into sewage treatment pipeline, a side Face prevents the situation that sewage treatment pipeline is blocked by debris, on the other hand also plays the effect that dirt is blocked in preliminary sewage disposal; Welding for current sewage treatment pipeline sewage blocking plate uses human weld more, so not only occupies substantial amounts of cost of labor, Welding efficiency is low, poor welding quality, and due to human weld, peril generation is often accompanied by welding process, to welding Worker brings certain Personal Risk.In consideration of it, the invention provides a kind of multiple degrees of freedom environment protection sewage processing pipeline to block dirt Plate weld industrial robot.
The content of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of multiple degrees of freedom environment protection sewage to handle pipeline sewage blocking plate Welding industry robot.
The present invention to be solved its technical problem and use following technical scheme to realize.
A kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot, including base, lowering or hoisting gear, return Rotary driving device, delta parallel institutions, welding performs device and fixing device;The T-shaped platy structure of described base, lifting Device is located at base rear side end, and is connected between lowering or hoisting gear and base, and device for revolving and driving is located at directly over lowering or hoisting gear, and Device for revolving and driving is connected with lowering or hoisting gear, and delta parallel institutions are located at turn around below drive device front end, welds performs device Immediately below delta parallel institutions, and to weld performs device and be connected with delta parallel institutions, fixing device quantity is four, Gu Determine device to be respectively symmetrically arranged on base upper surface, and be connected between fixing device and base.
Further, described fixing device includes line slideway, mobile sliding block, geometrical clamp and clamping screw;Described is straight Spacing hole is linearly evenly arranged with line guide rail upper surface, mobile sliding block is arranged on line slideway, and is opened on mobile sliding block Provided with through hole, geometrical clamp front end is arc shape structure, and geometrical clamp rear end is connected with mobile slip front, mobile sliding block and straight line It is fixed between guide rail using clamping screw;During concrete operations, sewage treatment pipeline lower end is placed into four fixing devices Centre, in use, the motion by mobile sliding block on line slideway, when geometrical clamp front end and sewage treatment pipeline lateral wall phase During contact, mobile sliding block is fixed on line slideway by clamping screw, has reached the effect fixed to sewage treatment pipeline, The problem of preventing the sewage treatment pipeline position movement dislocation in welding process, after sewage treatment pipeline fixes, dirt will be blocked Plate is placed into sewage treatment pipeline upper end, and four lugs of sewage blocking plate are corresponded respectively and are placed on sewage treatment pipeline At port in four not exclusively circular counterbores.
Further, described lowering or hoisting gear include lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving gear, Lock end cap, fixed mount and driven gear;The quantity of described lifting screw, sleeve and driven gear is two, lifting screw Lower end is arranged in sleeve, and sleeve inner offers the internal thread being engaged with the external screw thread of lifting screw, and sleeve bottom end passes through Bearing is arranged on base upper surface, and lifting motor uses adjustable speed reducing motor, and lifting motor is fixed on bottom by motor cabinet On seat upper surface, it is connected between rotating shaft one end and lifting motor main shaft, is entered between the rotating shaft other end and driving gear using key Row connection, and driving gear upper end is locked by locking end cap, is fixed in the middle part of rotating shaft by fixed mount, it is fixed Frame is in the U-shape structure to stand upside down, is provided with the bearing that installation is engaged with rotating shaft at fixed mount medium position, driven gear is fixed on At sleeve medium position, and driven gear is meshed with driving gear;Turning for driving gear is driven by the rotation of lifting motor Dynamic, driving gear is meshed with driven gear, two driven gear synchronous axial systems in the same direction, and driven gear is fixed with sleeve and connected Connect, so as to the synchronous rotary in the same direction with moving sleeve, be driven between lifting screw and sleeve by screw thread, and then realize liter The function of the raising and lowering motion of screw rod is dropped, is easy to adjust 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, horizontal stroke To electric sliding rail, transverse slider and fixed seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side is fixed on Elevator front end, longitudinal electric slide rail both ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is arranged on longitudinal electric slide rail, electricity Turn back-end disk is fixed on longitudinal sliding block, and electric turntable front end is provided with transverse electric slide rail, and transverse electric slide rail and horizontal stroke It is two to the quantity of sliding block, transverse electric slide rail Parallel Symmetric arrangement, transverse electric slide rail front end is provided with transverse baffle, horizontal It is I-shaped structure to the vertical cross section of electric sliding rail, transverse slider is arranged on transverse electric slide rail, and fixed seat is in the form of annular discs Structure, fixed seat both ends are connected with transverse slider respectively;Device for revolving and driving can realize moving left and right with before on horizontal plane Move afterwards and gyration on the vertical plane, i.e., two translations one in space rotate the motion in three degree of freedom direction altogether, The regulation of overall large scale and big orientation of the welding performs device in welding is can ensure that by device for revolving and driving, improves this The welding performance of invention.
Further, described delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motorses, first rotating shaft, First connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring;Described fixed platform and moving platform be in Toroidal structure, moving platform are located at immediately below fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is with fixed platform The center of circle centered on be fixed in positive triangle shape on fixed platform bottom face, rotating basis is centered on the center of circle of moving platform in just Triangle is arranged on moving platform top end face, and motor cabinet installation site and rotating basis installation site correspond respectively, Installation is fixed by motor cabinet in parallel-connected induction motorses, and parallel-connected induction motorses use adjustable speed twin shaft output motor, first rotating shaft one end It is connected with parallel-connected induction motorses main shaft, the first rotating shaft other end is connected with first connecting rod upper end, and first connecting rod lower end connects with second Bar is attached between upper end using rotational pin, and second connecting rod lower end is connected with second rotating shaft one end, the second rotating shaft other end On rotating basis, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotation Turn pedestal upper end and be provided with the double end sleeve being engaged with the second rotating shaft, first connecting rod middle inside and second connecting rod middle inside Respectively be provided with the first mounting seat and the second mounting seat, limit spring between the first mounting seat and the second mounting seat, and Limit spring upper end is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat;During specific works, pass through The rotation of parallel-connected induction motorses drives the rotation of first rotating shaft, and first connecting rod is coaxially connected with first rotating shaft, so as to pass through first The rotation of connecting rod drives the rotation of second connecting rod, and then drives the motion of moving platform, and reduces delta simultaneously by limit spring Jitter when joining mechanism kinematic, add the stationarity of delta parallel institutions motion, delta parallel institutions and serial mechanism phase Specific stiffness is big, and motion is flexible, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, and delta parallel institutions can be carried out in space Three translations three rotate the motion in six-freedom degree direction altogether, and space is small, movement velocity is fast, kinematic dexterity is good, at this In invention, drive whole welding performs device to carry out three translations three in space by delta parallel institutions and rotate totally six The motion in free degree direction, it is easy to weld the regulation in performs device local precisely small orientation of microsize in welding.
Further, described welding performs device includes servomotor, welding gun, steel wire storage mechanism and wire feeder;Described Servomotor is connected with welding gun upper end, and steel wire storage mechanism is located at directly over wire feeder;Described steel wire storage mechanism includes U-shaped ear Seat, steel wire storage rotating shaft and steel wire storage wheel, steel wire storage wheel are arranged in U-shaped ear mount by steel wire storage rotating shaft, and steel wire storage mechanism is mainly used in welding wire Store;Described wire feeder includes guide pipe, welding wire, wire feed guide rail, wire feed ear mount, wire feed driving wheel and wire feed driving electricity Machine, for welding wire one ends wound in steel wire storage wheel, the welding wire other end passes through guide pipe, and guide pipe material is PP plastic materials, and wire feed is led Rail, wire feed ear mount, the quantity of wire feed driving wheel and wire feed motor are two, and wire feed guide rail is respectively positioned at welding wire or so two Side, wire feed ear mount upper end are provided with wire feed guide block, and wire feed guide block is arranged on wire feed guide rail, and wire feed ear mount lower end is the U to stand upside down Type structure, wire feed driving wheel rear and front end are respectively symmetrically provided with bull stick, and bull stick is arranged in wire feed ear mount, wire feed driving wheel edge Its center axis is evenly arranged with driving post respectively in circumferential direction, and drives post semicircular in shape column structure, wire feed driving electricity Owner's axle is connected with the bull stick of wire feed driving wheel;During specific welding, wire feed is driven to drive by the rotation of wire feed motor The rotation of wheel, because driving post is provided with wire feed driving wheel, and two wire feed driving wheels symmetrically engage installation, so by sending The engagement rotation of silk driving wheel realizes welding wire vertical basipetal conveying from steel wire storage mechanism, and can band by servomotor The partial rotational of dynamic welding gun, is easy to the flexibility of welding.
During specific welding operation, position is carried out to sewage treatment pipeline and sewage blocking plate by fixing device first and fixes contracting Tightly, the substantially orientation of welding performs device is then adjusted by lowering or hoisting gear and device for revolving and driving, then it is in parallel by delta Mechanism can drive three translations three in space of welding performs device to rotate the motion in six-freedom degree direction altogether, serve to welding Flexible motion of the performs device when performing weld job, and motion size orientation is accurate, serves good welding position and adjusts The effect of section, improve the quality of welding, welding perform operation in, by weld performs device can realize weld while The function of welding wire is fed, welding efficiency is high, and welding quality is good.
Compared with prior art, the present invention has advantages below:
(1) present invention can between sewage treatment pipeline and sewage blocking plate carry out fully-automatic intelligent weld job, and weld when Integral position can adjust, and local location motion is flexible, and stability is high, while can realize and weld while feeding the work(of welding wire Can, welding efficiency is high, and welding quality is good.
(2) welding performs device of the invention realizes welding wire from steel wire storage mechanism by the engagement rotation of wire feed driving wheel Vertical basipetal conveying, and the partial rotational of welding gun can be driven by servomotor, it is easy to the flexibility of welding, while can Realization is welded while feeding the function of welding wire.
(3) delta parallel institutions of the invention can carry out three translations three in space and rotate common six-freedom degree direction Motion, and space is small, movement velocity is fast, kinematic dexterity is good, in the present invention, is driven by delta parallel institutions whole Individual welding performs device can carry out the motion that three translations three rotate six-freedom degree direction altogether in space, be easy to welding to perform dress Put the regulation in the local precisely small orientation of microsize in welding.
(4) lowering or hoisting gear of the invention is meshed by driving gear with driven gear, and two driven gears are synchronous in the same direction Rotate, realize the synchronous function of rising with synchronous descending motion of lifting screw, be easy to adjust the whole height of lowering or hoisting gear.
(5) device for revolving and driving of the invention can realize moving left and right on horizontal plane and move forward and backward and in vertical plane On gyration, i.e., in space two translation one rotate altogether three degree of freedom direction motion, can by device for revolving and driving Ensure the regulation of overall large scale and big orientation of the welding performs device in welding, improve the welding performance of the present invention.
(6) fixing device of the invention can fix to the sewage treatment pipeline and sewage blocking plate of different model, prevent Only in welding process the problem of sewage treatment pipeline position movement dislocation.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention;
Fig. 2 is the dimensional structure diagram of lowering or hoisting gear and device for revolving and driving of the present invention;
Fig. 3 is the dimensional structure diagram of lowering or hoisting gear of the present invention;
Fig. 4 is the top view of lowering or hoisting gear of the present invention;
Fig. 5 is the dimensional structure diagram of device for revolving and driving of the present invention;
Fig. 6 is dimensional structure diagram when device for revolving and driving and delta parallel institution of the present invention coordinates;
Dimensional structure diagram when Fig. 7 is delta parallel institutions of the present invention and welding performs device cooperation;
Fig. 8 is the dimensional structure diagram of delta parallel institutions of the present invention;
Fig. 9 is the dimensional structure diagram (seeing from front to back) of present invention welding performs device;
Figure 10 is the dimensional structure diagram (seeing from left to right) of present invention welding performs device;
Figure 11 is the dimensional structure diagram of fixing device of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figure 1 to 11, a kind of multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot, including Base 1, lowering or hoisting gear 2, device for revolving and driving 3, delta parallel institutions 4, welding performs device 5 and fixing device 6;Described 1 T-shaped platy structure of base, lowering or hoisting gear 2 is located at the rear side end of base 1, and is connected between lowering or hoisting gear 2 and base 1, and revolution is driven Dynamic device 3 is located at directly over lowering or hoisting gear 2, and device for revolving and driving 3 is connected with lowering or hoisting gear 2, and delta parallel institutions 4 are located at Below the front end of device for revolving and driving 3, welding performs device 5 be located at immediately below delta parallel institutions 4, and weld performs device 5 and Delta parallel institutions 4 are connected, and the quantity of fixing device 6 is four, and fixing device 6 is respectively symmetrically arranged on the upper surface of base 1, and It is connected between fixing device 6 and base 1.
As shown in figure 11, described fixing device 6 includes line slideway 61, mobile sliding block 62, geometrical clamp 63 and locking screw Bolt 64;Spacing hole is linearly evenly arranged with the described upper surface of line slideway 61, mobile sliding block 62 is arranged on line slideway On 61, and through hole is offered on mobile sliding block 62, the front end of geometrical clamp 63 is arc shape structure, the rear end of geometrical clamp 63 and mobile sliding block 62 front ends are connected, and are fixed between mobile sliding block 62 and line slideway 61 using clamping screw 64;During concrete operations, by dirt The lower end of water process pipeline 7 is placed among four fixing devices 6, in use, by mobile sliding block 62 on line slideway 61 Motion, when the front end of geometrical clamp 63 is in contact with the lateral wall of sewage treatment pipeline 7, mobile sliding block 62 is consolidated by clamping screw 64 It is scheduled on line slideway 61, has reached the effect fixed to sewage treatment pipeline 7, prevented the sewage treatment pipeline in welding process The problem of 7 positions movement dislocation, after sewage treatment pipeline 7 fixes, sewage blocking plate 8 is placed into the upper end of sewage treatment pipeline 7, And four lugs of sewage blocking plate 8 are corresponded respectively be placed at the upper port of sewage treatment pipeline 7 four it is not exclusively circular In counterbore.
As shown in Figures 2 to 4, described lowering or hoisting gear 2 includes lifting screw 21, sleeve 22, lifting motor 23, motor cabinet 24th, rotating shaft 25, driving gear 26, locking end cap 27, fixed mount 28 and driven gear 29;Described lifting screw 21, sleeve 22 Quantity with driven gear 29 is two, and the lower end of lifting screw 21 is arranged in sleeve 22, is offered and is lifted inside sleeve 22 The internal thread that the external screw thread of screw rod 21 is engaged, the bottom of sleeve 22 are arranged on the upper surface of base 1 by bearing, lifting motor 23 Using adjustable speed reducing motor, lifting motor 23 is fixed on the upper surface of base 1 by motor cabinet 24, the one end of rotating shaft 25 and lifting It is connected between the main shaft of motor 23, is attached between the other end of rotating shaft 25 and driving gear 26 using key, and driving gear 26 Upper end is locked by locking end cap 27, and the middle part of rotating shaft 25 is fixed by fixed mount 28, and fixed mount 28 is in handstand U-shape structure, be provided with the bearing that installation is engaged with rotating shaft 25 at the medium position of fixed mount 28, driven gear 29 is fixed on set At 22 medium positions of cylinder, and driven gear 29 is meshed with driving gear 26;Driving tooth is driven by the rotation of lifting motor 23 The rotation of wheel 26, driving gear 26 are meshed with driven gear 29, two 29 synchronous axial systems in the same direction of driven gear, and driven gear 29 are fixedly connected with sleeve 22, so as to the synchronous rotary in the same direction with moving sleeve 22, pass through spiral shell between lifting screw 21 and sleeve 22 Line is driven, and then realizes the function of the raising and lowering motion of lifting screw 21, is easy to adjust the entirety of lowering or hoisting gear 2 Highly.
As shown in Figure 5 and Figure 6, described device for revolving and driving 3 is sliding including elevator 31, longitudinal electric slide rail 32, longitudinal direction Block 33, electric turntable 34, transverse electric slide rail 35, transverse slider 36 and fixed seat 37, the described rectangular-blocklike of elevator 31 Structure, the back side of longitudinal electric slide rail 32 are fixed on the front end of elevator 31, and the both ends of longitudinal electric slide rail 32 are respectively arranged with longitudinal gear Plate, longitudinal sliding block 33 are arranged on longitudinal electric slide rail 32, and the rear end of electric turntable 34 is fixed on longitudinal sliding block 33, electric turntable 34 front ends are provided with transverse electric slide rail 32, and the quantity of transverse electric slide rail 35 and transverse slider 36 is two, transverse electric The Parallel Symmetric of slide rail 35 arranges that the front end of transverse electric slide rail 35 is provided with transverse baffle, the vertical cross section of transverse electric slide rail 35 For I-shaped structure, transverse slider 36 is arranged on transverse electric slide rail 35,37 structure in the form of annular discs of fixed seat, 37 liang of fixed seat End is connected with transverse slider 36 respectively;Device for revolving and driving 3 can realize moving left and right on horizontal plane and move forward and backward and Gyration on the vertical plane, i.e., two translations one in space rotate the motion in three degree of freedom direction altogether, driven by turning round Dynamic device 3 can ensure that the regulation of overall large scale and big orientation of the welding performs device 5 in welding, improve the weldering of the present invention Connect performance.
As shown in Figure 7 and Figure 8, described delta parallel institutions 4 include fixed platform 41, moving platform 42, motor cabinet 43, simultaneously Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second rotating shaft 49, rotating basis 410 and limit Position spring 411;Described fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at immediately below fixed platform 41, The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41 It is fixed on the bottom face of fixed platform 41, rotating basis 410 is arranged in dynamic centered on the center of circle of moving platform 42 in positive triangle shape On the top end face of platform 42, and the installation site of motor cabinet 43 and the installation site of rotating basis 410 correspond respectively, parallel-connected induction motorses 44 Installation is fixed by motor cabinet 43, and parallel-connected induction motorses 44 use adjustable speed twin shaft output motor, the one end of first rotating shaft 45 with The main shaft of parallel-connected induction motorses 44 is connected, and the other end of first rotating shaft 45 is connected with the upper end of first connecting rod 46, the lower end of first connecting rod 46 with It is attached between the upper end of second connecting rod 48 using rotational pin 47, the lower end of second connecting rod 48 is connected with the one end of the second rotating shaft 49, The other end of second rotating shaft 49 is arranged on rotating basis 410, and the lower end of rotating basis 410 is provided with swivel bearing, and swivel bearing Mutually to be fixed with the upper surface of moving platform 42, the upper end of rotating basis 410 is provided with the double end sleeve being engaged with the second rotating shaft 49, and first The middle inside of connecting rod 46 and the middle inside of second connecting rod 48 are respectively provided with the first mounting seat and the second mounting seat, limit spring 411 between the first mounting seat and the second mounting seat, and the upper end of limit spring 411 is connected with the first mounting seat, spacing bullet The lower end of spring 411 is connected with the second mounting seat;During specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motorses 43 Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, so as to drive second connecting rod 48 by the rotation of first connecting rod 46 Rotation, and then drive moving platform 42 motion, and by limit spring 411 reduce delta parallel institutions 4 move when shake Property, the stationarity of the motion of delta parallel institutions 4 is added, the rigidity compared with serial mechanism of delta parallel institutions 4 is big, motion spirit Living, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institutions 4 can carry out three translations three in space and rotate altogether The motion in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good, in the present invention, passes through Delta parallel institutions 4 drive whole welding performs device 5 to carry out three translations three in space and rotate six-freedom degree direction altogether Motion, be easy to weld the regulation in the local precisely small orientation of microsize in welding of performs device 5.
As shown in Figure 9 and Figure 10, described welding performs device 5 includes servomotor 51, welding gun 52, the and of steel wire storage mechanism 53 Wire feeder 54;Described servomotor 51 is connected with the upper end of welding gun 52, and steel wire storage mechanism 53 is located at directly over wire feeder 54; Described steel wire storage mechanism 53 includes U-shaped ear mount 531, steel wire storage rotating shaft 532 and steel wire storage wheel 533, and steel wire storage wheel 533 passes through steel wire storage rotating shaft 532 are arranged in U-shaped ear mount 531, and steel wire storage mechanism 53 is mainly used in storing for welding wire;Described wire feeder 54 includes guide pipe 541st, welding wire 542, wire feed guide rail 543, wire feed ear mount 544, wire feed driving wheel 545 and wire feed motor 546, welding wire 542 1 End is wrapped in steel wire storage wheel 533, and the other end of welding wire 542 passes through guide pipe 541, and the material of guide pipe 541 is PP plastic materials, wire feed Guide rail 543, wire feed ear mount 544, the quantity of wire feed driving wheel 545 and wire feed motor 546 are two, and wire feed guide rail 543 divides Not Wei Yu the left and right sides of welding wire 542, the upper end of wire feed ear mount 544 is provided with wire feed guide block, and wire feed guide block is arranged on wire feed guide rail 543 On, the lower end of wire feed ear mount 544 is the U-shape structure to stand upside down, and the rear and front end of wire feed driving wheel 545 is respectively symmetrically provided with bull stick, turned Bar is arranged in wire feed ear mount 544, and wire feed driving wheel 545 is evenly arranged with driving respectively along its center axis in circumferential direction Post, and post semicircular in shape column structure is driven, the main shaft of wire feed motor 546 is connected with the bull stick of wire feed driving wheel 545;Tool When body welds, the rotation of wire feed driving wheel 545 is driven by the rotation of wire feed motor 546, because on wire feed driving wheel 545 Driving post, and the symmetrically engagement installation of two wire feed driving wheels 545 are provided with, so being rotated by the engagement of wire feed driving wheel 545 The vertical basipetal conveying from steel wire storage mechanism 53 of welding wire 542 is realized, and welding gun 52 can be driven by servomotor 51 Partial rotational, it is easy to the flexibility of welding.
During specific welding operation, position is carried out to sewage treatment pipeline 7 and sewage blocking plate 8 by fixing device 6 first and fixed Tighten, the substantially orientation of welding performs device 5 is then adjusted by lowering or hoisting gear 2 and device for revolving and driving 3, then pass through Delta parallel institutions 4 can drive the motion in welding performs device 5 common six-freedom degree direction of the rotation of three translation three in space, The flexible motion when performing weld job to welding performs device 5 is served, and motion size orientation is accurate, serves good Welding position regulation effect, improve the quality of welding, can be real by welding performs device 5 in welding performs operation Now weld while feeding the function of welding wire, welding efficiency is high, and welding quality is good.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims (1)

  1. A kind of 1. multiple degrees of freedom environment protection sewage processing pipeline sewage blocking plate welding industry robot, it is characterised in that:Including base, rise Falling unit, device for revolving and driving, delta parallel institutions, welding performs device and fixing device;The T-shaped tabular of described base Structure, lowering or hoisting gear is located at base rear side end, and is connected between lowering or hoisting gear and base, and device for revolving and driving is located at lowering or hoisting gear Surface, and device for revolving and driving is connected with lowering or hoisting gear, delta parallel institutions are located at turn around below drive device front end, weldering Connect performs device to be located at immediately below delta parallel institutions, and weld performs device and be connected with delta parallel institutions, fixing device Quantity is four, and fixing device is respectively symmetrically arranged on base upper surface, and is connected between fixing device and base;Wherein:
    Described delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motorses, first rotating shaft, first connecting rod, turn Dynamic pin, second connecting rod, the second rotating shaft, rotating basis and limit spring;Described fixed platform and moving platform structure in rounded shape, Moving platform is located at immediately below fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is using the center of circle of fixed platform in The heart is fixed on fixed platform bottom face in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform Put on moving platform top end face, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motorses lead to Cross motor cabinet and installation is fixed, and parallel-connected induction motorses use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motorses Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end It is attached using rotational pin, second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotation On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end The double end sleeve being engaged with the second rotating shaft is provided with, first connecting rod middle inside and second connecting rod middle inside are respectively set There are the first mounting seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and in limit spring End is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat;
    Described welding performs device includes servomotor, welding gun, steel wire storage mechanism and wire feeder;Described servomotor and weldering Rifle upper end is connected, and steel wire storage mechanism is located at directly over wire feeder;Described steel wire storage mechanism include U-shaped ear mount, steel wire storage rotating shaft and Steel wire storage wheel, steel wire storage wheel are arranged in U-shaped ear mount by steel wire storage rotating shaft;Described wire feeder, which includes guide pipe, welding wire, wire feed, leads Rail, wire feed ear mount, wire feed driving wheel and wire feed motor, in steel wire storage wheel, the welding wire other end is passed through and led welding wire one ends wound Xiang Guan, guide pipe material are PP plastic materials, wire feed guide rail, wire feed ear mount, the quantity of wire feed driving wheel and wire feed motor It is two, wire feed guide rail is respectively at left and right sides of welding wire, and wire feed ear mount upper end is provided with wire feed guide block, and wire feed guide block is arranged on On wire feed guide rail, wire feed ear mount lower end is the U-shape structure to stand upside down, and wire feed driving wheel rear and front end is respectively symmetrically provided with bull stick, Bull stick is arranged in wire feed ear mount, and wire feed driving wheel is evenly arranged with driving post respectively along its center axis in circumferential direction, and Post semicircular in shape column structure is driven, wire feed motor main shaft is connected with the bull stick of wire feed driving wheel;
    Described fixing device includes line slideway, mobile sliding block, geometrical clamp and clamping screw;Described line slideway upper surface On be linearly evenly arranged with spacing hole, mobile sliding block is arranged on line slideway, and offers through hole on mobile sliding block, fixed Folder front end is arc shape structure, and geometrical clamp rear end is connected with mobile slip front, is used between mobile sliding block and line slideway Clamping screw is fixed;
    Described lowering or hoisting gear includes lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving gear, locking end cap, solid Determine frame and driven gear;The quantity of described lifting screw, sleeve and driven gear is two, and lifting screw lower end is arranged on set In cylinder, sleeve inner offers the internal thread being engaged with the external screw thread of lifting screw, and sleeve bottom end is arranged on bottom by bearing On seat upper surface, lifting motor uses adjustable speed reducing motor, and lifting motor is fixed on base upper surface by motor cabinet, turns It is connected between axle one end and lifting motor main shaft, is attached between the rotating shaft other end and driving gear using key, and actively Gear upper end is locked by locking end cap, is fixed in the middle part of rotating shaft by fixed mount, and fixed mount is U-shaped in what is stood upside down Structure, the bearing that installation is engaged with rotating shaft is provided with fixed mount medium position, driven gear is fixed on sleeve medium position Place, and driven gear is meshed with driving gear;
    Described device for revolving and driving include elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, transverse electric slide rail, Transverse slider and fixed seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side are fixed on elevator front end, Longitudinal electric slide rail both ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is arranged on longitudinal electric slide rail, electric turntable rear end It is fixed on longitudinal sliding block, electric turntable front end is provided with transverse electric slide rail, and the number of transverse electric slide rail and transverse slider Amount is two, and transverse electric slide rail Parallel Symmetric arrangement, transverse electric slide rail front end is provided with transverse baffle, transverse electric slide rail Vertical cross section be I-shaped structure, transverse slider is arranged on transverse electric slide rail, fixed seat structure in the form of annular discs, fixed seat Both ends are connected with transverse slider respectively.
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CN106271323B (en) * 2016-09-18 2018-05-29 青岛鹏程高科重工有限公司 A kind of Intelligent welding robot
CN107363396B (en) * 2017-07-14 2018-12-18 滁州鸿博自动化设备有限公司 A kind of arc-welding work station having accurate positioning function
CN108340117B (en) * 2018-03-29 2020-04-03 王星昊 Clamping and fixing device for nuclear power welding
CN109482604A (en) * 2018-09-25 2019-03-19 广西正源机械有限责任公司 A kind of novel roll shaft rolling whirler

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CN101298120B (en) * 2008-06-06 2011-07-27 无锡市南方电器制造有限公司 Machine frame of cantilevered mode digital control flame plasma cutting machine
CA2736660A1 (en) * 2011-04-11 2012-10-11 Dany Gagnon-Lachance Parallel manipulator with 3 legs and 6 degrees of freedom
CN102922203A (en) * 2012-10-26 2013-02-13 晋江宝工机械有限公司 Full-dimensional welding rotating equipment as well as control device and method thereof
CN104014908A (en) * 2014-06-03 2014-09-03 丹阳市长江汽车部件有限公司 Equipment for continuously welding circular welds
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