CN108044276A - It is a kind of to be used for two robot devices for passing through friendship cylinder welding - Google Patents
It is a kind of to be used for two robot devices for passing through friendship cylinder welding Download PDFInfo
- Publication number
- CN108044276A CN108044276A CN201810022042.3A CN201810022042A CN108044276A CN 108044276 A CN108044276 A CN 108044276A CN 201810022042 A CN201810022042 A CN 201810022042A CN 108044276 A CN108044276 A CN 108044276A
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- Prior art keywords
- pair
- revolute pair
- pivot center
- connecting rod
- revolute
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- 238000003466 welding Methods 0.000 title claims abstract description 36
- 230000018199 S phase Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003034 coal gas Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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
It is a kind of to be used for two robot devices for passing through friendship cylinder welding, it is made of rack, shaft, slide bar, connecting rod, side link, welding gun guider and three revolute pairs, a prismatic pair and a cylindrical pair, the bar length of wherein slide bar, side link and connecting rod is adjustable, and assembly features are：One end of shaft is coupled by revolute pair one and rack, the other end of shaft is coupled by prismatic pair and slide bar, one end of connecting rod is coupled by revolute pair two and slide bar, and the other end of connecting rod is coupled by revolute pair three and side link, and the other end of side link is connected in cylindrical pair in rack.Wherein, the pivot center of revolute pair one, prismatic pair slide, the pivot center three of revolute pair two are mutually parallel, the pivot center of revolute pair three and cylindrical pair is mutually parallel, and the end of the pivot center of revolute pair two, the pivot center of revolute pair three and welding gun guider is directed toward three and intersects at a point.The present invention has many advantages, such as simple structure, convenient control, has a wide range of application.
Description
Technical field
The present invention relates to a kind of welding robot devices, and friendship is passed through for two（It just passes through, tiltedly pass through, pass through partially）Cylinder provides a kind of new
Welding robot device.
Background technology
Pressure vessel is widely present in the fields such as industry, agricultural, building, chemical industry, particularly in petrochemical industry
It is most widely used, accounts for pressure vessel and use total amount about 50%.Pressure vessel also has a wide range of applications in industrial department, such as
Various accumulators in engineering machinery, the auxiliary machine of various dynamic power machines, various coal gas and liquefied gas tank used in city and enterprise
Storage tank, various heavy construction pipelines etc..So the welding of research pressure vessel is most important.
In welding production, since the spatial form of pressure vessel all parts is more complicated, tube bundle and circle are particularly
The weld seam that column tube road grafting is formed is space curve, welds certain difficulty, the welding of current such weld seam mainly by
It is accomplished manually, human weld's working environment is severe, the production cycle is long, work efficiency is low, is difficult to guarantee welding quality, and there is an urgent need to grind
System is for the welding robot of such weld seam.China started to develop automatic welding equipment in the fifties, due to comparing flourishing state
Family starts late, and basis is weaker, causes pressure vessel welding robot relatively backward.Have at present part it is semi-automatic and
Series connection welding robot is automated, however such welding robot generally has multiple degree of freedom, complicated, control is more difficult,
The shortcomings of cost is higher, so that such welding robot does not obtain exploitation well and application.
The content of the invention
One kind the purpose of the present invention is overcome the deficiencies in the prior art is provided and passes through friendship for two（It just passes through, tiltedly pass through, pass through partially）
The novel robot device of cylinder welding.
The present invention is achieved by the following technical solutions.
It is of the present invention it is a kind of be used for two pass through hand over cylinder welding robot devices, by shaft（1）, slide bar（2）, connecting rod
（3）, side link（4）, rack（5）, welding gun guider（6）Composition, it is characterized in that：Shaft（1）One end by revolute pair one
（R1）And rack（5）Connection, shaft（1）The other end by prismatic pair（P1）And slide bar（2）Connection, connecting rod（3）One end by turn
Dynamic pair two（R2）And slide bar（2）Connection, connecting rod（3）The other end by revolute pair three（R3）And side link（4）Connection, side link
（4）Other end cylindrical pair（C1）And rack（5）Connection, welding gun guider（6）It is fixedly arranged at slide bar（2）On.Wherein, rotate
Pair one（R1）Pivot center, prismatic pair（P1）Slide, revolute pair two（R2）Pivot center three be mutually parallel；Revolute pair
Three（R3）And cylindrical pair（C1）Pivot center be mutually parallel；Revolute pair two（R2）Pivot center, revolute pair three（R3）Turn
Shaft line and welding gun guider（6）End be directed toward three intersect at a point.Slide bar（2）, connecting rod（3）And side link
（4）Bar length it is adjustable.
Cylindrical pair of the present invention（C1）It can be substituted with axis coincidence or the combination of parallel revolute pair and prismatic pair.
Revolute pair one of the present invention（R1）And prismatic pair（P1）It can be substituted with a cylindrical pair.
Cylindrical pair of the present invention（C1）With revolute pair three（R3）Position can be exchanged with each other.
The present invention has many advantages, such as simple structure, convenient control, has a wide range of application.
Description of the drawings
Attached drawing 1 is the structure diagram schematic diagram of one of the embodiment of welding robot device of the present invention.
Attached drawing 2 passes through the schematic diagram of one of installation embodiment when handing over cylinder welding for the device of the invention for two.
In figure, 1 is shaft, and 2 be slide bar, and 3 be connecting rod, and 4 be side link, and 5 be rack, and 6 be welding gun guider, and 7 be to treat
Cylinder one is welded, 8 be cylinder two to be welded, and R1 is revolute pair one, and R2 is revolute pair two, and R3 is revolute pair three, and P1 is prismatic pair,
C1 is cylindrical pair.
Specific embodiment
The present invention is further described below by attached drawing and example.
Attached welding mechanism shown in FIG. 1 can be one of the embodiment of the present invention, and technical solution is：One kind passes through friendship for two
（It just passes through, tiltedly pass through, pass through partially）The robot device of cylinder welding, is led by shaft 1, slide bar 2, connecting rod 3, side link 4, rack 5, welding gun
It is formed to device 6, it is characterized in that：One end of shaft 1 is coupled by one R1 of revolute pair and rack 5, and the other end of shaft 1 is by prismatic pair
P1 and slide bar 2 couple, and one end of connecting rod 3 is coupled by two R2 of revolute pair and slide bar 2, the other end of connecting rod 3 by three R3 of revolute pair and
Side link 4 couples, and the other end cylindrical pair C1 and rack 5 of side link couple, and welding gun guider 6 is fixedly arranged on slide bar 2；Turn
The pivot center of a dynamic pair R1 is collinearly and parallel with the pivot center of two R2 of revolute pair with prismatic pair P1 slides, three R3 of revolute pair with
The pivot center of cylindrical pair C1 is mutually parallel, pivot center, the pivot center and welding gun of three R3 of revolute pair of two R2 of revolute pair
It is directed toward three and intersects at a point in the end of guider 6；The bar length of slide bar 2, connecting rod 3 and side link 4 is adjustable.
Attached drawing 2 passes through one of installation embodiment when handing over cylinder welding for the device of the invention for two, the axis of shaft 1 with
The axis of cylinder 1 to be welded overlaps, and the pivot center of cylindrical pair C1 is overlapped with the axis of cylinder 28 to be welded；Slide bar 2 is adjusted
Bar length afterwards is equal to the radius of cylinder 1 to be welded, and the bar after side link 4 is adjusted grows the radius for being equal to cylinder 28 to be welded.
Since mechanism freedom is equal to one, only need drive shaft 1 that welding gun can be realized along between two cylindrical surface to be welded
Intersection moved.
Claims (4)
1. a kind of be used for two robot devices for passing through friendship cylinder welding, by shaft（1）, slide bar（2）, connecting rod（3）, side link（4）、
Rack（5）, welding gun guider（6）Composition, it is characterized in that：
Shaft（1）One end by revolute pair one（R1）And rack（5）Connection, shaft（1）The other end by prismatic pair（P1）And cunning
Bar（2）Connection, connecting rod（3）One end by revolute pair two（R2）And slide bar（2）Connection, connecting rod（3）The other end by revolute pair three
（R3）And side link（4）Connection, side link（4）Other end cylindrical pair（C1）And rack（5）Connection, welding gun guider
（6）It is fixedly arranged at slide bar（2）On；
Wherein, revolute pair one（R1）Pivot center, prismatic pair（P1）Slide, revolute pair two（R2）Pivot center three's phase
It is mutually parallel；Revolute pair three（R3）And cylindrical pair（C1）Pivot center be mutually parallel；Revolute pair two（R2）Pivot center, rotate
Pair three（R3）Pivot center and welding gun guider（6）End be directed toward three intersect at a point；
Slide bar（2）, connecting rod（3）And side link（4）Bar length it is adjustable.
2. robot device according to claim 1, it is characterized in that the cylindrical pair（C1）It is overlapped with axis or parallel
Revolute pair and the combination of prismatic pair substitute.
3. robot device according to claim 1, it is characterized in that the revolute pair one（R1）And prismatic pair（P1）With
One cylindrical pair substitutes.
4. robot device according to claim 1, it is characterized in that the cylindrical pair（C1）With revolute pair three（R3）It can
It is exchanged with each other position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810022042.3A CN108044276B (en) | 2018-01-10 | 2018-01-10 | Robot device for welding two intersecting cylinders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810022042.3A CN108044276B (en) | 2018-01-10 | 2018-01-10 | Robot device for welding two intersecting cylinders |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108044276A true CN108044276A (en) | 2018-05-18 |
| CN108044276B CN108044276B (en) | 2024-05-17 |
Family
ID=62126806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810022042.3A Active CN108044276B (en) | 2018-01-10 | 2018-01-10 | Robot device for welding two intersecting cylinders |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108044276B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822267A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | One kind is passed through for cylinder and circular cone hands over welding robot device |
| CN109822269A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | One kind is passed through for two hands over circular cone welding robot device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101234462A (en) * | 2007-12-07 | 2008-08-06 | 上海气焊机厂有限公司 | Intersecting line dual-annular seam automatic welding machine |
| CN201161333Y (en) * | 2008-01-11 | 2008-12-10 | 范文利 | T shape pipe joint welding machine |
| CN101850467A (en) * | 2010-05-18 | 2010-10-06 | 江苏大学 | Revolving body intersection line cutting and welding device |
| CN103962761A (en) * | 2013-02-05 | 2014-08-06 | 新疆大学 | Fast-assembled numerical-control double-head three-dimensional curve welding machine |
| KR20150049663A (en) * | 2013-10-30 | 2015-05-08 | 대우조선해양 주식회사 | Two-way wire supply apparatus for orbital welding robot |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN107466260A (en) * | 2015-04-02 | 2017-12-12 | 弗劳恩霍夫应用研究促进协会 | For enduringly engaging the weld assembly of the first tubular element and second component |
| CN207953010U (en) * | 2018-01-10 | 2018-10-12 | 南昌大学 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
-
2018
- 2018-01-10 CN CN201810022042.3A patent/CN108044276B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101234462A (en) * | 2007-12-07 | 2008-08-06 | 上海气焊机厂有限公司 | Intersecting line dual-annular seam automatic welding machine |
| CN201161333Y (en) * | 2008-01-11 | 2008-12-10 | 范文利 | T shape pipe joint welding machine |
| CN101850467A (en) * | 2010-05-18 | 2010-10-06 | 江苏大学 | Revolving body intersection line cutting and welding device |
| CN103962761A (en) * | 2013-02-05 | 2014-08-06 | 新疆大学 | Fast-assembled numerical-control double-head three-dimensional curve welding machine |
| KR20150049663A (en) * | 2013-10-30 | 2015-05-08 | 대우조선해양 주식회사 | Two-way wire supply apparatus for orbital welding robot |
| CN107466260A (en) * | 2015-04-02 | 2017-12-12 | 弗劳恩霍夫应用研究促进协会 | For enduringly engaging the weld assembly of the first tubular element and second component |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN207953010U (en) * | 2018-01-10 | 2018-10-12 | 南昌大学 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822267A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | One kind is passed through for cylinder and circular cone hands over welding robot device |
| CN109822269A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | One kind is passed through for two hands over circular cone welding robot device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108044276B (en) | 2024-05-17 |
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| CB03 | Change of inventor or designer information |
Inventor after: Ye Meiyan Inventor after: Shi Zhixin Inventor after: Xie Dongfu Inventor before: Shi Zhixin Inventor before: Ye Meiyan Inventor before: Xie Dongfu |
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