CN106425199A - Vehicle body welding manipulator for vehicle production - Google Patents
Vehicle body welding manipulator for vehicle production Download PDFInfo
- Publication number
- CN106425199A CN106425199A CN201610968795.4A CN201610968795A CN106425199A CN 106425199 A CN106425199 A CN 106425199A CN 201610968795 A CN201610968795 A CN 201610968795A CN 106425199 A CN106425199 A CN 106425199A
- Authority
- CN
- China
- Prior art keywords
- fixed
- swing arm
- oscillating cylinder
- car body
- body welding
- 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.)
- Granted
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
Abstract
The invention discloses a vehicle body welding manipulator for vehicle production. The vehicle body welding manipulator for vehicle production comprises a mobile base, a lifting assembly, an extension cross beam, a first swing arm, a first swing cylinder, a swing cylinder base assembly, a second swing arm, a second swing cylinder and a welding gun; the mobile base is fixedly connected to a workshop ground; the lifting assembly is vertically and fixedly connected to the mobile base; the extension cross beam is horizontally and fixedly connected to one side of the lifting assembly; the middle part of the first swing arm is connected to the top end of the extension cross beam through a pin shaft; the swing cylinder base assembly is fixedly connected to the extension cross beam; two ends of the swing cylinder are respectively connected with the first swing arm and the swing cylinder base assembly through pin shafts; the middle part of the second swing arm is connected to the lower end of the first swing arm through a pin shaft; two ends of the second swing cylinder are respectively connected with the first swing arm and the second swing arm; and the welding gun is fixedly connected to the front end of the second swing arm. The vehicle body welding manipulator for vehicle production has such advantages as simple structure, automatic operation and good use effect.
Description
Technical field
The present invention relates to automotive automation production equipment technical field, specifically a kind of automobile production car body electroplating equipment wielding machine
Hand.
Background technology
Existing automobile industry is the important pillar industry of China, and especially into 21st century, China has become as the world
Automobile production and consumption big country.Show according to China Automobile Industry market survey report, the volume of production and marketing of calendar year 2001 Chinese automobile is only
More than 200 ten thousand, but break through 7,000,000 in pairs in volume of production and marketing in 2006, Ministry of Industry and Information issues annual auto industry economy in 2014
Ruuning situation, data display, 2349.19 ten thousand, China's cumulative sale automobile in 2014, increase by 6.9% on a year-on-year basis, volume of production and marketing keeps
The first in the world.In August, 2011 end, China's automobile pollution breaks through 100,000,000 first it is contemplated that arriving the year two thousand twenty, and China's automobile is possessed
Amount will break through 200,000,000.
The prosperity and development of car industry are inseparable with modern science technological progress.With scientific and technical progress,
The development of Robotics, the production line carrying out car load car body welding by manipulator in automobile production field is very ripe,
But remain a need for manually participating in welding, main reasons is that some welding position angular deflections are larger, and position is more deep, existing
Some welding manipulators cannot touch these regions.
Chinese patent 201210310121.7 discloses a kind of high in machining efficiency and good automatically imitative type electricity of crudy
Weldering manipulator.The present invention employs the following technical solutions：A kind of full-automatic profiling electric welding manipulator, including：Car body；Carbon dioxide is protected
Shield welding machine and gas cylinder, are installed on car body；Arm support part, including the principal arm being connected with car body and the folding being flexibly connected with principal arm
Arm；Imitative type motion, including casing, motor, gear unit, main shaft and positioning seat, wherein casing is connected with folding arm, motor warp
Gear unit is connected with main shaft, and motor and gear unit are arranged in casing, and positioning seat is arranged on main shaft end；Welding wire, through sending
Silk mechanism is connected with main shaft upper end；Welding gun, is connected with main shaft；And switch board, it is arranged on principal arm.Beneficial effect of the present invention：Take
For the manual welding falling behind, substantially increase operating efficiency, save labour and improve welding quality and presentation quality, and
It is simple to operate easy to learn.There are the problems referred to above.
Content of the invention
The technical problem to be solved in the present invention is the defect overcoming prior art, provides a kind of automobile production car body to weld
Manipulator.
For solving above-mentioned technical problem, the present invention provides technical scheme below：A kind of automobile production car body electroplating equipment wielding machine
Hand, including：Mobile base, lift assembly, telescoping crossbeam, the first swing arm, the first oscillating cylinder, oscillating cylinder seat assembly,
Two swing arms, the second oscillating cylinder, welding gun, described mobile base is fixed in mill floor, and described lift assembly is vertically solid
It is connected in mobile base, described telescoping crossbeam level is fixed in lift assembly side, passes through in the middle part of the first described swing arm
Bearing pin is connected to the top of telescoping crossbeam, and described oscillating cylinder seat assembly is fixed on telescoping crossbeam, described oscillating cylinder
Two ends are connected with the first swing arm, oscillating cylinder seat assembly respectively by bearing pin, pass through bearing pin in the middle part of the second described swing arm
It is connected to the first swing arm lower end, the second described oscillating cylinder two ends are connected with the first swing arm, the second swing arm respectively, institute
The welding gun stated is fixed in the front end of the second swing arm.
Described walking pedestal is made up of fixed block, guide rod, movable block, mobile screw mandrel, movable motor, described fixed block
For two, it is respectively and fixedly connected to ground, described guide rod is two, and guide rod two ends are respectively and fixedly connected on fixed block, and two guide rods are put down
Row setting, described movable block is slidably connected on guide rod, and has a screwed hole in the middle part of movable block, described mobile screw mandrel two
End is arranged on fixed block by bearing block, and described movable motor is fixed on fixed block, and movable motor output shaft and shifting
Dynamic screw mandrel is affixed.
Further, described lift assembly is by square traveller, chute, sliding sleeve, the fillet of screw, elevating screw, lifting motor
Composition, described square traveller is vertically fixed on movable block, and described chute is fixed on square traveller, and described sliding sleeve leads to
Cross slide to be connected on square traveller, the described fillet of screw is fixed in outside sliding sleeve, described elevating screw two ends are passed through
Bearing block is connected to square traveller top, on movable block, described lifting motor is fixed on square traveller, and lifts electricity
Machine output shaft is affixed with elevating screw.
Further, described telescoping crossbeam is made up of outer ring, inner ring, telescopic screw rod, telescope motor, and described outer ring is
Hollow pipe, and outer ring is internally provided with slide rail, described inner ring is solid post, and inner ring is slidably connected in outer ring by slide rail
Screwed hole is had on portion, and inner ring axis, described telescope motor is fixed in outer ring end, described telescopic screw rod is fixed in be stretched
On contracting motor output shaft, and telescopic screw rod is connected with inner ring by screwed hole.
Further, described oscillating cylinder seat assembly is made up of sliding shoe, the screw mandrel that walks, mounting blocks, controlled motor, institute
The sliding shoe stated is connected on telescoping crossbeam by slide, and has screwed hole on sliding shoe, and described mounting blocks are affixed
On telescoping crossbeam, mounting blocks are two, and the described screw mandrel two ends that walk are fixed on mounting blocks by bearing block, and the silk that walks
Bar is threaded connection with mounting blocks, and described controlled motor output shaft is affixed with the screw mandrel that walks.
Further, the first described swing arm is provided with the first expansion link.
Further, the second described swing arm is provided with the second expansion link.
Further, the second described oscillating cylinder is connected with the first swing arm by oscillating cylinder seat assembly.
Further, described mobile base, lift assembly, telescoping crossbeam, oscillating cylinder, oscillating cylinder seat assembly,
One expansion link, the second expansion link, welding gun are connected by holding wire with same controller.
Further, the cabling pipeline of described welding gun is hard bellows.
The present invention compared with prior art has an advantageous effect in that：
1. adopting oscillating cylinder seat assembly, changing the position of oscillating cylinder end thus increasing the amplitude of fluctuation of swing arm further
Degree, thus obtain the angle of needs；
2. two swing arms can allow equipment touch the region that legacy equipment is difficult to touch, and realizes full automatic production；
3. automation mechanized operation, welding effect is good, and using effect is good.
The present invention has the advantages that structure is simple, automation mechanized operation, using effect are good.
Brief description
Fig. 1 is present configuration schematic diagram；
Fig. 2 is mobile base structural representation in the present invention；
Fig. 3 is the structural representation of oscillating cylinder seat assembly part in the present invention；
In figure is numbered：1- mobile base；2- lift assembly；3- telescoping crossbeam；4- first swing arm；5- first oscillating cylinder；
6- oscillating cylinder seat assembly；7- second swing arm；8- second oscillating cylinder；9- welding gun；51- first expansion link；52- second stretches
Bar；
11- fixed block；12- guide rod；13- movable block；14- moves screw mandrel；15- movable motor；
The square traveller of 21-；22- chute；23- sliding sleeve；The 24- fillet of screw；25- elevating screw；26- lifting motor；
31- outer ring；32- inner ring；33- telescopic screw rod；34- telescope motor；
41- sliding shoe；42- walks screw mandrel；43- mounting blocks；44- controlled motor.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.
A kind of automobile production car body welding manipulator as shown in Figure 1, 2, 3, including：Mobile base 1, lift assembly 2,
Telescoping crossbeam 3, the first swing arm 4, the first oscillating cylinder 5, oscillating cylinder seat assembly 6, the second swing arm 7, the second oscillating cylinder
8th, welding gun 9, described mobile base 1 is fixed in mill floor, and described lift assembly 2 is vertically fixed in mobile base 1, institute
Telescoping crossbeam 3 level stated is fixed in lift assembly 2 side, and described the first swing arm 4 middle part is connected to flexible by bearing pin
The top of crossbeam 3, described oscillating cylinder seat assembly 6 is fixed on telescoping crossbeam 3, and described the first oscillating cylinder 5 two ends lead to
Cross bearing pin to be connected with the first swing arm 4, oscillating cylinder seat assembly 6 respectively, described the second swing arm 7 middle part is connected by bearing pin
In the first swing arm 4 lower end, described the second oscillating cylinder 8 two ends are connected with the first swing arm 4, the second swing arm 7 respectively, institute
The welding gun 9 stated is fixed in the front end of the second swing arm 7.
Further, described walking pedestal 1 is by fixed block 11, guide rod 12, movable block 13, mobile screw mandrel 14, walking electricity
Machine 15 forms, and described fixed block 11 is two, is respectively and fixedly connected to ground, and described guide rod 12 is two, and guide rod 12 two ends are divided
It is not fixed on fixed block 11, two guide rods 12 be arranged in parallel, described movable block 13 is slidably connected on guide rod 12, and mobile
A screwed hole is had, described mobile screw mandrel 14 two ends are arranged on fixed block 11 by bearing block, described row in the middle part of block 13
Walk motor 15 to be fixed on fixed block 11, and movable motor 15 output shaft is affixed with mobile screw mandrel 14.
Further, described lift assembly 2 is by square traveller 21, chute 22, sliding sleeve 23, the fillet of screw 24, elevating screw
25th, lifting motor 26 forms, and described square traveller 21 is vertically fixed on movable block 13, and described chute 22 is fixed in square
On traveller 21, described sliding sleeve 23 is slidably connected on square traveller 21 by chute 22, and the described fillet of screw 24 is fixed in cunning
Outside set 23, described elevating screw 25 two ends by bearing block be connected to square traveller 21 top, movable block 13 affixed on, institute
The lifting motor 26 stated is fixed on square traveller 21, and lifting motor 26 output shaft is affixed with elevating screw 25.
Further, described telescoping crossbeam 3 is made up of outer ring 31, inner ring 32, telescopic screw rod 33, telescope motor 34, institute
The outer ring 31 stated is hollow pipe, and outer ring 31 is internally provided with slide rail, and described inner ring 32 is solid post, and inner ring 32 passes through slide rail
It is slidably connected inside outer ring 31, and screwed hole is had on inner ring 32 axis, described telescope motor 34 is fixed in outer ring 31 end
End, described telescopic screw rod 33 is fixed on telescope motor 34 output shaft, and telescopic screw rod 33 passes through screwed hole with inner ring 32 even
Connect.
Further, described oscillating cylinder seat assembly 6 is by sliding shoe 41, the screw mandrel 42 that walks, mounting blocks 43, controlled motor
44 compositions, described sliding shoe 41 is connected on telescoping crossbeam 3 by slide, and has screwed hole on sliding shoe 41, institute
The mounting blocks 43 stated are fixed on telescoping crossbeam 3, and mounting blocks 43 are two, and it is solid that bearing block is passed through at described screw mandrel 42 two ends that walk
Be connected on mounting blocks 43, and the screw mandrel 42 that walks be threaded connection with mounting blocks 43, described controlled motor 44 output shaft with walk
Position screw mandrel 42 is affixed.
Further, the first described swing arm 4 is provided with the first expansion link 51.
Further, the second described swing arm 7 is provided with the second expansion link 52.
Further, the second described oscillating cylinder 8 is connected with the first swing arm 4 by oscillating cylinder seat assembly 6.
Further, described mobile base 1, lift assembly 2, telescoping crossbeam 3, the first oscillating cylinder 5, oscillating cylinder seat
Assembly 6 second oscillating cylinder 8, welding gun 9 are connected by holding wire with same controller.
Further, the cabling pipeline of described welding gun 9 is hard bellows.
The principle of the present invention and advantage：The invention discloses a kind of automobile production car body welding manipulator, by movement
Base 1 changes horizontal cross position, and lift assembly 2 changes height, and telescoping crossbeam 3 changes horizontal lengthwise position the first swing arm 4
Change pendulum angle, oscillating cylinder seat assembly 6 controls the position of cylinder, 7 two change angles of the second swing arm, allow working end energy
Touch all positions completely, thus realizing whole automatic weldings.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of automobile production car body welding manipulator, including：Mobile base（1）, lift assembly（2）, telescoping crossbeam（3）、
First swing arm（4）, the first oscillating cylinder（5）, oscillating cylinder seat assembly（6）, the second swing arm（7）, the second oscillating cylinder
（8）, welding gun（9）It is characterised in that：Described mobile base（1）It is fixed in mill floor, described lift assembly（2）Vertically
It is fixed in mobile base（1）On, described telescoping crossbeam（3）Level is fixed in lift assembly（2）Side, described first swing
Arm（4）Middle part is connected to telescoping crossbeam by bearing pin（3）Top, described oscillating cylinder seat assembly（6）It is fixed in flexible horizontal stroke
Beam（3）On, described the first oscillating cylinder（5）Two ends pass through bearing pin respectively with the first swing arm（4）, oscillating cylinder seat assembly
（6）Connect, described the second swing arm（7）Middle part is connected to the first swing arm by bearing pin（4）Lower end, described second swing
Cylinder（8）Two ends respectively with the first swing arm（4）, the second swing arm（7）Connect, described welding gun（9）It is fixed in the second swing
Arm（7）Front end.
2. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：Mobile base（1）
By fixed block（11）, guide rod（12）, movable block（13）, mobile screw mandrel（14）, movable motor（15）Composition, described fixed block
（11）For two, it is respectively and fixedly connected to ground, described guide rod（12）For two, guide rod（12）Two ends are respectively and fixedly connected to fixed block
（11）On, two guide rods（12）It is arranged in parallel, described movable block（13）It is slidably connected at guide rod（12）On, and movable block（13）
Middle part has a screwed hole, described mobile screw mandrel（14）Two ends are arranged on fixed block by bearing block（11）On, described row
Walk motor（15）It is fixed in fixed block（11）On, and movable motor（15）Output shaft and mobile screw mandrel（14）Affixed.
3. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：Described lifting is total
Become（2）By square traveller（21）, chute（22）, sliding sleeve（23）, the fillet of screw（24）, elevating screw（25）, lifting motor（26）Group
Become, described square traveller（21）Vertically it is fixed in movable block（13）On, described chute（22）It is fixed in square traveller（21）
On, described sliding sleeve（23）By chute（22）It is slidably connected at square traveller（21）On, the described fillet of screw（24）It is fixed in
Sliding sleeve（23）Outside, described elevating screw（25）Two ends are connected to square traveller by bearing block（21）Top, movable block
（13）On, described lifting motor（26）It is fixed in square traveller（21）On, and lifting motor（26）Output shaft and elevating screw
（25）Affixed.
4. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：Described flexible horizontal stroke
Beam（3）By outer ring（31）, inner ring（32）, telescopic screw rod（33）, telescope motor（34）Composition, described outer ring（31）For hollow
Pipe, and outer ring（31）It is internally provided with slide rail, described inner ring（32）For solid post, inner ring（32）It is slidably connected at by slide rail
Outer ring（31）Inside, and inner ring（32）Screwed hole had on axis, described telescope motor（34）It is fixed in outer ring（31）End,
Described telescopic screw rod（33）It is fixed in telescope motor（34）On output shaft, and telescopic screw rod（33）By screwed hole and inner ring
（32）Connect.
5. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：Described swing gas
Cylinder seat assembly（6）By sliding shoe（41）, walk screw mandrel（42）, mounting blocks（43）, controlled motor（44）Composition, described sliding shoe
（41）Telescoping crossbeam is connected to by slide（3）On, and sliding shoe（41）On have a screwed hole, described mounting blocks（43）
It is fixed in telescoping crossbeam（3）On, mounting blocks（43）For two, the described screw mandrel that walks（42）Two ends are fixed in peace by bearing block
Dress block（43）On, and the screw mandrel that walks（42）With mounting blocks（43）It is threaded connection, described controlled motor（44）Output shaft with
Walk screw mandrel（42）Affixed.
6. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：The first described pendulum
Swing arm（4）On be provided with the first expansion link（51）.
7. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：The second described pendulum
Swing arm（7）On be provided with the second expansion link（52）.
8. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：The second described pendulum
Take offence cylinder（8）By oscillating cylinder seat assembly（6）With the first swing arm（4）Connect.
9. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：Described mobile bottom
Seat（1）, lift assembly（2）, telescoping crossbeam（3）, the first oscillating cylinder（5）, oscillating cylinder seat assembly（6）Second oscillating cylinder
（8）, welding gun（9）It is connected by holding wire with same controller.
10. a kind of automobile production according to claim 1 with car body welding manipulator it is characterised in that：Described welding gun
（9）Cabling pipeline be hard bellows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968795.4A CN106425199B (en) | 2016-11-06 | 2016-11-06 | Car body welding manipulator for automobile production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968795.4A CN106425199B (en) | 2016-11-06 | 2016-11-06 | Car body welding manipulator for automobile production |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106425199A true CN106425199A (en) | 2017-02-22 |
| CN106425199B CN106425199B (en) | 2021-05-25 |
Family
ID=58180609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610968795.4A Active CN106425199B (en) | 2016-11-06 | 2016-11-06 | Car body welding manipulator for automobile production |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106425199B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030430A (en) * | 2017-04-27 | 2017-08-11 | 陕西理工大学 | A kind of plate sheet welding semiautomatic welding welding fixture |
| CN107243708A (en) * | 2017-06-13 | 2017-10-13 | 王炜杰 | A kind of welder |
| CN107243707A (en) * | 2017-06-13 | 2017-10-13 | 王炜杰 | A kind of metal welding device |
| CN107378326A (en) * | 2017-09-04 | 2017-11-24 | 江西洪都航空工业集团有限责任公司 | A kind of welding gun controller for being directed to Irregular Boundary Surface and irregular weld seam |
| CN107514519A (en) * | 2017-08-31 | 2017-12-26 | 安徽信息工程学院 | Pipe robot |
| CN108080845A (en) * | 2017-06-13 | 2018-05-29 | 惠安县南兴电子科技有限公司 | A kind of welding equipment |
| CN108080823A (en) * | 2017-06-13 | 2018-05-29 | 惠安县南兴电子科技有限公司 | A kind of new-type welder |
| CN109158807A (en) * | 2018-08-31 | 2019-01-08 | 南京涵铭置智能科技有限公司 | A kind of Intelligent welding mechanical arm |
| CN109632145A (en) * | 2019-01-29 | 2019-04-16 | 江苏立讯机器人有限公司 | A kind of adjustable temperature measuring equipment in position |
| CN110860831A (en) * | 2019-12-06 | 2020-03-06 | 江苏圣耐普特矿山设备制造有限公司 | Welding device for manufacturing mining equipment |
| CN111002319A (en) * | 2019-12-04 | 2020-04-14 | 武汉市海沁医疗科技有限公司 | Human body recognition mechanical arm for massage device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107030430B (en) * | 2017-04-27 | 2019-02-15 | 陕西理工大学 | A kind of plate sheet welding semiautomatic welding welding fixture |
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| CN107243707A (en) * | 2017-06-13 | 2017-10-13 | 王炜杰 | A kind of metal welding device |
| CN108080845A (en) * | 2017-06-13 | 2018-05-29 | 惠安县南兴电子科技有限公司 | A kind of welding equipment |
| CN108080823A (en) * | 2017-06-13 | 2018-05-29 | 惠安县南兴电子科技有限公司 | A kind of new-type welder |
| CN107514519A (en) * | 2017-08-31 | 2017-12-26 | 安徽信息工程学院 | Pipe robot |
| CN107378326A (en) * | 2017-09-04 | 2017-11-24 | 江西洪都航空工业集团有限责任公司 | A kind of welding gun controller for being directed to Irregular Boundary Surface and irregular weld seam |
| CN109158807A (en) * | 2018-08-31 | 2019-01-08 | 南京涵铭置智能科技有限公司 | A kind of Intelligent welding mechanical arm |
| CN109632145A (en) * | 2019-01-29 | 2019-04-16 | 江苏立讯机器人有限公司 | A kind of adjustable temperature measuring equipment in position |
| CN111002319A (en) * | 2019-12-04 | 2020-04-14 | 武汉市海沁医疗科技有限公司 | Human body recognition mechanical arm for massage device |
| CN111002319B (en) * | 2019-12-04 | 2021-03-02 | 武汉市海沁医疗科技有限公司 | Human body recognition mechanical arm for massage device |
| CN110860831A (en) * | 2019-12-06 | 2020-03-06 | 江苏圣耐普特矿山设备制造有限公司 | Welding device for manufacturing mining equipment |
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|---|---|
| CN106425199B (en) | 2021-05-25 |
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