CN107790933A - A kind of multiple degrees of freedom welding manipulator - Google Patents
A kind of multiple degrees of freedom welding manipulator Download PDFInfo
- Publication number
- CN107790933A CN107790933A CN201610774340.9A CN201610774340A CN107790933A CN 107790933 A CN107790933 A CN 107790933A CN 201610774340 A CN201610774340 A CN 201610774340A CN 107790933 A CN107790933 A CN 107790933A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- welding gun
- welding
- rotary joint
- multiple degrees
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B23K37/0252—Steering means
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
A kind of multiple degrees of freedom welding manipulator, belongs to manipulator technical field.Including manipulator fixed seat, manipulator rotary joint, welding gun rotary joint, manipulator firm banking connects manipulator rotary joint by connecting plate, it is characterized in that, the other end of the manipulator rotary joint is connected by L-type fixed plate with welding gun rotary joint, the head of welding gun rotary joint is connected by telescopic arm with welding gun, and the telescopic arm end is hinged by bearing pin and welding gun.The beneficial effects of the invention are as follows, realize multivariant welding, easy-to-operate, follow-up detector of the device using rotary joint and with automatic compensation function, not only increase the automatic welding efficiency of vehicle oilcan, and it can be compensated automatically according to weldment deflection, it is ensured that the uniformity of welding quality.
Description
Technical field
The present invention relates to a kind of welding manipulator, especially multiple degrees of freedom welding manipulator, belong to manipulator technical field.
Background technology
Manipulator can imitate some holding functions of human hand and arm, object or operation are captured, carried by fixed routine
The automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can
Instead of the heavy labor of people to realize the mechanization of production and automation, can be operated under hostile environment to protect personal safety.
At present, existing vehicle oilcan welding is all by the way of manually welding, and which efficiency is low, welding matter
Amount is poor, and welding job is severe, has a strong impact on the health of operating personnel.
The content of the invention
In order to overcome the shortcomings of that existing human weld's efficiency is low, of poor quality, working environment is severe, the present invention provides one
Kind multiple degrees of freedom welding manipulator.
The technical solution adopted for the present invention to solve the technical problems is：A kind of multiple degrees of freedom welding manipulator, including machine
Tool hand fixed seat, manipulator rotary joint, welding gun rotary joint, manipulator firm banking connect manipulator by connecting plate and rotated
Joint, it is characterized in that, the other end of the manipulator rotary joint is connected by L-type fixed plate with welding gun rotary joint, weldering
The head of rifle rotary joint is connected by telescopic arm with welding gun, and the telescopic arm end is hinged by bearing pin and welding gun.
Telescopic cylinder, telescopic cylinder driving welding-torch horizontal movement are provided between the telescopic arm end and welding gun.
Motor is additionally provided with, the motor is connected with bearing pin, and driving welding gun turns left and right.
The head on both sides of the welding gun are respectively provided with follow-up detector and wire feed unit up and down.
Follow-up detector contacts with weldment surface, and welding rifle is directed at soldered, and after starting the source of welding current, welding wire enters
Welding wire, the parameter that welding gun rotary joint and manipulator rotary joint detect according to upper and lower follow-up detector are sent out automatically to device
The adjust automatically anglec of rotation, thus realize that vehicle oilcan compensates welding function automatically.
Manipulator rotary joint realizes that welding gun rotates in the horizontal direction, and welding gun rotary joint can realize welding gun in vertical direction
Welding gun can be achieved in horizontal level displacement in rotation, the setting of telescopic arm and telescopic cylinder, and the setting of motor and bearing pin can be real
Existing welding gun left-right rotation.
The invention has the advantages that realizing multivariant welding, easy-to-operate, the device is closed using rotation
Section and the follow-up detector with automatic compensation function, not only increase the automatic welding efficiency of vehicle oilcan, and can be with
Compensated automatically according to weldment deflection, it is ensured that the uniformity of welding quality.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
In figure：1 manipulator fixed seat, 2 manipulator rotary joints, 3 welding gun rotary joints, 4 connecting plates, 5 L-type fixed plates, 6 are stretched
Contracting arm, 7 bearing pins, 8 telescopic cylinders, 9 welding guns.
Embodiment
A kind of multiple degrees of freedom welding manipulator, including manipulator fixed seat 1, manipulator rotary joint 2, welding gun rotary joint
3, manipulator firm banking connects manipulator rotary joint by connecting plate 4.
The other end of manipulator rotary joint is connected by L-type fixed plate 5 with welding gun rotary joint, welding gun rotary joint
Head be connected by telescopic arm 6 with welding gun, the telescopic arm end is hinged by bearing pin 7 with welding gun.
Telescopic cylinder 8 is provided between telescopic arm end and welding gun, telescopic cylinder driving welding gun 9 moves horizontally.It is additionally provided with drive
Dynamic motor, the motor are connected with bearing pin, and driving welding gun turns left and right, and the head on both sides of welding gun are respectively provided with to be servo-actuated up and down
Detection means and wire feed unit.
Claims (4)
1. a kind of multiple degrees of freedom welding manipulator, including manipulator fixed seat（1）, manipulator rotary joint（2）, welding gun rotation close
Section（3）, manipulator firm banking passes through connecting plate（4）Manipulator rotary joint is connected, it is characterized in that, the manipulator rotation is closed
The other end of section passes through L-type fixed plate（5）It is connected with welding gun rotary joint, the head of welding gun rotary joint passes through telescopic arm
（6）It is connected with welding gun, the telescopic arm end passes through bearing pin（7）It is hinged with welding gun.
2. a kind of multiple degrees of freedom welding manipulator according to claim 1, it is characterized in that, the telescopic arm end and welding gun
Between be provided with telescopic cylinder（8）, telescopic cylinder driving welding gun（9）Move horizontally.
3. a kind of multiple degrees of freedom welding manipulator according to claim 1, it is characterized in that, motor is additionally provided with, the drive
Dynamic motor is connected with bearing pin, and driving welding gun turns left and right.
4. a kind of multiple degrees of freedom welding manipulator according to claim 1, it is characterized in that, the head on both sides point of the welding gun
Zhuan You not upper and lower follow-up detector and wire feed unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610774340.9A CN107790933A (en) | 2016-08-31 | 2016-08-31 | A kind of multiple degrees of freedom welding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610774340.9A CN107790933A (en) | 2016-08-31 | 2016-08-31 | A kind of multiple degrees of freedom welding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107790933A true CN107790933A (en) | 2018-03-13 |
Family
ID=61528255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610774340.9A Pending CN107790933A (en) | 2016-08-31 | 2016-08-31 | A kind of multiple degrees of freedom welding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107790933A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774761A (en) * | 2020-06-20 | 2020-10-16 | 中交第二公路勘察设计研究院有限公司 | U rib internal elevation welding system based on multi-segment plug-in platform |
-
2016
- 2016-08-31 CN CN201610774340.9A patent/CN107790933A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774761A (en) * | 2020-06-20 | 2020-10-16 | 中交第二公路勘察设计研究院有限公司 | U rib internal elevation welding system based on multi-segment plug-in platform |
| CN111774761B (en) * | 2020-06-20 | 2022-03-29 | 中交第二公路勘察设计研究院有限公司 | U rib internal elevation welding system based on multi-segment plug-in platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180313 |