CN107127746A - The mechanical wrist of wrist pendulum motor driving - Google Patents

The mechanical wrist of wrist pendulum motor driving Download PDF

Info

Publication number
CN107127746A
CN107127746A CN201710375127.5A CN201710375127A CN107127746A CN 107127746 A CN107127746 A CN 107127746A CN 201710375127 A CN201710375127 A CN 201710375127A CN 107127746 A CN107127746 A CN 107127746A
Authority
CN
China
Prior art keywords
joint
cylinder
wrist
pillar
electric welding
Prior art date
Application number
CN201710375127.5A
Other languages
Chinese (zh)
Inventor
彭科
Original Assignee
成都众智优学教育咨询有限公司
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 成都众智优学教育咨询有限公司 filed Critical 成都众智优学教育咨询有限公司
Priority to CN201710375127.5A priority Critical patent/CN107127746A/en
Publication of CN107127746A publication Critical patent/CN107127746A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The invention discloses the mechanical wrist of wrist pendulum motor driving, it is characterized in that, including the electric welding pen mounting cylinder being sequentially connected from left to right, retracting cylinder, the first joint, the first mounting cylinder, adapter and the second joint being from top to bottom sequentially connected, the first pillar, the 3rd joint, the second pillar, fixed base station, adapter is connected with second joint;Electric welding pen mounting cylinder is socketed in inside retracting cylinder;First joint one end is the cylinder table of activity, and the other end is arching, and retracting cylinder clamp are on the inside of the arching in the first joint, and the first mounting cylinder is connected to the cylinder you in the first joint;Adapter rotates certain radian around second joint;First pillar surrounds the 3rd articulation certain radian.The present invention increases the position that electric welding pen can be touched by the first joint, second joint, the 3rd joint, expands the working range of electric welding pen, is used equivalent to the quantity for reducing arc welding robot, equivalent to the operating efficiency for improving arc welding robot.

Description

The mechanical wrist of wrist pendulum motor driving
Technical field
The present invention relates to mechanical field, and in particular to the mechanical wrist of wrist pendulum motor driving.
Background technology
Welding is a kind of labor intensity process more severe than larger, working environment.It is adjoint in welding process Arc light, radiation, high temperature and substantial amounts of splashing and flue dust occurs.In such adverse circumstances, the healthy influence on workman Greatly.But as human society constantly improves, requirement of the people to quality of life and working environment is more and more high;While science The development of technology and technological level, the welding of large-scale important component is more and more, relies solely on manual welding and is difficult to meet weldering Connect the requirement of quality and welding efficiency.The operation that people is replaced with robot is the ideal that the mankind dream of.With industrial technology Raising, robot is widely used in production practices, and there is obvious advantage in robot, extensively compared with manual operations The quality and yield of product can be not only improved using industrial robot, and to guaranteeing personal safety, improves work situation, is mitigated Labor intensity, raises labour productivity, and save material consumption and reduction production cost, there is highly important meaning.With Computer, network technology are the same, and the extensive use of industrial robot increasingly changes the production and living of the mankind.Wherein, welding robot People is the robot being most widely used, and the industrial robot of the whole world nearly half is used for various forms of field of welding processing. In the prior art, the scope of activities of arc welding robot less, limits the use of arc welding robot.
The content of the invention
The technical problems to be solved by the invention are that scope of activities is little, limit the use of arc welding robot, purpose exists In the mechanical wrist for providing the driving of wrist pendulum motor, welding activity periphery is improved, it is ensured that welding quality.
The present invention is achieved through the following technical solutions:
Wrist pendulum motor driving mechanical wrist, it is characterised in that including be sequentially connected from left to right electric welding pen mounting cylinder, Retracting cylinder, the first joint, the first mounting cylinder, adapter and the second joint being from top to bottom sequentially connected, the first pillar, the 3rd Joint, the second pillar, fixed base station, the adapter are connected with second joint;The electric welding pen mounting cylinder is socketed in retracting cylinder It is internal;First joint one end is the cylinder table of activity, and the other end is arching, and the retracting cylinder clamp are in the first joint Arching on the inside of, first mounting cylinder is connected to the cylinder you in the first joint;The adapter surrounds second joint Rotate certain radian;First pillar surrounds the 3rd articulation certain radian;The axis of the second joint and the 3rd is closed The axis of section is vertical.
All circuits of electric welding pen are all exposed in the prior art, with the rotation of arc welding robot, circuit There is a situation where friction, the service life of circuit can be reduced, electric welding pen is arranged in electric welding pen mounting cylinder by the present invention, institute is wired Road concentrates on inside;Electric welding pen mounting cylinder is socketed in retracting cylinder, and retracting cylinder can change length, so as to expand electric welding pen The scope that can be touched;Motor, motor action and the motion that can drive the first joint are installed in the first joint, the first joint Movable cylinder table, which can enclose, to be rotated about axis, and has so promoted the scope of activities of electric welding pen to increase;Adapter inner hollow, adapter Except connection function, moreover it is possible to store the part circuit of arc welding robot, play the purpose of protection circuit;The institute of second joint action It is vertical with the place plane of the 3rd joint action in plane, place plane and second joint or the 3rd joint of the first joint action The place plane of action is vertical.
Further, sliding bottom and carriage are from top to bottom disposed between the second pillar and fixed base station, It is mutually twisted between the sliding bottom and carriage by chute.Pass through sliding bottom between second pillar and fixed base station With carriage connection, the flexibility of arc welding robot is added, the position that electric welding pen can be touched further is expanded.
Further, the activity point of view scope in the first joint is 0 °~160 °;The activity point of view scope of the second joint It is 0 °~170 °;The activity point of view scope in the 3rd joint is 0 °~120 °.
The present invention compared with prior art, has the following advantages and advantages:The present invention passes through the first joint, second Joint, the 3rd joint increase the position that electric welding pen can be touched, and expand the working range of electric welding pen, equivalent to reducing arc The quantity of weldering robot is used, equivalent to the operating efficiency for improving arc welding robot.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is schematic structural view of the invention.
Mark and corresponding parts title in accompanying drawing:
1- electric welding pen mounting cylinders, the retracting cylinders of 2- first, the retracting cylinders of 3- second, the joints of 4- first, the mounting cylinders of 5- first, 6- Two mounting cylinders, the soft containment vessels of 7-, 8- adapters, 9- second joints, the pillars of 10- first, the joints of 11- the 3rd, 12- second Post, 13- sliding bottoms, 14- carriages, 15- fixes base station.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the present invention, does not make For limitation of the invention.
Embodiment
As shown in figure 1, wrist pendulum motor driving mechanical wrist, including be sequentially connected from left to right electric welding pen mounting cylinder 1, Retracting cylinder, the first joint 4, the first mounting cylinder 5, adapter 8 and the second joint 9 being from top to bottom sequentially connected, the first pillar 10th, the 3rd joint 11, the second pillar 12, fixed base station 15, the adapter 8 are connected with second joint 9;The electric welding pen is installed Cylinder 1 is socketed in inside retracting cylinder;Described one end of first joint 4 is the cylinder table of activity, and the other end is arching, described flexible Cylinder clamp are on the inside of the arching in the first joint 4, and first mounting cylinder 5 is connected to the cylinder you in the first joint 4;It is described Adapter 8 rotates certain radian around second joint 9;First pillar 9 rotates certain radian around the 3rd joint 11;It is described The axis of second joint 9 is vertical with the axis in the 3rd joint 11.
Sliding bottom 13 and carriage 14, institute are from top to bottom disposed between second pillar 12 and fixed base station 15 State and be mutually twisted between sliding bottom 13 and carriage 14 by chute.
The activity point of view scope in the first joint 4 is 0 °~160 °;The activity point of view scope of the second joint 9 is 0 °~ 170°;The activity point of view scope in the 3rd joint 11 is 0 °~120 °.
All circuits of electric welding pen are all exposed in the prior art, with the rotation of arc welding robot, circuit There is a situation where friction, the service life of circuit can be reduced, electric welding pen is arranged in electric welding pen mounting cylinder 1 by the present invention, is owned Circuit concentrates on inside;Electric welding pen mounting cylinder is socketed in retracting cylinder, and retracting cylinder can change length, so as to expand electric welding pen The scope that can be touched, retracting cylinder include the first retracting cylinder 2 and the second retracting cylinder 3, set two layers of retracting cylinder, further expand Scope;Motor, motor action and the motion that can drive the first joint 4, the activity circle in the first joint 4 are installed in first joint 4 Pylon, which can enclose, to be rotated about axis, and has so promoted the scope of activities of electric welding pen to increase;The inner hollow of adapter 8, adapter 8 except Connection function, moreover it is possible to store the part circuit of arc welding robot, play the purpose of protection circuit;The place that second joint 9 is acted Plane is vertical with the place plane that the 3rd joint 11 is acted, and place plane and the second joint 9 or the 3rd of the action of the first joint 4 are closed The place plane of the action of section 11 is vertical.For convenience of describing, three-dimensional system of coordinate is introduced, if the axis of the first joint 4 motion is Y-axis, The plane that first joint 4 is inswept is then X/Y plane or YZ planes, and the axis of second joint 9 is X-axis, what second joint 9 was acted Plane is then YZ planes, and the place axis of the 3rd joint 11 is Y-axis, and the 3rd joint 11 acts inswept plane for XZ planes, and slides The plane that dynamic base 13 is moved with carriage 14 is then X/Y plane.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included Within protection scope of the present invention.

Claims (3)

1. the mechanical wrist of wrist pendulum motor driving, it is characterised in that including the electric welding pen mounting cylinder being sequentially connected from left to right (1), retracting cylinder, the first joint (4), the first mounting cylinder (5), adapter (8) and the second joint being from top to bottom sequentially connected (9), the first pillar (10), the 3rd joint (11), the second pillar (12), fixed base station (15), the adapter (8) are closed with second Save (9) connection;The electric welding pen mounting cylinder (1) is socketed in inside retracting cylinder;Described first joint (4) one end is movable cylinder Platform, the other end is arching, and the retracting cylinder clamp are on the inside of the arching of the first joint (4), first mounting cylinder (5) it is connected to the cylinder you in the first joint (4);The adapter (8) rotates certain radian around second joint (9);It is described First pillar (9) rotates certain radian around the 3rd joint (11);The axis of the second joint (9) and the 3rd joint (11) Axis is vertical.
2. the mechanical wrist of wrist pendulum motor according to claim 1 driving, it is characterised in that second pillar (12) with Sliding bottom (13) and carriage (14), the sliding bottom (13) are from top to bottom disposed between fixed base station (15) It is mutually twisted between carriage (14) by chute.
3. the mechanical wrist of wrist pendulum motor driving according to claim 1, it is characterised in that first joint (4) Activity point of view scope is 0 °~160 °;The activity point of view scope of the second joint (9) is 0 °~170 °;3rd joint (11) activity point of view scope is 0 °~120 °.
CN201710375127.5A 2017-05-24 2017-05-24 The mechanical wrist of wrist pendulum motor driving CN107127746A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710375127.5A CN107127746A (en) 2017-05-24 2017-05-24 The mechanical wrist of wrist pendulum motor driving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710375127.5A CN107127746A (en) 2017-05-24 2017-05-24 The mechanical wrist of wrist pendulum motor driving

Publications (1)

Publication Number Publication Date
CN107127746A true CN107127746A (en) 2017-09-05

Family

ID=59732184

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710375127.5A CN107127746A (en) 2017-05-24 2017-05-24 The mechanical wrist of wrist pendulum motor driving

Country Status (1)

Country Link
CN (1) CN107127746A (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1270869A (en) * 1999-09-02 2000-10-25 陈炯 Knuckle type arc welding robot
US20040144764A1 (en) * 2003-01-23 2004-07-29 Fanuc Ltd. Torch cale accommodating structure of arc welding robot
CN1575220A (en) * 2001-10-22 2005-02-02 株式会社安川电机 Industrial robot
CN104552288A (en) * 2014-12-30 2015-04-29 青岛中信欧德机械科技股份有限公司 Flexible six-shaft robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1270869A (en) * 1999-09-02 2000-10-25 陈炯 Knuckle type arc welding robot
CN1575220A (en) * 2001-10-22 2005-02-02 株式会社安川电机 Industrial robot
US20040144764A1 (en) * 2003-01-23 2004-07-29 Fanuc Ltd. Torch cale accommodating structure of arc welding robot
CN104552288A (en) * 2014-12-30 2015-04-29 青岛中信欧德机械科技股份有限公司 Flexible six-shaft robot

Similar Documents

Publication Publication Date Title
Yang et al. Feasibility study of a platform type of robotic manipulators from a kinematic viewpoint
JP2014159078A (en) Humanoid robot
CN103737577B (en) A kind of Six-DOF industrial robot driven containing ball screw assembly,
CN100393484C (en) Three-translation and one-rotation parallel mechanism
CN103072047B (en) Small-caliber non-spherical permanent magnet magnetorheological polishing processing machine tool
JP5328782B2 (en) Machine Tools
CN101259618B (en) Three-freedom mobile parallel connection mechanism without redundant bondage
CN201702528U (en) Rectangular-coordinate five-degree-of-freedom welding manipulator
CN103640028B (en) A kind of selective compliance assembly robot arm's structure
CN201792335U (en) Stripping manipulator for cast stone production lines
CN101161428B (en) Plane parallel mechanism with constrained branched chain and its extended mechanical hand
US10399226B2 (en) Multiaxial robot of multitasking
CN103286792B (en) There is the 3-dof parallel robot wrist of core-regulating mechanism
CN102166749B (en) 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism
CN205272977U (en) Industry electric automatization's drawing machinery hand
CN105666234A (en) Machining production line for manufacturing circular shafts
CN102825595A (en) Input-output complete decoupling three-freedom-degree moving parallel robot mechanism
JP5208323B2 (en) Suspended SCARA robot
CN102785239B (en) Industrial robot of six-degrees of freedom
CN103737582B (en) A kind of six degree of freedom welding robot robot mechanism
CN102179807A (en) Parallel mechanism with changeable freedom degree
CN103433932A (en) Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism
CN103753355B (en) One can multi-axis linkage device capable of realizing five-surface machining
CN204725081U (en) A kind of double-manipulator Full-automatic welding positioner
CN103586864A (en) Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication
WW01 Invention patent application withdrawn after publication

Application publication date: 20170905