CN107433413B - Robot arm is used in screw type welding - Google Patents
Robot arm is used in screw type welding Download PDFInfo
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- CN107433413B CN107433413B CN201710572051.5A CN201710572051A CN107433413B CN 107433413 B CN107433413 B CN 107433413B CN 201710572051 A CN201710572051 A CN 201710572051A CN 107433413 B CN107433413 B CN 107433413B
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- rod
- angular wheel
- screw type
- bar
- robot arm
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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
Abstract
The present invention relates to welding technology fields.The invention discloses a kind of screw type welding robot arms, comprising: column；Principal arm comprising first body of rod successively hinged, second body of rod and the L shape third body of rod in same perpendicular；Auxiliary comprising the 4th body of rod, expansion bracket, the 5th body of rod, the 6th body of rod, the 8th body of rod of the 7th body of rod and L shape being arranged in same perpendicular with the principal arm；Fixed plate, rotating bar and Contraband shape bearing platform, the lower end surface of the bearing platform are additionally provided with fixing seat, welding gun are housed in the fixing seat.The present invention can pass through design of cranking arm, it realizes swing horizontally and vertically, rotating bar rotation is manipulated by the first rocking bar, realizes the fine tuning of height of table, the rack of multistation can be welded, have the advantages that welding efficiency is high, manufacturing cost is low, welding post is flexible.
Description
Technical field
The present invention relates to welding technology fields.It is more particularly related to which a kind of screw type welding is man-machine with machine
Tool arm.
Background technique
In rack assembly line process, it usually needs weld to the rack processed, weld in the welding process
The two sides that mechanical arm is set to assembly line are connect, to weld to the rack on assembly line.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, since hydraulic-driven is used as transmitting using hydraulic oil
The medium of power, has the following problems: startability is poor, is easy to leak because generating after internal element abrasion, and leak
Hydraulic oil pollutes the environment, and hydraulic oil is affected by temperature larger, and gross efficiency is lower, there is noise and vibration sometimes.Hydraulic Elements add
Work required precision is high, and matching requirements are stringent, and manufacture is more difficult, and maintenance requires technology higher in use, and difficulty is larger.Machine
Tool teacher's electroplating equipment wielding machine arm realizes that welding acts using mechanical transmissioning piece, has many advantages, such as sturdy and durable but traditional single-degree-of-freedom
Mechanical welding mechanical arm can not complete complicated movement, and application range is extremely limited.
Summary of the invention
It is an object of the invention to solve at least the above problems, 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 arms, can be set by cranking arm
Meter, realizes swing horizontally and vertically, manipulates rotating bar rotation by the first rocking bar, realizes the micro- of height of table
It adjusts, the rack of multistation can be welded, have the advantages that welding efficiency is high, manufacturing cost is low, welding post is flexible.
In order to realize these purposes and other advantages according to the present invention, it is man-machine to provide a kind of screw type welding machine
Tool arm, comprising:
Column fixes on the ground along the vertical direction, and the side of the column is equipped with pedestal, and the base interior is equipped with
Power mechanism；
Principal arm comprising first body of rod successively hinged, second body of rod and L shape third bar in same perpendicular
Body, first body of rod is horizontally disposed, and one end is fixedly connected with the power mechanism, drives first body of rod in horizontal plane
Interior rotation, the both ends of second body of rod horizontal component with the other end of first body of rod, the third body of rod respectively
End is hinged, the output axis connection of second body of rod and a vertical driving motor, drives second body of rod in the horizontal plane
It rotates clockwise or counterclockwise；
Auxiliary comprising the 4th body of rod that is arranged in same perpendicular with the principal arm, expansion bracket, the 5th body of rod,
6th body of rod, the 8th body of rod of the 7th body of rod and L shape, the 4th body of rod is horizontally disposed, one end of which is fixed on the pedestal,
The expansion bracket includes head and the tail successively hinged four to assume diamond in shape strut members, the connecting pin of two of them strut members and described the
The other end of four bodies of rod is hinged, and the connecting pin of other two 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 is arranged in parallel, the 6th body of rod, the 7th body of rod one end be respectively hinged at it is 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 is horizontally disposed, the vertical portion of the third 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 equipped with the first through hole passed through for the rotating bar and connect with the rotation rod bearing, the fixed plate it is upper
Surface is equipped with multiple the first gag lever posts of L shape, and the periphery of the rotating bar is equipped with multiple the second gag lever posts of L shape, the fixed plate
Lower surface is additionally provided with first groove of ring-type for second gag lever post sliding, and the top of the rotating bar is additionally provided with confession described the
The middle part of the second groove of ring-type of one gag lever post sliding, the rotating bar is equipped with external screw thread, and the upper surface of the bearing platform is set
There is screw hole, the rotating bar passes 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
The lower end surface of shape gear, the bearing platform is equipped with positioning mechanism comprising support, first be horizontally set on the support
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,
In, second angular wheel is engaged with first angular wheel, and the lower end surface of the bearing platform is additionally provided with fixing seat, institute
It states in fixing seat equipped with welding gun.
Preferably, the described screw type welding robot arm, the power mechanism include horizontal drive motor,
Third angular wheel, the 4th angular wheel, the second shaft, the third angular wheel are coaxially fixed on the horizontal drive motor
Output shaft on, the 4th angular wheel is coaxially fixed on the upper end of second shaft, the horizontal drive motor it is defeated
Shaft is horizontally disposed, and second shaft is vertically arranged, and the 4th angular wheel is engaged with the third angular wheel, described
The lower end of second shaft is fixedly connected with one end of first body of rod.
Preferably, screw type welding robot arm, the principal arm further includes V-arrangement support frame, described
Support frame includes the 9th body of rod, the tenth body of rod being hinged, the 9th body of rod, the tenth body of rod the other end cut with scissors respectively
It connects at the middle part of first body of rod, second body of rod.
Preferably, the screw type, which welds, uses robot arm, on first body of rod, second body of rod
Equipped with angular transducer, controller is equipped in the pedestal, two angular transducers are electrically connected with the controller.
Preferably, the described screw type welding robot arm, the support include: T shape bearing bar, vertically to
On a pair of of locating rod at the bearing bar both ends is set, a pair of of locating rod be respectively equipped with passed through for the first rotating shaft it is logical
It hole and is connect with the first rotating shaft bearing.
Preferably, screw type welding robot arm, the first rotating shaft and a rotary drive motor
Connection.
Preferably, the screw type, which welds, uses robot arm, is respectively equipped with horizontally-supported institute on the pedestal
The first bracket of first body of rod, the second bracket of horizontally-supported 4th body of rod are stated, first bracket is equipped with idler wheel, institute
The axis for stating idler wheel is parallel with first body of rod.
The present invention is include at least the following beneficial effects:
The first, the present invention is matched by the principal arm being hingedly mounted on column and the auxiliary being fixedly mounted on column,
It realizes the swing of horizontal direction and the swing of vertical direction, improves 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, realizes without the rotation by rotating bar
It swings, staff drives first rotating shaft rotation by operation rocking bar, to drive the rotation of the second angular wheel, the second taper
Gear is engaged with the first angular wheel, drives the rotation of rotating bar, and since rotating bar is by the first gag lever post, the second gag lever post limit
System, cannot move up and down, therefore bearing platform and rotating bar form lead screw and screw pair, power of the bearing platform in rotating bar
Lower lifting, welding gun are mounted in the fixing seat of bearing platform, are welded convenient for worker, and welding gun is mounted in the fixing seat of workbench,
Convenient for worker's welding；
The second, pedestal provide driving the first body of rod horizontal hunting power, vertical driving motor be mounted on first body of rod with
The hinge joint of second body of rod, second body of rod of driving are rotated clockwise or counterclockwise in vertical direction, and the third body of rod is horizontally fixed on
On connecting column, the 4th body of rod is horizontally fixed on pedestal, the 8th body of rod is horizontally fixed on connecting column, it is ensured that bearing platform is in water
It square not being tilted to movement, 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, the 6th body of rod, the 7th body of rod reduce with the raising of second body of rod and raised, landed；
The output shaft rotation of third, horizontal drive motor, drives the rotation of third angular wheel, third angular wheel and the 4th
The rotary power of perpendicular, is transmitted to the rotation of horizontal plane, the second shaft and the 4th angular wheel by angular wheel engagement
Linkage, rotation drives first body of rod in the swing of horizontal plane, compared to the driving of hydraulic mechanism, more energy-saving and environmental protection；
4th, V-arrangement support frame is hinged on the middle part of first body of rod, 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, convenient long-range monitoring and manipulation, it is ensured that
Bearing platform is horizontal and is steadily arranged；
5th, the structural support first rotating shaft of support, 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 improved labor efficiency；First
First body of rod of bracket support, second second body of rod of bracket support share the bearing capacity of pedestal, idler wheel with first body of rod level
It swings and rotates, reduce frictional resistance.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the partial enlarged view of A in Fig. 1.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
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 a other elements or combinations thereof.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " setting " shall be understood in a broad sense, for example, it may be being fixedly linked, being arranged, may be a detachable connection, is arranged or one
It connects to body, be arranged.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 ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal",
The orientation or positional relationship of the instructions such as "top", "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
It for the convenience of describing the present invention and simplifying the description, is not that the device of indication or suggestion meaning or element must have specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As shown in Fig. 1~2, the present invention provides a kind of screw type welding robot arm, comprising:
Column 1, fixes on the ground along the vertical direction, and the side of the column 1 is equipped with pedestal 11, in the pedestal 11
Portion is equipped with power mechanism；
Principal arm comprising first body of rod 21 successively hinged, second body of rod 22 and L shape third in same perpendicular
The body of rod 23, first body of rod 21 is horizontally disposed, and one end is fixedly connected with the power mechanism, drives first body of rod 21
Rotate in the horizontal plane, the both ends of second body of rod 22 respectively with the other end of first body of rod 21, the third body of rod
The end of 23 horizontal component is hinged, the output axis connection of second body of rod 22 and a vertical driving motor 24, described in driving
Second body of rod 22 rotates clockwise or counterclockwise in the horizontal plane；
Auxiliary comprising the 4th body of rod 31, expansion bracket 32, the 5th bar being arranged in same perpendicular with the principal arm
Body 33, the 6th body of rod 34, the 8th body of rod 36 of the 7th body of rod 35 and L shape, the 4th body of rod 31 is horizontally disposed, one end is fixed
On the pedestal 11, the expansion bracket 32 includes head and the tail successively hinged four to assume diamond in shape strut members, two of them strut
The connecting pin of body and the other end of the 4th body of rod 31 are hinged, the connecting pin of other two strut members and the 5th body of rod 33
One end it is hinged, the 6th body of rod 34 is isometric with the 7th body of rod 35 and is 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 third 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 equipped at the center of the fixed plate 41 first through hole passed through for the rotating bar 42 and with 42 axis of rotating bar
Connection is held, the upper surface of the fixed plate 41 is equipped with multiple the first gag lever posts of L shape 411, and the periphery of the rotating bar 42 is equipped with more
A the second gag lever post of L shape 421, the lower surface of the fixed plate 41 are additionally provided with cyclic annular for second gag lever post 421 sliding
One groove, the top of the rotating bar 42 are additionally provided with the second groove of ring-type for first gag lever post 411 sliding, the rotation
The middle part of bar 42 is equipped with external screw thread, and the upper surface of the bearing platform 46 is equipped with screw hole, 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 end surface is equipped with positioning mechanism comprising support 43, is fixed on institute at the first rotating shaft 432 being horizontally set on the support 43
The rocking bar 434 stated second angular wheel 433 of 432 one end of first rotating shaft, be fixed on 432 other end of first rotating shaft, wherein
Second angular wheel 433 is engaged with first angular wheel 422, and the lower end surface of the bearing platform 46 is additionally provided with fixation
Seat 44 is equipped with welding gun 45 in the fixing seat 44.
In the above-mentioned technical solutions, pass through the principal arm being hingedly mounted on column 1 and the auxiliary being fixedly mounted on column 1
It matches, realizes the swing of horizontal direction and the swing of vertical direction, improve 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 operation rocking bar 434, to drive the
The rotation of two angular wheels 433, the second angular wheel 433 are engaged with the first angular wheel 422, drive the rotation of rotating bar 42, and
Since rotating bar 42 is limited by the first gag lever post 411, the second gag lever post 421, cannot move up and down, therefore bearing platform 46 and rotation
Bar 42 forms lead screw and screw pair, bearing platform 46 are gone up and down under the power of rotating bar 42, and it is flat that welding gun 45 is mounted on undertaking
It in the fixing seat 44 of platform 46, is welded convenient for worker, welding gun 45 is mounted in the fixing seat 44 of workbench, is welded convenient for worker.
Pedestal 11 provides the power of driving first body of rod, 21 horizontal hunting, and vertical driving motor 24 is mounted on first body of rod 21
With the hinge joint of second body of rod 22, second body of rod 22 is driven to rotate clockwise or counterclockwise in vertical direction, 23 water of the third body of rod
Flat to be fixed on connecting column, the 4th body of rod 31 is horizontally fixed on pedestal 11, the 8th body of rod 36 is horizontally fixed on connecting column, really
Guarantor's bearing platform 46, which moves in the horizontal direction, not to be tilted, the push-and-pull of the folding and unfolding realization horizontal direction 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
Raising reduce and raise, land.
In another technical solution, the screw type welding robot arm, the power mechanism includes water
Flat driving motor 111, third angular wheel 112, the 4th angular wheel 113, the second shaft 114, the third angular wheel 112
It is coaxially fixed on the output shaft of the horizontal drive motor 111, the 4th angular wheel 113 is coaxially fixed on described second
The output shaft of the upper end of shaft 114, the horizontal drive motor 111 is horizontally disposed, and second shaft 114 is vertically arranged, institute
It states the 4th angular wheel 113 to engage with the third angular wheel 112, the lower end of second shaft 114 is fixedly connected described
One end of first body of rod 21.The output shaft of horizontal drive motor 111 rotates, and drives third angular wheel 112 to rotate, third taper
Gear 112 is engaged with the 4th angular wheel 113, and the rotary power of perpendicular is transmitted to the rotation of horizontal plane, and second turn
Axis 114 and the 4th angular wheel 113 link, and rotation drives first body of rod 21 in the swing of horizontal plane, compared to hydraulic mechanism
Driving, more energy-saving and environmental protection.
In another technical solution, the screw type welding robot arm, the principal arm further 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 the middle part of first body of rod 21, 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 forms firm, reliable supporting mechanism, it is ensured that principal arm drives auxiliary smooth rotation.
In another technical solution, the 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 equipped with controller in the pedestal 11, two angular transducers with the control
Device electrical connection processed.The communication connection of angular transducer and controller, convenient long-range monitoring and manipulation, it is ensured that bearing platform 46 is horizontal
And steady setting.
In another technical solution, the screw type welding robot arm, the support 43 includes: T shape
Bearing bar is arranged vertically upwards a pair of of locating rod at the bearing bar both ends, and a pair of of locating rod is respectively equipped with for described first
It through-hole that shaft 432 passes through and is connect with 432 bearing of first rotating shaft.The structural support first rotating shaft 432 of support 43, really
First rotating shaft 432 is protected to be horizontally disposed with and relatively rotate.
In another technical solution, the screw type welding robot arm, the first rotating shaft 432 and one
Rotary drive motor connection.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 improved labor efficiency.
In another technical solution, the screw type, which welds, uses robot arm, sets respectively on the pedestal 11
There are the first bracket 115 of horizontally-supported first body of rod 21, the second bracket 117 of horizontally-supported 4th body of rod 31, institute
The first bracket 115 is stated equipped with idler wheel 116, the axis of the idler wheel 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, idler wheel 116 is with first body of rod
21 horizontal hunting and rotate, reduce frictional resistance.
Number of devices and treatment scale described herein are for simplifying explanation of the invention.To application of the invention,
Modifications and variations will be readily apparent to persons skilled in the art.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (7)
1. a kind of screw type welding robot arm characterized by comprising
Column fixes on the ground along the vertical direction, and the side of the column is equipped with pedestal, and the base interior is equipped with power
Mechanism；
Principal arm comprising first body of rod successively hinged, second body of rod and the L shape third body of rod, institute in same perpendicular
It is horizontally disposed to state first body of rod, one end is fixedly connected with the power mechanism, and first body of rod is driven to turn in the horizontal plane
It is dynamic, the both ends of second body of rod end with the other end of first body of rod, the horizontal component of the third body of rod respectively
Hingedly, the output axis connection of second body of rod and a vertical driving motor drives second body of rod up time in the horizontal plane
Needle rotates counterclockwise；
Auxiliary comprising the 4th body of rod, expansion bracket, the 5th body of rod, the 6th being arranged in same perpendicular with the principal arm
The 8th body of rod of the body of rod, the 7th body of rod and L shape, the 4th body of rod is horizontally disposed, one end of which is fixed on the pedestal, described
Expansion bracket includes head and the tail successively hinged four to assume diamond in shape strut members, the connecting pin of two of them strut members and the 4th bar
The other end of body is hinged, and the connecting pin of other two 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 is arranged in parallel, the 6th body of rod, the 7th body of rod one end be 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 is horizontally disposed, the end of the vertical portion of the third 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
It is equipped with the first through hole for supplying the rotating bar to pass through at the heart and is connect with the rotation rod bearing, the upper surface of the fixed plate
Equipped with multiple the first gag lever posts of L shape, the periphery of the rotating bar is equipped with multiple the second gag lever posts of L shape, the following table of the fixed plate
Face is additionally provided with the first groove of ring-type for second gag lever post sliding, and the top of the rotating bar is additionally provided with for first limit
The second groove of ring-type of position bar sliding, the middle part of the rotating bar are equipped with external screw thread, and the upper surface of the bearing platform is equipped with spiral shell
Hole, the rotating bar pass through the upper surface of the bearing platform and are spirally connected, and the lower end of the rotating bar is arranged with the first conical tooth
The lower end surface of wheel, the bearing platform is equipped with positioning mechanism comprising support, first turn be horizontally set on the support
Axis, 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 is engaged with first angular wheel, and the lower end surface of the bearing platform is additionally provided with fixing seat, described
Welding gun is housed in fixing seat.
2. screw type welding robot arm as described in claim 1, which is characterized in that the power mechanism includes water
Flat driving motor, third angular wheel, the 4th angular wheel, the second shaft, the third angular wheel 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 shaft, the level
The output shaft of driving motor is horizontally disposed, and second shaft is vertically arranged, the 4th angular wheel and the third taper
Gear engagement, the lower end of second shaft is fixedly connected with one end of first body of rod.
3. screw type welding robot arm as described in claim 1, which is characterized in that the principal arm further includes V-arrangement
Support frame, support frame as described above include the 9th body of rod, the tenth body of rod being hinged, the 9th body of rod, the tenth body of rod
The other end is respectively hinged at the middle part of first body of rod, second body of rod.
4. screw type as described in claim 1 welding robot arm, which is characterized in that first body of rod, described
Be equipped with angular transducer on second body of rod, be equipped with controller in the pedestal, two angular transducers with the controller
Electrical connection.
5. screw type welding robot arm as described in claim 1, which is characterized in that the support includes: that T shape is held
It weighs bar, be arranged vertically upwards a pair of of locating rod at the bearing bar both ends, a pair of of locating rod is respectively equipped with for described first turn
It through-hole that axis passes through and is connect with the first rotating shaft bearing.
6. screw type welding robot arm as claimed in claim 5, which is characterized in that the first rotating shaft and a rotation
Turn driving motor connection.
7. screw type welding robot arm as described in claim 1, which is characterized in that be respectively equipped on the pedestal
Second bracket of the first bracket of horizontally-supported first body of rod, horizontally-supported 4th body of rod, on first bracket
Equipped with idler wheel, the axis of the idler wheel 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 |
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| Publication Number | Publication Date |
|---|---|
| CN107433413A CN107433413A (en) | 2017-12-05 |
| CN107433413B true CN107433413B (en) | 2019-03-15 |
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| CN201710572051.5A Active CN107433413B (en) | 2017-07-13 | 2017-07-13 | Robot arm is used in screw type welding |
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| CN114102493B (en) * | 2022-01-26 | 2022-05-24 | 山东建筑大学 | Auxiliary positioning manipulator device and auxiliary positioning method |
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| CN204036467U (en) * | 2014-06-20 | 2014-12-24 | 杭州航颂科技有限公司 | A kind of multi-spindle machining arm mechanism |
| CN104552243B (en) * | 2014-12-12 | 2016-01-20 | 广西大学 | A kind of controllable-mechanism type becomes born of the same parents' wheeled mobile welding robot |
| CN104552245A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Wheeled mobile welding robot with plurality of closed-loop sub-chains |
| CN206185355U (en) * | 2016-11-10 | 2017-05-24 | 山东荣昊专用汽车有限公司 | High altitude (HA) scope is with welding auxiliary machinery arm |
| CN106607932A (en) * | 2016-12-09 | 2017-05-03 | 广西大学 | Multi-rod closed chain structure mechanical arm for gas cutting blanking operation |
| CN206241514U (en) * | 2016-12-12 | 2017-06-13 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
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2017
- 2017-07-13 CN CN201710572051.5A patent/CN107433413B/en active Active
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