CN106112316A - A kind of big work space controllable electric push-down welding robot - Google Patents
A kind of big work space controllable electric push-down welding robot Download PDFInfo
- Publication number
- CN106112316A CN106112316A CN201610464996.0A CN201610464996A CN106112316A CN 106112316 A CN106112316 A CN 106112316A CN 201610464996 A CN201610464996 A CN 201610464996A CN 106112316 A CN106112316 A CN 106112316A
- Authority
- CN
- China
- Prior art keywords
- electric pushrod
- hooke
- hinge
- support rod
- main support
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
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
-
- 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
Abstract
A kind of motor push rod type welding robot, including rotation platform, electric pushrod, main support rod, cross bar and wire-feed motor, described electric pushrod forms lifting mechanism with main support rod, realize the robot multi-direction motion in work space, described electric pushrod forms swing mechanism with cross bar, realizing welder swinging up and down in work space, wire-feed motor is fixed on cross bar.Present configuration is simple, can meet the welding job in different operating space, use the type of drive of electric pushrod simultaneously, it is to avoid conventional serial revolute's inertia is big, the shortcoming that dynamic property is unstable.
Description
Technical field
The present invention relates to industrial robot field, especially a kind of big work space controllable electric push-down welding robot
People.
Background technology
Industrial robot is the multi-joint manipulator towards industrial circle or multivariant robot.Industrial robot is
Automatically perform the installations of work, be to realize a kind of machine of various function by self power and control ability.Due to existing
Developing rapidly for computer technology, Multi-axis motion control technology is the most ripe, and the cost of industrial robot is gradually lowered, at present
Have been enter into the explosive growth stage.And welding robot is as the one of industrial robot, occupy bigger proportion.Traditional pass
Motor is all arranged on joint by joint formula welding robot so that mechanical arm seems heavy, has that rotary inertia is big, poor rigidity
And cumulative error is big etc. not enough, the dynamic performance of mechanism is poor, it is difficult to meet high-speed, high precision requirement day by day, so how
Ensureing robot manipulating task motility, in high precision, on the premise of high reliability, meet heavy-duty machines robot mechanism requirement, become perhaps
The major issue that many scholars and mechanism are inquired into.
Summary of the invention
It is an object of the invention to provide a kind of big work space controllable electric push-down welding robot, it is possible to solve to pass
The system shortcoming that serial manipulator rotary inertia is big, dynamic property is bad,
The present invention is achieved through the following technical solutions object above: a kind of big work space controllable electric push-down bonding machine
Device people, including base, rotation platform, lifting mechanism and swing mechanism, described rotation platform is arranged on base by servo electricity
Machine drives, and described lifting mechanism and the concrete structure of swing mechanism and annexation be:
Described lifting mechanism include rotation platform, the first electric pushrod, the first Hooke's hinge, the second Hooke's hinge, main support rod,
Second electric pushrod, the 3rd Hooke's hinge, the 4th Hooke's hinge and the first revolute pair, described first electric pushrod one end passes through first
Hooke's hinge is connected with rotation platform, and the other end is connected with main support rod by the second Hooke's hinge, and second electric pushrod one end is passed through
3rd Hooke's hinge is connected with rotation platform, and the other end is connected with main support rod by the 4th Hooke's hinge, and the main support rod other end leads to
Crossing the first revolute pair to be connected with rotation platform, rotation platform is arranged on base,
Described swing mechanism includes the 3rd electric pushrod, the second revolute pair, cross bar, the 3rd revolute pair, the 4th revolute pair, front
End performs device and wire-feed motor, and described 3rd electric pushrod one end is fixed on main support rod, and the other end is by the second rotation
Pair is connected with cross bar, and in the middle of cross bar, one end is connected with main support rod by the 3rd revolute pair, and cross bar end passes through the 4th revolute pair
Performing device with front end to be connected, wire-feed motor is fixed on cross bar.
The present invention has the prominent advantages that:
1, using electric pushrod type of drive to avoid, that motor is contained in the rotary inertia that joint brings is excessive, dynamic
The shortcomings such as energy is unstable, simple in construction, assembling is easily.
2, electric pushrod running precision is high, self-locking property is good so that this welding robot has preferable service behaviour.
3, the torsional forces that Butt welding gun cable produces in the course of the work is less, extends the service life of cable.
Accompanying drawing explanation
Fig. 1 is the structural representation of big work space controllable electric push-down welding robot of the present invention.
Fig. 2 is the schematic rear view of big work space controllable electric push-down welding robot of the present invention.
Fig. 3 is that the first duty of big work space controllable electric push-down welding robot of the present invention is shown
It is intended to.
Fig. 4 is that the second duty of big work space controllable electric push-down welding robot of the present invention is shown
It is intended to.
Figure is labeled as: base 1, rotation platform the 2, first revolute pair 3, main support rod the 4, second Hooke's hinge the 5, the 3rd are electronic
Push rod the 6, second revolute pair the 7, the 3rd revolute pair 8, cross bar 9, wire-feed motor the 10, the 4th revolute pair 11, front end perform device the 12, the 4th
Hooke's hinge the 13, second electric pushrod the 14, the 3rd Hooke's hinge the 15, first electric pushrod the 16, first Hooke's hinge 17.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
As shown in Figure 1 to Figure 2, big work space controllable electric push-down welding robot of the present invention, the end of including
Seat 1, rotation platform 2, wire-feed motor 10, front end perform device 12, lifting mechanism and swing mechanism.Described rotation platform 2 is installed
By driven by servomotor on base 1, lifting mechanism and the concrete structure of swing mechanism and connected mode be:
Described lifting mechanism include first electric pushrod the 16, second electric pushrod 14, main support rod the 4, first Hooke's hinge 17,
Second Hooke's hinge the 5, the 3rd Hooke's hinge the 15, the 4th Hooke's hinge 13, one end of the first electric pushrod 16 by the first Hooke's hinge 17 with
Rotation platform 2 connects, and the other end of the first electric pushrod 16 is connected with main support rod 4 by the second Hooke's hinge 5, and second electronic pushes away
One end of bar 14 is connected with rotation platform by the 3rd Hooke's hinge 15, and the other end of the second electric pushrod 14 passes through the 4th Hooke's hinge
13 are connected with one end of main support rod 4, and the other end of main support rod 4 is connected with rotation platform 2 by the first revolute pair 3.
Described swing mechanism includes that the 3rd electric pushrod 6, cross bar 9, front end perform device 12, the one of the 3rd electric pushrod 6
End is fixed on main support rod 4, and the other end of the 3rd electric pushrod 6 is connected with cross bar 9 first end by the second revolute pair 7, cross bar 9
Second end is connected with main support rod 4 by the 3rd revolute pair 8, and cross bar 9 the 3rd end performs dress by the 4th revolute pair 11 with front end
Putting 12 connections, front end performs device 12 and is fixed on horizontal stroke by the driven by servomotor being arranged in the 4th revolute pair 11, wire-feed motor 10
On bar 9.
Operation principle and process: cooperate under promotion at the first electric pushrod and the second electric pushrod so that this machine
Structure can realize the motion in work space, and after arriving predetermined work position, under the drive of the 3rd electric pushrod, front end is welded
Rifle can obtain the adjustment of pose to a certain extent, and then realizes predetermined welding track.
Claims (2)
1. a big work space controllable electric push-down welding robot, including base, rotation platform, lifting mechanism and pendulum
Motivation structure, it is characterised in that described lifting mechanism and the concrete structure of swing mechanism and annexation be:
Described lifting mechanism include rotation platform, the first electric pushrod, the first Hooke's hinge, the second Hooke's hinge, main support rod, second
Electric pushrod, the 3rd Hooke's hinge, the 4th Hooke's hinge and the first revolute pair, the first Hooke is passed through in described first electric pushrod one end
Hinge is connected with rotation platform, and the other end is connected with main support rod by the second Hooke's hinge, and second electric pushrod one end passes through the 3rd
Hooke's hinge is connected with rotation platform, and the other end is connected with main support rod by the 4th Hooke's hinge, and the main support rod other end passes through the
One revolute pair is connected with rotation platform, and rotation platform is arranged on base,
Described swing mechanism includes that the 3rd electric pushrod, the second revolute pair, cross bar, the 3rd revolute pair, the 4th revolute pair, front end are held
Luggage is put and wire-feed motor, and described 3rd electric pushrod one end is fixed on main support rod, the other end by the second revolute pair with
Cross bar the first end connects, and cross bar the second end is connected with main support rod by the 3rd revolute pair, and cross bar the 3rd end is by the 4th rotation
Pair performs device with front end and is connected, and wire-feed motor is fixed on cross bar.
Big work space controllable electric push-down welding robot the most according to claim 1, it is characterised in that described rotation
Turn stage+module on base by driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464996.0A CN106112316A (en) | 2016-06-23 | 2016-06-23 | A kind of big work space controllable electric push-down welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464996.0A CN106112316A (en) | 2016-06-23 | 2016-06-23 | A kind of big work space controllable electric push-down welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106112316A true CN106112316A (en) | 2016-11-16 |
Family
ID=57268221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610464996.0A Pending CN106112316A (en) | 2016-06-23 | 2016-06-23 | A kind of big work space controllable electric push-down welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106112316A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD214081A1 (en) * | 1983-04-04 | 1984-10-03 | Klement Gottwald Werke Veb | SCHWEISSBRENNERTRAEGER |
| CN202378046U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Robot mechanism with seven ranges of motion in space |
| CN102837306A (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod manipulator |
| CN104526678A (en) * | 2014-12-30 | 2015-04-22 | 广西科技大学 | Explosive-handling robot |
| CN104669245A (en) * | 2015-01-09 | 2015-06-03 | 广西大学 | Four-degree-of-freedom articulated stepping motor driven teaching manipulator |
-
2016
- 2016-06-23 CN CN201610464996.0A patent/CN106112316A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD214081A1 (en) * | 1983-04-04 | 1984-10-03 | Klement Gottwald Werke Veb | SCHWEISSBRENNERTRAEGER |
| CN102837306A (en) * | 2011-10-12 | 2012-12-26 | 广西大学 | Electric push rod manipulator |
| CN202378046U (en) * | 2011-12-28 | 2012-08-15 | 广西大学 | Robot mechanism with seven ranges of motion in space |
| CN104526678A (en) * | 2014-12-30 | 2015-04-22 | 广西科技大学 | Explosive-handling robot |
| CN104669245A (en) * | 2015-01-09 | 2015-06-03 | 广西大学 | Four-degree-of-freedom articulated stepping motor driven teaching manipulator |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161116 |