CN107433413A - Screw type welding robot arm - Google Patents
Screw type welding robot arm Download PDFInfo
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- CN107433413A CN107433413A CN201710572051.5A CN201710572051A CN107433413A CN 107433413 A CN107433413 A CN 107433413A CN 201710572051 A CN201710572051 A CN 201710572051A CN 107433413 A CN107433413 A CN 107433413A
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- rod
- rotating shaft
- fixed
- bar
- hinged
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of screw type welding robot arm, including：Column；Principal arm, it is included in first body of rod, second body of rod and the body of rod of L-shaped the 3rd be hinged successively in same perpendicular；Auxiliary, it includes the 4th body of rod, expansion bracket, the 5th body of rod, the 6th body of rod, the 7th body of rod and the body of rod of L-shaped the 8th set with the principal arm in same perpendicular；Fixed plate, rotating bar and Contraband shape bearing platform, the lower surface of the bearing platform are additionally provided with fixed seat, welding gun are housed in the fixed seat.The present invention can pass through design of cranking arm, swing horizontally and vertically is realized, manipulating rotating bar by the first rocking bar rotates, and realizes the fine setting of height of table, the frame of multistation can be welded, there is the advantages of welding efficiency is high, manufacturing cost is low, welding post is flexible.
Description
Technical field
The present invention relates to welding technology field.It is more particularly related to a kind of screw type welding machine is man-machine
Tool arm.
Background technology
In frame streamline process, it usually needs the frame processed is welded, welded in welding process
The both sides that mechanical arm is arranged at streamline are connect, to be welded to the frame on streamline.Electroplating equipment wielding machine arm have it is mechanical and
Fluid pressure type two types, most of electroplating equipment wielding machine arm is hydraulic-driven at present, due to hydraulic-driven using hydraulic oil as transmission
, problems be present in the medium of power：Startability is poor, easily because producing leakage after inner member abrasion, and leak
Hydraulic oil pollutes the environment, and hydraulic oil is affected by temperature larger, and gross efficiency is relatively low, there is noise and vibration sometimes.Hydraulic Elements add
Work required precision is high, and matching requirements are strict, and manufacture is more difficult, is maintained in use and requires that technology is higher, difficulty is larger.Machine
Tool teacher's electroplating equipment wielding machine arm realizes that welding acts using mechanical transmissioning piece, has the advantages that sturdy and durable but traditional single-degree-of-freedom
Mechanical welding mechanical arm can not complete the action of complexity, and application is extremely limited.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of screw type welding robot arm, and it can be set by cranking arm
Meter, realizes swing horizontally and vertically, and manipulating rotating bar by the first rocking bar rotates, and realizes the micro- of height of table
Adjust, the frame of multistation can be welded, there is the advantages of welding efficiency is high, manufacturing cost is low, welding post is flexible.
In order to realize according to object of the present invention and further advantage, there is provided a kind of screw type welding machine is man-machine
Tool arm, including：
Column, it is vertically fixed on the ground, and the side of the column is provided with pedestal, and the base interior is provided with
Actuating unit；
Principal arm, it is included in first body of rod, second body of rod and the bar of L-shaped the 3rd be hinged successively in same perpendicular
Body, first body of rod are horizontally disposed with, and its one end is fixedly connected with the actuating unit, drive first body of rod in horizontal plane
Interior rotation, the horizontal component of the both ends of second body of rod other end with first body of rod, the 3rd body of rod respectively
End is hinged, the output axis connection of second body of rod and a vertical motor, drives second body of rod in the horizontal plane
Rotate clockwise or counterclockwise；
Auxiliary, its 4th body of rod for including setting in same perpendicular with the principal arm, expansion bracket, the 5th body of rod,
6th body of rod, the 7th body of rod and the body of rod of L-shaped the 8th, the 4th body of rod is horizontally disposed, its one end is fixed on the pedestal,
The expansion bracket includes head and the tail be hinged assume diamond in shape four strut members successively, the connection end of two of which strut members and described the
The other end of four bodies of rod is hinged, and the connection end of two other strut members and one end of the 5th body of rod are hinged, the 6th bar
Body is isometric with the 7th body of rod and be arranged in parallel, and the 6th body of rod, one end of the 7th body of rod are respectively hinged at described
The other end of 5th body of rod and middle part, the other end are respectively hinged at the middle part and end of the horizontal component of the 8th body of rod；
Fixed plate, rotating bar and Contraband shape bearing platform, the fixed plate are horizontally disposed with, the vertical portion of the 3rd body of rod
End, the 8th body of rod vertical portion end it is concordant, and be fixed on the upper surface of the fixed plate, the fixed plate
Center at be provided with the first through hole passed through for the rotating bar and be connected with the rotation rod bearing, the fixed plate it is upper
Surface is provided with multiple gag lever posts of L-shaped first, and the periphery of the rotating bar is provided with multiple gag lever posts of L-shaped second, the fixed plate
Lower surface is additionally provided with the groove of ring-type first slided for second gag lever post, and the top of the rotating bar is additionally provided with for described the
The groove of ring-type second that one gag lever post slides, the middle part of the rotating bar are provided with external screw thread, and the upper surface of the bearing platform is set
There is screw, the rotating bar is through the upper surface of the bearing platform and is spirally connected, and the lower end of the rotating bar is arranged with the first cone
Shape gear, the lower surface of the bearing platform are provided with detent mechanism, and it includes bearing, be horizontally set on the bearing first
Rotating shaft, the second angular wheel for being fixed on described first rotating shaft one end, the rocking bar for being fixed on the first rotating shaft other end, its
In, second angular wheel engages with first angular wheel, and the lower surface of the bearing platform is additionally provided with fixed seat, institute
State and welding gun is housed in fixed seat.
Preferably, described screw type welding robot arm, the actuating unit include horizontal drive motor,
Triconic gear, the 4th angular wheel, the second rotating shaft, the triconic gear are coaxially fixed on the horizontal drive motor
Output shaft on, the 4th angular wheel is coaxially fixed on the upper end of second rotating shaft, the horizontal drive motor it is defeated
Shaft is horizontally disposed with, and second rotating shaft is vertically arranged, and the 4th angular wheel engages with the triconic gear, described
The lower end of second rotating shaft is fixedly connected with one end of first body of rod.
Preferably, described screw type welding robot arm, the principal arm also includes V-arrangement support frame, described
Support frame includes the 9th body of rod, the tenth body of rod being hinged, and the 9th body of rod, the other end of the tenth body of rod are cut with scissors respectively
It is connected on first body of rod, the middle part of second body of rod.
Preferably, described screw type welding robot arm, on first body of rod, second body of rod
Provided with angular transducer, controller is provided with the pedestal, two angular transducers electrically connect with the controller.
Preferably, described screw type welding robot arm, the bearing include：T-shaped bearing bar, vertically to
On be arranged on a pair of locating rods at the bearing bar both ends, a pair of locating rods be respectively equipped with passed through for the first rotating shaft it is logical
Hole and it is connected with the first rotating shaft bearing.
Preferably, described screw type welding robot arm, the first rotating shaft and a rotary drive motor
Connection.
Preferably, described screw type welding robot arm, horizontal support institute is respectively equipped with the pedestal
The first bracket of first body of rod, the second bracket of the 4th body of rod described in horizontal support are stated, first bracket is provided with roller, institute
The axle for stating roller is parallel with first body of rod.
The present invention comprises at least following beneficial effect：
Firstth, the present invention is engaged by the principal arm being hingedly mounted on column and the auxiliary being fixedly mounted on column,
Realize the swing of horizontal direction and the swing of vertical direction, improve the stability entirely invented and fluency, the first gag lever post, the
Two gag lever posts form the structure of support fixed plate, it is ensured that fixed plate is horizontally disposed with, and is realized without the rotation by rotating bar
Swing, staff drives first rotating shaft to rotate, so as to drive the rotation of the second angular wheel, the second taper by operating rocking bar
Gear engages with the first angular wheel, drives the rotation of rotating bar, and because rotating bar is by the first gag lever post, the second gag lever post limit
System, it is impossible to move up and down, therefore bearing platform forms leading screw and screw pair, power of the bearing platform in rotating bar with rotating bar
Lower lifting, welding gun are arranged in the fixed seat of bearing platform, are easy to worker to weld, and welding gun is arranged in the fixed seat of workbench,
It is easy to worker to weld；
Secondth, pedestal provide driving the first body of rod horizontal hunting power, vertical motor be arranged on first body of rod with
The pin joint of second body of rod, second body of rod of driving are rotated clockwise or counterclockwise in vertical direction, and the 3rd body of rod is horizontally fixed on
On connecting pole, the 4th body of rod is horizontally fixed on pedestal, the 8th body of rod is horizontally fixed on connecting pole, it is ensured that bearing platform is in water
Square to movement do not tilt, the push-and-pull of horizontal direction is realized in the folding and unfolding of expansion bracket, and the 6th body of rod, the 7th body of rod are parallel and equal,
Ensure that the 5th body of rod is horizontally disposed with, the 6th body of rod, the 7th body of rod reduce and kicked up with the rise of second body of rod, land；
3rd, the output shaft rotation of horizontal drive motor, drives the rotation of triconic gear, triconic gear and the 4th
Angular wheel is engaged, and the rotary power of perpendicular is delivered to the rotation of horizontal plane, the second rotating shaft and the 4th angular wheel
Linkage, it rotates the swing for driving first body of rod in horizontal plane, compared to the driving of hydraulic mechanism, more energy-saving and environmental protection；
4th, V-arrangement support frame is hinged on first body of rod, the middle part of second body of rod, forms firm, reliable supporting mechanism,
Ensure that principal arm drives auxiliary smooth rotation；The communication connection of angular transducer and controller, facilitates remote monitoring and manipulation, it is ensured that
Bearing platform is horizontal and steadily sets；
5th, the structural support first rotating shaft of bearing, it is ensured that first rotating shaft is horizontally disposed and relatively rotates；First rotating shaft with
The output shaft of rotary drive motor is fixedly connected, and by way of electric power, is reduced manual labor, is raised labour efficiency；First
The body of rod of bracket support first, second second body of rod of bracket support, shares the bearing capacity of pedestal, roller is with the level of first body of rod
Swing and rotate, reduce frictional resistance.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the partial enlarged drawing of A in Fig. 1.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of individual other elements or its combination.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " setting " should be interpreted broadly, for example, it may be fixedly linked, set or be detachably connected, set, or one
Connect body, set.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.Term " transverse direction ", " longitudinal direction ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ",
The orientation or position relationship of the instruction such as " top ", " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, are only
For the ease of the description present invention and simplify description, be not instruction or imply that signified device or element there must be specific side
Position, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
As shown in Fig. 1~2, the present invention provides a kind of screw type welding robot arm, including：
Column 1, it is vertically fixed on the ground, and the side of the column 1 is provided with pedestal 11, in the pedestal 11
Portion is provided with actuating unit；
Principal arm, it is included in first body of rod 21, second body of rod 22 and L-shaped the 3rd be hinged successively in same perpendicular
The body of rod 23, first body of rod 21 is horizontally disposed, and its one end is fixedly connected with the actuating unit, drives first body of rod 21
Rotate in the horizontal plane, the both ends of second body of rod 22 other end with first body of rod 21, the 3rd body of rod respectively
The end of 23 horizontal component is hinged, the output axis connection of second body of rod, the 22 and one vertical motor 24, described in driving
Second body of rod 22 rotates clockwise or counterclockwise in the horizontal plane；
Auxiliary, it includes the 4th body of rod 31, expansion bracket 32, the 5th bar set with the principal arm in same perpendicular
Body 33, the 6th body of rod 34, the 7th body of rod 35 and the body of rod 36 of L-shaped the 8th, the 4th body of rod 31 is horizontally disposed, its one end is fixed
On the pedestal 11, the expansion bracket 32 includes assume diamond in shape four strut members that head and the tail are hinged successively, two of which pole
The connection end of body and the other end of the 4th body of rod 31 are hinged, the connection end of two other strut members and the 5th body of rod 33
One end be hinged, the 6th body of rod 34 is isometric with the 7th body of rod 35 and be arranged in parallel, the 6th body of rod 34, described
One end of seven bodies of rod 35 is respectively hinged at the other end and the middle part of the 5th body of rod 33, and the other end is respectively hinged at the described 8th
The middle part and end of the horizontal component of the body of rod 36；
Fixed plate 41, rotating bar 42 and Contraband shape bearing platform 46, the fixed plate 41 is horizontally disposed, the 3rd body of rod 23
The end of vertical portion, the 8th body of rod 36 vertical portion end it is concordant, and be fixed on the upper of the fixed plate 41
Surface, be provided with the center of the fixed plate 41 first through hole that is passed through for the rotating bar 42 and with the axle of rotating bar 42
Connection is held, the upper surface of the fixed plate 41 is provided with multiple the first gag lever posts of L-shaped 411, and the periphery of the rotating bar 42 is provided with more
Individual the second gag lever post of L-shaped 421, the lower surface of the fixed plate 41 are additionally provided with the ring-type the slided for second gag lever post 421
One groove, the top of the rotating bar 42 are additionally provided with the groove of ring-type second slided for first gag lever post 411, the rotation
The middle part of bar 42 is provided with external screw thread, and the upper surface of the bearing platform 46 is provided with screw, and the rotating bar 42 passes through the undertaking
The upper surface of platform 46 is simultaneously spirally connected, and the lower end of the rotating bar 42 is arranged with the first angular wheel 422, the bearing platform 46
Lower surface is provided with detent mechanism, and it includes bearing 43, the first rotating shaft 432 being horizontally set on the bearing 43, is fixed on institute
State second angular wheel 433 of the one end of first rotating shaft 432, be fixed on the rocking bar 434 of the other end of first rotating shaft 432, wherein,
Second angular wheel 433 engages with first angular wheel 422, and the lower surface of the bearing platform 46 is additionally provided with fixation
Seat 44, welding gun 45 is housed in the fixed seat 44.
In the above-mentioned technical solutions, the principal arm being hingedly mounted on column 1 and the auxiliary being fixedly mounted on column 1 are passed through
It is engaged, realizes the swing of horizontal direction and the swing of vertical direction, improves the stability entirely invented and fluency, the first limit
Position bar 411, the second gag lever post 421 form the structure of support fixed plate 41, it is ensured that fixed plate 41 is horizontally disposed, without by turning
The rotation of lever 42 and realize swing, staff drives first rotating shaft 432 to rotate by operating rocking bar 434, so as to drive the
Two angular wheels 433 rotate, and the second angular wheel 433 engages with the first angular wheel 422, drive the rotation of rotating bar 42, and
Because rotating bar 42 is limited by the first gag lever post 411, the second gag lever post 421, it is impossible to move up and down, therefore bearing platform 46 is with rotating
Bar 42 forms leading screw and screw pair, bearing platform 46 lift under the power of rotating bar 42, and welding gun 45 is arranged on to accept and put down
In the fixed seat 44 of platform 46, it is easy to worker to weld, welding gun 45 is arranged in the fixed seat 44 of workbench, is easy to worker to weld.
Pedestal 11 provides the power of the driving horizontal hunting of first body of rod 21, and vertical motor 24 is arranged on first body of rod 21
With the pin joint of second body of rod 22, second body of rod 22 of driving rotates clockwise or counterclockwise in vertical direction, the water of the 3rd body of rod 23
Flat to be fixed on connecting pole, the 4th body of rod 31 is horizontally fixed on pedestal 11, the 8th body of rod 36 is horizontally fixed on connecting pole, really
Bearing platform 46 to be protected to move in the horizontal direction and does not tilt, the push-and-pull of horizontal direction is realized in the folding and unfolding of expansion bracket 32, the 6th body of rod 34,
7th body of rod 35 is parallel and equal, it is ensured that the 5th body of rod 33 is horizontally disposed, and the 6th body of rod 34, the 7th body of rod 35 are with second body of rod 22
Rise reduce and kick up, land.
In another technical solution, described screw type welding robot arm, the actuating unit includes water
Flat motor 111, triconic gear 112, the 4th angular wheel 113, the second rotating shaft 114, the triconic gear 112
Coaxially it is fixed on the output shaft of the horizontal drive motor 111, the 4th angular wheel 113 is coaxially fixed on described second
The upper end of rotating shaft 114, the output shaft of the horizontal drive motor 111 are horizontally disposed with, and second rotating shaft 114 is vertically arranged, institute
State the 4th angular wheel 113 to engage with the triconic gear 112, the lower end of second rotating shaft 114 is fixedly connected described
One end of first body of rod 21.The output shaft rotation of horizontal drive motor 111, drives triconic gear 112 to rotate, triconic
Gear 112 engages with the 4th angular wheel 113, and the rotary power of perpendicular is delivered to the rotation of horizontal plane, second turn
Axle 114 links with the 4th angular wheel 113, and it rotates the swing for driving first body of rod 21 in horizontal plane, compared to hydraulic mechanism
Driving, more energy-saving and environmental protection.
In another technical solution, described screw type welding robot arm, the principal arm also includes V-arrangement branch
Support, support frame as described above include the 9th body of rod 25, the tenth body of rod 26 being hinged, the 9th body of rod 25, the tenth bar
The other end of body 26 is respectively hinged at first body of rod 21, the middle part of second body of rod 22.V-arrangement support frame is hinged on first
The middle part of the body of rod 21, second body of rod 22, form firm, reliable supporting mechanism, it is ensured that principal arm drives auxiliary smooth rotation.
In another technical solution, described screw type welding robot arm is first body of rod 21, described
Be equipped with angular transducer on second body of rod 22, be provided with controller in the pedestal 11, two angular transducers with the control
Device electrical connection processed.The communication connection of angular transducer and controller, facilitates remote monitoring and manipulation, it is ensured that bearing platform 46 is horizontal
And steady setting.
In another technical solution, described screw type welding robot arm, the bearing 43 includes：T-shaped
Bearing bar, a pair of locating rods for being arranged on the bearing bar both ends straight up, a pair of locating rods are respectively equipped with for described first
Through hole that rotating shaft 432 passes through and it is connected with the bearing of first rotating shaft 432.The structural support first rotating shaft 432 of bearing 43, really
First rotating shaft 432 is protected to be horizontally disposed with and relatively rotate.
In another technical solution, described screw type welding robot arm, the first rotating shaft 432 and one
Rotary drive motor connects.First rotating shaft 432 is fixedly connected with the output shaft of rotary drive motor, by way of electric power, is subtracted
Manual labor is lacked, has raised labour efficiency.
In another technical solution, described screw type welding robot arm, set respectively on the pedestal 11
There are the first bracket 115 of first body of rod 21 described in horizontal support, the second bracket 117 of the 4th body of rod 31 described in horizontal support, institute
State the first bracket 115 and be provided with roller 116, the axle of the roller 116 is parallel with first body of rod 21.First 115, bracket
First body of rod 21 is supportted, the second bracket 117 supports second body of rod 22, shares the bearing capacity of pedestal 11, roller 116 is with first body of rod
21 horizontal hunting and rotate, reduce frictional resistance.
Number of devices and treatment scale described herein are the explanations for simplifying the present invention.To the present invention application,
Modifications and variations will be readily apparent to persons skilled in the art.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (7)
- A kind of 1. screw type welding robot arm, it is characterised in that including：Column, it is vertically fixed on the ground, and the side of the column is provided with pedestal, and the base interior is provided with power Mechanism；Principal arm, it is included in first body of rod, second body of rod and the body of rod of L-shaped the 3rd be hinged successively in same perpendicular, institute State first body of rod to be horizontally disposed with, its one end is fixedly connected with the actuating unit, drives first body of rod in the horizontal plane to turn It is dynamic, the both ends of second body of rod respectively the other end with first body of rod, the 3rd body of rod horizontal component end It is be hinged, the output axis connection of second body of rod and a vertical motor, drive second body of rod up time in the horizontal plane Pin rotates counterclockwise；Auxiliary, its 4th body of rod for including setting in same perpendicular with the principal arm, expansion bracket, the 5th body of rod, 6th The body of rod, the 7th body of rod and the body of rod of L-shaped the 8th, the 4th body of rod is horizontally disposed, its one end is fixed on the pedestal, described Expansion bracket includes assume diamond in shape four strut members that head and the tail are hinged successively, the connection end of two of which strut members and the 4th bar The other end of body is hinged, and the connection end of two other strut members and one end of the 5th body of rod are hinged, the 6th body of rod with 7th body of rod is isometric and be arranged in parallel, and the 6th body of rod, one end of the 7th body of rod are respectively hinged at the described 5th The other end of the body of rod and middle part, the other end are respectively hinged at the middle part and end of the horizontal component of the 8th body of rod；Fixed plate, rotating bar and Contraband shape bearing platform, the fixed plate are horizontally disposed with, the end of the vertical portion of the 3rd body of rod Portion, the 8th body of rod vertical portion end it is concordant, and the upper surface of the fixed plate is fixed on, in the fixed plate The first through hole passed through for the rotating bar is provided with the heart and is connected with the rotation rod bearing, the upper surface of the fixed plate Provided with multiple gag lever posts of L-shaped first, the periphery of the rotating bar is provided with multiple gag lever posts of L-shaped second, the following table of the fixed plate Face is additionally provided with the groove of ring-type first slided for second gag lever post, and the top of the rotating bar is additionally provided with for the described first limit The groove of ring-type second that position bar slides, the middle part of the rotating bar are provided with external screw thread, and the upper surface of the bearing platform is provided with spiral shell Hole, the rotating bar is through the upper surface of the bearing platform and is spirally connected, and the lower end of the rotating bar is arranged with the first conical tooth Wheel, the lower surface of the bearing platform is provided with detent mechanism, its include bearing, be horizontally set on the bearing first turn Axle, the second angular wheel for being fixed on described first rotating shaft one end, the rocking bar for being fixed on the first rotating shaft other end, wherein, Second angular wheel engages with first angular wheel, and the lower surface of the bearing platform is additionally provided with fixed seat, described Welding gun is housed in fixed seat.
- 2. screw type welding robot arm as claimed in claim 1, it is characterised in that the actuating unit includes water Flat motor, triconic gear, the 4th angular wheel, the second rotating shaft, the triconic gear are coaxially fixed on described On the output shaft of horizontal drive motor, the 4th angular wheel is coaxially fixed on the upper end of second rotating shaft, the level The output shaft of motor is horizontally disposed with, and second rotating shaft is vertically arranged, the 4th angular wheel and the triconic Gear engages, and the lower end of second rotating shaft is fixedly connected with one end of first body of rod.
- 3. screw type welding robot arm as claimed in claim 1, it is characterised in that the principal arm also includes V-arrangement Support frame, support frame as described above include the 9th body of rod, the tenth body of rod that are hinged, the 9th body of rod, the tenth body of rod The other end is respectively hinged at first body of rod, the middle part of second body of rod.
- 4. screw type welding robot arm as claimed in claim 1, it is characterised in that first body of rod, described Be equipped with angular transducer on second body of rod, be provided with controller in the pedestal, two angular transducers with the controller Electrical connection.
- 5. screw type welding robot arm as claimed in claim 1, it is characterised in that the bearing includes：T-shaped is held Weight bar, a pair of locating rods for being arranged on the bearing bar both ends straight up, a pair of locating rods are respectively equipped with for described first turn Through hole that axle passes through and it is connected with the first rotating shaft bearing.
- 6. screw type welding robot arm as claimed in claim 5, it is characterised in that the first rotating shaft and a rotation Turn motor connection.
- 7. screw type welding robot arm as claimed in claim 1, it is characterised in that be respectively equipped with the pedestal Second bracket of the 4th body of rod described in first bracket of first body of rod described in horizontal support, horizontal support, on first bracket Provided with roller, the axle of the roller is parallel with first body of rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572051.5A CN107433413B (en) | 2017-07-13 | 2017-07-13 | Robot arm is used in screw type welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572051.5A CN107433413B (en) | 2017-07-13 | 2017-07-13 | Robot arm is used in screw type welding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107433413A true CN107433413A (en) | 2017-12-05 |
| CN107433413B CN107433413B (en) | 2019-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710572051.5A Active CN107433413B (en) | 2017-07-13 | 2017-07-13 | Robot arm is used in screw type welding |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102493A (en) * | 2022-01-26 | 2022-03-01 | 山东建筑大学 | Auxiliary positioning manipulator device and auxiliary positioning method |
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| CN107433413B (en) | 2019-03-15 |
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