CN106002026A - Automatic five-axis welding manipulator - Google Patents

Automatic five-axis welding manipulator Download PDF

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Publication number
CN106002026A
CN106002026A CN201610558479.XA CN201610558479A CN106002026A CN 106002026 A CN106002026 A CN 106002026A CN 201610558479 A CN201610558479 A CN 201610558479A CN 106002026 A CN106002026 A CN 106002026A
Authority
CN
China
Prior art keywords
axis
mechanical arm
fixed
mounting seat
synchronous pulley
Prior art date
Application number
CN201610558479.XA
Other languages
Chinese (zh)
Inventor
李龙
王志祥
刘志友
Original Assignee
江苏瑞伯特智能科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏瑞伯特智能科技股份有限公司 filed Critical 江苏瑞伯特智能科技股份有限公司
Priority to CN201610558479.XA priority Critical patent/CN106002026A/en
Publication of CN106002026A publication Critical patent/CN106002026A/en

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Classifications

    • 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
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • 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
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type

Abstract

The invention discloses an automatic five-axis welding manipulator and belongs to the field of automation. The automatic five-axis welding manipulator comprises a machine base and further comprises an X-axis mechanical arm transversely arranged on the upper end face of the machine base, a Y-axis mechanical arm movably arranged on the X-axis mechanical arm and perpendicular to the X-axis mechanical arm, a Z-axis mechanical arm movably arranged at one end of the Y-axis mechanical arm and vertically arranged, an end effector movably arranged at the lower end of the Z-axis mechanical arm, and a welding device arranged on the end effector, wherein the X-axis mechanical arm comprises a first mounting base arranged on the machine base and further comprises a first wiring drag chain, a first wiring drag chain fixed mount, an X-axis transmission travelling guide rail, and an X-axis synchronous belt device; the first wiring drag chain fixed mount is fixed on one side of the first mounting base and facilitates transmission of the first wiring drag chain; the X-axis transmission travelling guide rail is arranged on the upper surface of the first mounting base; the X-axis synchronous belt device drives the Y-axis mechanical arm to move on the X-axis transmission travelling guide rail. The automatic five-axis welding manipulator has multiple free degrees and is excellent in flexibility and high in utilization rate.

Description

A kind of five axle automatic welding machinery handss
Technical field
The present invention relates to automatic field, particularly to a kind of five axle automatic welding machinery handss.
Background technology
After the mankind at the beginning of the 60's of 20th century create First industrial robot, robot just demonstrates its great vitality, development along with modern industry, people are for improving production efficiency, stabilize and increase product quality, improve workman's labor condition, accelerate to realize the consideration of industrial production mechanization and automatization, invent mechanical hand, and it is widely used in production process, especially at high temperature, high pressure, dust, noise and with radioactivity and the occasion of pollution, mechanical hand is widely used especially.Owing to welding not only work under bad environment, relatively big to human injury, and, higher to operator's skill set requirements, often there is rat in weld seam position, and later stage work amount is big, and efficiency is the lowest, the most just welding manipulator is occurred in that, in prior art, common welding manipulator can only realize simple movement locus, it is impossible to realizes multiple degrees of freedom welding, and structure is complicated, motility is strong not, and capacity utilization is low, thus cannot meet the machinery manufacturing industry development that standard is the highest.
Summary of the invention
It is an object of the invention to provide multiple degrees of freedom, motility is good, and capacity utilization is high, reduces the one five axle automatic welding machinery hands of cost of labor.
The object of the present invention is achieved like this: a kind of five axle automatic welding machinery handss, including support, also include the X-axis mechanical arm being horizontally installed on support upper surface, also include the Y-axis mechanical arm being movably disposed on X-axis mechanical arm and being perpendicular to X-axis mechanical arm, also include the Z axis mechanical arm being movably disposed in Y-axis mechanical arm one end and being vertically arranged, also include the end effector that Z axis mechanical arm lower end is set movably, also include the welder being arranged on end effector;
Described X-axis mechanical arm includes the first mounting seat being arranged on support, also include the first wiring drag chain, also include being fixed on the first mounting seat side, be easy to the first wiring drag chain fixed mount of the first wiring drag chain transmission, also include the X-axis transmission walking guide rail being arranged on the first mounting seat upper surface, also include the X-axis synchronous belt device driving Y-axis mechanical arm at X-axis transmission walking moving on rails;
Described Y-axis mechanical arm includes the second mounting seat being vertically disposed on X-axis mechanical arm, also include the second wiring drag chain, also include the second wiring drag chain fixed mount being fixed on the second mounting seat side, also include the Y-axis transmission walking guide rail being arranged on bottom the second mounting seat, also include Y-axis synchronous belt device;
Described Z axis mechanical arm includes the fixed plate being fixed on Y-axis mechanical arm one end, also include being arranged in fixed plate, with the 3rd mounting seat of cavity up and downly, also include being arranged on the 3rd mounting seat outer surface and the lifting body fixing with the 3rd mounting seat, also include the 3rd wiring drag chain fixed mount being fixed on the 3rd mounting seat upper end, also include the 3rd wiring drag chain being arranged on the 3rd wiring drag chain fixed mount, also include the Z axis driving means driving lifting body to move in the 3rd mounting seat;Described 3rd mounting seat is provided with the Z axis sliding tray being easy to fixed plate assembling;
Described end effector includes the first motor being arranged within lifting body, also includes being arranged on the U-shaped rotating seat interlocked bottom lifting body and with the first motor output shaft;
Described rotating seat lower end is provided with and is oppositely arranged and two installation portions spaced apart from each other, described welder includes the tumbler being arranged between two installation portions, also include the end driving means driving tumbler to rotate, also include the clamping part being fixed on bottom tumbler, also include the plumb joint being removably attached on clamping part;
Described end driving means includes the second motor being arranged on upper end, rotating seat side, also include the upper synchronous pulley interlocked with the second motor output shaft, also include being arranged on the lower synchronous pulley that rotating seat lower end is relative with upper synchronous pulley, also include being coiled in synchronous pulley, the Timing Belt of lower synchronous pulley whole body transmission, also include the rotary shaft being fixed on lower synchronous pulley center;Described rotary shaft is fixed with tumbler.
Compared with prior art, the beneficial effects of the present invention is: due to the setting of X-axis mechanical arm, Y-axis mechanical arm realizes moving left and right of X-direction, setting due to Y-axis mechanical arm, Y-axis mechanical arm moves before and after achieving Y direction, and due to the setting of Z axis mechanical arm, Z axis mechanical arm achieves moving up and down of Z-direction, setting due to end effector, it is achieved that 360 degree of rotations of rotating seat;Setting due to welder, it is achieved that the rotating welding of tumbler, five axles interlock, and multiple degrees of freedom, motility is good;Realize driving owing to the first servomotor, the second servomotor are separately positioned on drive module, simple in construction, easy for installation;Due to X-axis transmission walking guide rail, the setting of Y-axis transmission walking guide rail, moving back and forth, motility is good.
Preferred version as the present invention, described X-axis synchronous belt device includes driving module, also include being arranged on drive module and the first servomotor of drive belt dynamic model group, the first synchronous pulley also included and drive module to interlock, also include that the first Timing Belt being meshed with the first synchronous pulley, described first Timing Belt are fixed with driving module.
As present invention further optimization scheme, the bottom of described drive module is provided with X-axis sliding part, and described X-axis transmission walking guide rail is provided with the X-axis sliding tray matched with X-axis sliding part.
As present invention further optimization scheme, described Y-axis synchronous belt device includes driving module, also include being arranged on drive module and the second servomotor of drive belt dynamic model group, the second synchronous pulley also included and drive module to interlock, also include that the second Timing Belt being meshed with the second synchronous pulley, described second Timing Belt are fixed with driving module.
As present invention further optimization scheme, the top of described drive module is provided with Y-axis sliding part, and described Y-axis transmission walking guide rail is provided with the Y-axis sliding tray matched with Y-axis sliding part.
As present invention further optimization scheme, described Z axis driving means includes the 3rd servomotor being arranged on the 3rd mounting seat top, the screw mandrel interlocked in also including being arranged on the 3rd mounting seat cavity and with the 3rd servomotor;The side of described fixed plate is provided with the fixed part of fixing screw mandrel.
As present invention further optimization scheme, described support base both sides are provided with the reinforcing plate being obliquely installed, be easy to strengthen stand structure intensity.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is X-axis synchronous belt device, Y-axis synchronous belt device installation graph of a relation.
Fig. 4 is A portion enlarged drawing in Fig. 1.
Fig. 5 is B portion enlarged drawing in Fig. 1.
Fig. 6 is C portion enlarged drawing in Fig. 1.
Fig. 7 is D portion enlarged drawing in Fig. 2.
Wherein, 1X shaft mechanical arm, 11 first mounting seats, 12 first wiring drag chains, 13 first wiring drag chain fixed mounts, 14X through-drive walking guide rail, 15 first servomotors, 16 first synchronous pulleys, 17 first Timing Belts, 18X axle sliding part, 19 X-axis sliding trays,
2Y shaft mechanical arm, 21 second mounting seats, 22 second wiring drag chains, 23 second wiring drag chain fixed mounts, 24Y through-drive walking guide rail, 25 second servomotors, 26 second synchronous pulleys, 27 second Timing Belts, 28 Y-axis sliding parts, 29 Y-axis sliding trays,
3Z shaft mechanical arm, 31 fixed plates, 32 the 3rd mounting seats, 33 lifting bodies, 34 the 3rd wiring drag chain fixed mounts, 35 the 3rd wiring drag chains, 36Z axle sliding tray, 37 the 3rd servomotors, 38 screw mandrels, 39 fixed parts,
4 end effectors, 41 first motors, 42 rotating seats, 43 installation portions,
5 welders, 51 tumblers, 52 clamping parts, 53 plumb joints, 54 second motors, synchronous pulley on 55,56 times synchronous pulleys, 57 Timing Belts, 58 rotary shafts,
6 drive module, 7 supports, 8 reinforcing plates.
Detailed description of the invention
As shown in figs. 1-7, a kind of five axle automatic welding machinery handss, including support 7, also include the X-axis mechanical arm 1 being horizontally installed on support 7 upper surface, also include the Y-axis mechanical arm 2 being movably disposed on X-axis mechanical arm 1 and being perpendicular to X-axis mechanical arm 1, also include the Z axis mechanical arm 3 being movably disposed in Y-axis mechanical arm 2 one end and being vertically arranged, also include the end effector 4 that Z axis mechanical arm 3 lower end is set movably, also include the welder 5 being arranged on end effector 4;
X-axis mechanical arm 1 includes the first mounting seat 11 being arranged on support 7, also include the first wiring drag chain 12, also include being fixed on the first mounting seat 11 side, be easy to the first wiring drag chain fixed mount 13 of the first wiring drag chain 12 transmission, also include the X-axis transmission walking guide rail 14 being arranged on the first mounting seat 11 upper surface, also include driving Y-axis mechanical arm 2 X-axis synchronous belt device of motion on X-axis transmission walking guide rail 14;
Y-axis mechanical arm 2 includes the second mounting seat 21 being vertically disposed on X-axis mechanical arm 1, also include the second wiring drag chain 22, also include the second wiring drag chain fixed mount 23 being fixed on the second mounting seat 21 side, also include the Y-axis transmission walking guide rail 24 being arranged on bottom the second mounting seat 21, also include Y-axis synchronous belt device;
Z axis mechanical arm 3 includes the fixed plate 31 being fixed on Y-axis mechanical arm 2 one end, also include can being arranged in fixed plate 31, with the 3rd mounting seat 32 of cavity up and downly, also include the lifting body 33 being arranged on the 3rd mounting seat 32 outer surface and fixing with the 3rd mounting seat 32, also include the 3rd wiring drag chain fixed mount 34 being fixed on the 3rd mounting seat 32 upper end, also include the 3rd wiring drag chain 35 being arranged on the 3rd wiring drag chain fixed mount 34, also include the Z axis driving means driving lifting body 33 to move in the 3rd mounting seat 32;3rd mounting seat 32 is provided with the Z axis sliding tray 36 being easy to fixed plate 31 assembling;
End effector 4 includes the first motor 41 being arranged within lifting body 33, also includes being arranged on the U-shaped rotating seat 42 interlocked bottom lifting body 33 and with the first motor 41 output shaft;
Rotating seat 42 lower end is provided with and is oppositely arranged and two installation portions 43 spaced apart from each other, welder 5 includes the tumbler 51 being arranged between two installation portions 43, also include the end driving means driving tumbler 51 to rotate, also include the clamping part 52 being fixed on bottom tumbler 51, also include the plumb joint 53 being removably attached on clamping part 52;
End driving means includes the second motor 54 being arranged on upper end, rotating seat 42 side, also include the upper synchronous pulley 55 interlocked with the second motor 54 output shaft, also include being arranged on the lower synchronous pulley 56 that rotating seat 42 lower end is relative with upper synchronous pulley 55, also include being coiled in synchronous pulley 55, the Timing Belt 57 of lower synchronous pulley 56 whole body transmission, also include the rotary shaft 58 being fixed on lower synchronous pulley 56 center;Described rotary shaft 58 is fixed with tumbler 51.
Above-mentioned X-axis synchronous belt device includes driving module 6, also include being arranged on drive module 6 and the first servomotor 15 of drive belt dynamic model group 6, the first synchronous pulley 16 also included and drive module 6 to interlock, also include that the first Timing Belt 17 being meshed with the first synchronous pulley 16, the first Timing Belt 17 are fixed with driving module 6.
The bottom of above-mentioned drive module 6 is provided with X-axis sliding part 18, and X-axis transmission walking guide rail 14 is provided with the X-axis sliding tray 19 matched with X-axis sliding part 18.
Above-mentioned Y-axis synchronous belt device includes driving module 6, also include being arranged on drive module 6 and the second servomotor 25 of drive belt dynamic model group 6, the second synchronous pulley 26 also included and drive module 6 to interlock, also include that the second Timing Belt 27 being meshed with the second synchronous pulley 26, the second Timing Belt 27 are fixed with driving module 6.
The top of above-mentioned drive module 6 is provided with Y-axis sliding part 28, and Y-axis transmission walking guide rail 24 is provided with the Y-axis sliding tray 29 matched with Y-axis sliding part 28.
Above-mentioned Z axis driving means includes the 3rd servomotor 37 being arranged on the 3rd 32 tops of installation, the screw mandrel 38 interlocked in also including being arranged on the 3rd mounting seat 32 cavity and with the 3rd servomotor 37;The side of fixed plate 31 is provided with the fixed part 39 of fixing screw mandrel 37.
Above-mentioned support 7 base both sides are provided with the reinforcing plate 8 being obliquely installed, be easy to strengthen support 7 structural strength.
Operation principle of the present invention is described below, when Y-axis mechanical arm 2 realizes X-direction side-to-side movement in the first mounting seat 11, first servomotor 15 drive belt dynamic model group 6 and impart power to the first synchronous pulley 16, first synchronous pulley 16 imparts power to the first Timing Belt 17, first Timing Belt 17 is fixed with driving module 6, therefore drive module 6 to move, thus realize X-direction side-to-side movement with the Y-axis mechanical arm 2 driving module 6 assembling;When Y-axis mechanical arm 2 realize Y direction seesaw time, second servomotor 25 drive belt dynamic model group 6 and impart power to the second synchronous pulley 26, second synchronous pulley 26 imparts power to the second Timing Belt 27, second Timing Belt 27 is fixed with driving module 6, now, module 6 is driven to be fixed on X-axis mechanical arm 1, therefore, drive module 6 by power relativity to the second mounting seat 21, it is achieved Y direction seesaws;When Z axis mechanical arm 3 realizes Z-direction up and down motion, the 3rd servomotor 37 is by dynamic action to screw mandrel 38, and screw mandrel 38 drives the 3rd mounting seat 32 to realize Z-direction and moves up and down;When the rotating seat 42 of end effector 4 rotates, the first motor 41 being arranged in lifting body 33 drives rotating seat 42;When the tumbler 51 of welder 5 rotates, it is arranged on the second motor 54 within rotating seat 42 upper end and drives upper synchronous pulley 55, upper synchronous pulley 55 by dynamic action to Timing Belt 57, dynamic action is given lower synchronous pulley 56 by Timing Belt 57 again, lower synchronous pulley 56 drives the rotary shaft 58 being fixed on lower synchronous pulley 56 to rotate, owing to the other end of rotary shaft 58 is fixed with tumbler 51, therefore tumbler 51 is driven to rotate, now, it is fixed on the clamping part 52 of tumbler 51 lower end to clamp plumb joint 53 and be operated.
The invention is not limited in above-described embodiment; on the basis of technical scheme disclosed by the invention; those skilled in the art is according to disclosed technology contents; need not performing creative labour and some of which technical characteristic just can be made some replacements and deformation, these are replaced and deformation is the most within the scope of the present invention.

Claims (7)

1. an axle automatic welding machinery hands, it is characterized in that: include support (7), also include the X-axis mechanical arm (1) being horizontally installed on support (7) upper surface, also include being movably disposed on X-axis mechanical arm (1), and it is perpendicular to the Y-axis mechanical arm (2) of X-axis mechanical arm (1), also include being movably disposed in Y-axis mechanical arm (2) one end, and the Z axis mechanical arm (3) being vertically arranged, also include the end effector (4) that Z axis mechanical arm (3) lower end is set movably, also include the welder (5) being arranged on end effector (4);
Described X-axis mechanical arm (1) includes the first mounting seat (11) being arranged on support (7), also include the first wiring drag chain (12), also include being fixed on the first mounting seat (11) side, be easy to the first wiring drag chain fixed mount (13) of the first wiring drag chain (12) transmission, also include X-axis transmission walking guide rail (14) being arranged on the first mounting seat (11) upper surface, also include the X-axis synchronous belt device driving Y-axis mechanical arm (2) in the upper motion of X-axis transmission walking guide rail (14);
Described Y-axis mechanical arm (2) includes the second mounting seat (21) being vertically disposed on X-axis mechanical arm (1), also include the second wiring drag chain (22), also include the second wiring drag chain fixed mount (23) being fixed on the second mounting seat (21) side, also include Y-axis transmission walking guide rail (24) being arranged on the second mounting seat (21) bottom, also include Y-axis synchronous belt device;
Described Z axis mechanical arm (3) includes the fixed plate (31) being fixed on Y-axis mechanical arm (2) one end, also include being arranged in fixed plate (31) up and downly, the 3rd mounting seat (32) with cavity, also include being arranged on the 3rd mounting seat (32) outer surface, and the lifting body (33) fixing with the 3rd mounting seat (32), also include the 3rd wiring drag chain fixed mount (34) being fixed on the 3rd mounting seat (32) upper end, also include the 3rd wiring drag chain (35) being arranged on the 3rd wiring drag chain fixed mount (34), also include the Z axis driving means driving lifting body (33) in the upper motion of the 3rd mounting seat (32);Described 3rd mounting seat (32) is provided with is easy to the Z axis sliding tray (36) that fixed plate (31) is assembled;
Described end effector (4) includes being arranged on the first motor (41) that lifting body (33) is internal, also includes the U-shaped rotating seat (42) being arranged on lifting body (33) bottom and interlocking with the first motor (41) output shaft;
Described rotating seat (42) lower end is provided with and is oppositely arranged and two installation portions (43) spaced apart from each other, described welder (5) includes the tumbler (51) being arranged between two installation portions (43), also include the end driving means driving tumbler (51) to rotate, also include the clamping part (52) being fixed on tumbler (51) bottom, also include the plumb joint (53) being removably attached on clamping part (52);
Described end driving means includes the second motor (54) being arranged on rotating seat (42) upper end, side, also include the upper synchronous pulley (55) interlocked with the second motor (54) output shaft, also include being arranged on the lower synchronous pulley (56) that rotating seat (42) lower end is relative with upper synchronous pulley (55), also include the Timing Belt (57) being coiled in synchronous pulley (55), lower synchronous pulley (56) transmission all over the body, also include the rotary shaft (58) being fixed on lower synchronous pulley (56) center;Described rotary shaft (58) is fixed with tumbler (51).
A kind of five axle automatic welding machinery handss the most according to claim 1, it is characterized in that: described X-axis synchronous belt device includes driving module (6), also include being arranged on and drive module (6) upper and first servomotor (15) of drive belt dynamic model group (6), the first synchronous pulley (16) also included and drive module (6) to interlock, also include that the first Timing Belt (17) being meshed with the first synchronous pulley (16), described first Timing Belt (17) are fixed with driving module (6).
A kind of five axle automatic welding machinery handss the most according to claim 2, it is characterized in that: the bottom of described drive module (6) is provided with X-axis sliding part (18), described X-axis transmission walking guide rail (14) is provided with the X-axis sliding tray (19) matched with X-axis sliding part (18).
A kind of five axle automatic welding machinery handss the most according to claim 1, it is characterized in that: described Y-axis synchronous belt device includes driving module (6), also include being arranged on and drive module (6) upper and second servomotor (25) of drive belt dynamic model group (6), the second synchronous pulley (26) also included and drive module (6) to interlock, also include that the second Timing Belt (27) being meshed with the second synchronous pulley (26), described second Timing Belt (27) are fixed with driving module (6).
A kind of five axle automatic welding machinery handss the most according to claim 4, it is characterized in that: the top of described drive module (6) is provided with Y-axis sliding part (28), described Y-axis transmission walking guide rail (24) is provided with the Y-axis sliding tray (29) matched with Y-axis sliding part (28).
A kind of five axle automatic welding machinery handss the most according to claim 1, it is characterized in that: described Z axis driving means includes being arranged on the 3rd servomotor (37) at the 3rd installation (32) seat top, the screw mandrel (38) in also including being arranged on the 3rd mounting seat (32) cavity and interlocked with the 3rd servomotor (37);The side of described fixed plate (31) is provided with the fixed part (39) of fixing screw mandrel (37).
A kind of five axle automatic welding machinery handss the most according to claim 1, it is characterised in that: described support (7) base both sides are provided with the reinforcing plate (8) being obliquely installed, be easy to strengthen support (7) structural strength.
CN201610558479.XA 2016-07-16 2016-07-16 Automatic five-axis welding manipulator CN106002026A (en)

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CN106393069A (en) * 2016-10-31 2017-02-15 苏州立源信智能科技有限公司 Truss robot with automatic cooling function
CN107717970A (en) * 2017-11-21 2018-02-23 苏州夏木自动化科技有限公司 A kind of double column machinery arms
CN107838596A (en) * 2017-10-27 2018-03-27 孙洪军 A kind of intelligent automatic welding device applied widely based on Internet of Things
CN107971665A (en) * 2017-11-09 2018-05-01 江苏新光数控技术有限公司 A kind of welding manipulator with quick cooling function
CN108436343A (en) * 2018-06-06 2018-08-24 陈燕 A kind of multifunctional industrial robot for intelligence manufacture automatic production line
CN108481325A (en) * 2018-04-28 2018-09-04 复旦大学 A kind of puma manipulator and Hong Wei Intelligent weldings robot
CN108724150A (en) * 2017-04-17 2018-11-02 日特机械工程株式会社 Robot device
CN108747107A (en) * 2018-06-06 2018-11-06 陈燕 A kind of automation can remote monitoring factory
CN109014667A (en) * 2018-06-06 2018-12-18 陈燕 A kind of automated production assembly system based on intelligent industrial robot
CN110238833A (en) * 2019-06-20 2019-09-17 中山市煜豹智能设备有限公司 Manipulator
CN110434608A (en) * 2019-07-29 2019-11-12 保定市屹马汽车配件制造有限公司 A kind of automobile exhaust pipe processing device
CN110549048A (en) * 2019-08-28 2019-12-10 南京涵曦月自动化科技有限公司 Rotary automatic welding robot and welding method thereof

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EP2561948A1 (en) * 2011-08-24 2013-02-27 Wartmann Technologie AG Device for and method of manufacturing a flange-tube-flange element using friction stir welding
CN104511897A (en) * 2013-09-29 2015-04-15 张祥 Novel rectangular coordinate robot device
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106393069A (en) * 2016-10-31 2017-02-15 苏州立源信智能科技有限公司 Truss robot with automatic cooling function
CN108724150A (en) * 2017-04-17 2018-11-02 日特机械工程株式会社 Robot device
CN107838596A (en) * 2017-10-27 2018-03-27 孙洪军 A kind of intelligent automatic welding device applied widely based on Internet of Things
CN107971665A (en) * 2017-11-09 2018-05-01 江苏新光数控技术有限公司 A kind of welding manipulator with quick cooling function
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CN108481325A (en) * 2018-04-28 2018-09-04 复旦大学 A kind of puma manipulator and Hong Wei Intelligent weldings robot
CN108436343A (en) * 2018-06-06 2018-08-24 陈燕 A kind of multifunctional industrial robot for intelligence manufacture automatic production line
CN108436343B (en) * 2018-06-06 2020-11-13 聊城锐利机械设备有限公司 Multifunctional industrial robot for intelligent manufacturing automatic production line
CN108747107A (en) * 2018-06-06 2018-11-06 陈燕 A kind of automation can remote monitoring factory
CN109014667B (en) * 2018-06-06 2021-02-05 河南省乾憬光电科技有限公司 Automatic production and assembly system based on intelligent industrial robot
CN109014667A (en) * 2018-06-06 2018-12-18 陈燕 A kind of automated production assembly system based on intelligent industrial robot
CN110238833A (en) * 2019-06-20 2019-09-17 中山市煜豹智能设备有限公司 Manipulator
CN110434608A (en) * 2019-07-29 2019-11-12 保定市屹马汽车配件制造有限公司 A kind of automobile exhaust pipe processing device
CN110549048A (en) * 2019-08-28 2019-12-10 南京涵曦月自动化科技有限公司 Rotary automatic welding robot and welding method thereof
CN110549048B (en) * 2019-08-28 2020-04-21 南京涵曦月自动化科技有限公司 Rotary automatic welding robot and welding method thereof
WO2021036351A1 (en) * 2019-08-28 2021-03-04 南京涵曦月自动化科技有限公司 Rotary automatic welding robot and welding method thereof

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Application publication date: 20161012