CN108081250A - A kind of welding robot - Google Patents
A kind of welding robot Download PDFInfo
- Publication number
- CN108081250A CN108081250A CN201711352643.2A CN201711352643A CN108081250A CN 108081250 A CN108081250 A CN 108081250A CN 201711352643 A CN201711352643 A CN 201711352643A CN 108081250 A CN108081250 A CN 108081250A
- Authority
- CN
- China
- Prior art keywords
- joint portion
- clamping part
- speed reducer
- hole
- shaft
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
Abstract
The present invention provides a kind of welding robot, including being sequentially connected the pedestal connect, the first joint portion, second joint portion and clamping part, first joint portion is rotatably connected on the pedestal, the second joint portion is rotatably connected on first joint portion, and the clamping part is rotatably connected in the second joint portion；The clamping part is rotatably connected in the second joint portion, described clamping part one end is provided with through hole in the second joint portion, shaft is provided in the through hole, the clamping part is fixedly connected in the shaft, the 3rd driven gear is provided at both ends in the shaft, the 3rd speed reducer for being provided with the 3rd driving motor in the second joint portion and being matched therewith, the 3rd speed reducer are connected by chain with the 3rd driven gear.The configuration of the present invention is simple, it is easy to operate, bond pad locations compensation can be carried out as needed, improve welding precision.
Description
Technical field
The present invention relates to a kind of welding robots.
Background technology
The mode of existing manual welding, very time-consuming, existing welding robot is complicated, and control is cumbersome,
It is inconvenient for use, also, due to that cannot be compensated butt welding point position in time in operating process so that welding precision is affected.
The content of the invention
It is simple in structure it is an object of the invention to provide a kind of welding robot, it is easy to operate, it can be welded as needed
Point position compensation, improves welding precision.
The invention is realized by the following technical scheme：
A kind of welding robot, including being sequentially connected the pedestal connect, the first joint portion, second joint portion and clamping part, institute
The first joint portion stated is rotatably connected on the pedestal, and the second joint portion is rotatably connected on first joint
In portion, the clamping part is rotatably connected in the second joint portion；
The clamping part is rotatably connected in the second joint portion, in the second joint portion close to described
Clamping part one end is provided with through hole, and shaft is provided in the through hole, and the clamping part is fixedly connected on described turn
On axis, the 3rd driven gear is provided at both ends in the shaft, the 3rd driving electricity is provided in the second joint portion
Machine and the 3rd speed reducer being matched therewith, the 3rd speed reducer are connected by chain with the 3rd driven gear
It connects, described clamping part one end is provided with angular transducer in the second joint portion；
The clamping part takes the shape of the letter U structure away from described shaft one end, and hydraulic pressure is provided on the inside of the U-shaped structure
Cylinder；
The axis and the axis in second joint portion of first joint portion are mutually perpendicular to.
Further, for the present invention is better achieved, the first driving motor is provided with and in the middle of the base
Matched first speed reducer of one driving motor is provided with the first transmission gear in first output end of reducer, described
The first joint portion on be provided with the first driven gear being meshed with the first transmission gear, the axis of the pedestal with it is described
The axial direction of the first joint portion coincide, be provided with angular transducer on the pedestal.
Further, for the present invention is better achieved, in the second joint portion away from first joint portion one
End be provided with the second driving motor and with matched second speed reducer of the second driving motor, it is close in first joint portion
Described second joint portion one end is provided with through hole, and shaft, the second described clamping part one end are provided in the through hole
Insertion in the through hole, is provided with the second transmission gear, in second clamping part in second output end of reducer
Embedded through hole one end is provided with the second driven gear being meshed with the second transmission gear, in first joint portion close to institute
The second joint portion one end stated is provided with angular transducer.
Further, for the present invention is better achieved, anti-sliding burr is provided on the inside of the clamping part.
Further, for the present invention is better achieved, the clamping part is made of refractory metal.
A kind of control method of welding robot, comprises the following steps：
S1：Record initial position message：Initial position of first joint portion with respect to pedestal is recorded, second joint portion is with respect to
The initial position and clamping part of one joint portion are with respect to the initial position in second joint portion；
S2：Controller information is received, starts the first driving motor, the first joint portion is made to start second with respect to base rotation
Driving motor makes second joint portion be rotated relative to the first joint portion, and starting the 3rd driving motor at this time makes clamping part phase around the shaft
Second clamping part is rotated；
S3：Using each rotatable parts rotational angle information in angular transducer detecting step S2, and it will send information to control
Device processed；
S4：By the angle information in step S3 compared with the initial information in step S1 pair, and receive with controller outer
Portion's input information compensates operation compared to to comparison result difference.
Compared with prior art, the present invention it has the advantages that：
(1) by the present invention in that the first joint portion and the axis in second joint portion are mutually perpendicular to, it can realize that it is in relatively
90 ° rotate adjusting, and welding is facilitated to operate；
(2) present invention can facilitate the fixation of welding mechanism, together by using clamping part for accommodating bonding machine head etc.
When, using hydraulic cylinder structure, butt welding machine structure can be facilitated to apply active force, make more consolidate in its welding process, have
Effect ensures welding precision.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is overall structure diagram of the present invention.
Wherein：101. pedestal, 102. first joint portions, 103. second joint portions, 104. clamping parts, 105. first driving electricity
Machine, 106. first speed reducers, 107. first transmission gears, 108. first driven gears, 109. the 3rd driven gears, 110. the 3rd
Driving motor, 111. the 3rd speed reducers, 112. hydraulic cylinders, 113. second speed reducers, 114. second transmission gears, 115. second from
Moving gear, 116. second driving motors, 117. anti-sliding burrs.
Specific embodiment
The present invention is described in further detail with reference to specific embodiment, but embodiments of the present invention are not limited to
This.
As shown in Figure 1, a kind of welding robot, including being sequentially connected the pedestal 101 connect, the first joint portion 102, second closes
Section portion 103 and clamping part 104, first joint portion 102 are rotatably connected on the pedestal 101, and described second closes
Section portion 103 is rotatably connected on first joint portion 102, and the clamping part 104 is rotatably connected on described second and closes
In section portion 103；
The clamping part 104 is rotatably connected in the second joint portion 103, in the second joint portion 103
Described 104 one end of clamping part is provided with through hole, shaft is provided in the through hole, the clamping part 104 is solid
Surely it is connected in the shaft, the 3rd driven gear 109 is provided at both ends in the shaft, in the second joint portion
The 3rd driving motor 110 and the 3rd speed reducer 111 being matched therewith are provided on 103, the 3rd speed reducer 111 passes through
Chain is connected with the 3rd driven gear 109, in the second joint portion 103 close to the clamping part 104 1
End is provided with angular transducer；
The clamping part 104 takes the shape of the letter U structure away from described shaft one end, is provided on the inside of the U-shaped structure
Hydraulic cylinder 112；
The axis and the axis in second joint portion 103 of first joint portion 102 are mutually perpendicular to.
By being mutually perpendicular to the first joint portion 102 and the axial direction in second joint portion 103, make the first joint portion 102 opposite
Second joint portion is vertical, and shaft is set in second joint portion 103, and clamping part 104 is enable to be rotated relative to second joint portion 103,
Since the first joint portion can be rotated relative to pedestal 101, so as to realize that the orientation of three dimensions is adjusted on the whole.By adopting
With hydraulic cylinder for the fixation of plumb joint on the inside of clamping part, adjustment can be facilitated, plumb joint is avoided, which to loosen, influences welding precision.
Embodiment 1：
Preferably, in the present invention, 101 middle part of pedestal is provided with the first driving motor 105 and is driven with first
105 matched first speed reducer 106 of motor is provided with the first transmission gear in 106 output terminal of the first speed reducer
107, the first driven gear 108 being meshed with the first transmission gear 107 is provided on first joint portion 102, it is described
The axial direction of axis and first joint portion 102 of pedestal 101 coincide, set on the pedestal 101 angled
Sensor.
It is further preferred that described 102 one end of the first joint portion is provided in the second joint portion 103
Two driving motors 116 and with 116 matched second speed reducer 113 of the second driving motor, leaned in first joint portion 102
Nearly described 103 one end of second joint portion is provided with through hole, and shaft, second clamping part are provided in the through hole
103 one end are embedded in the through hole, 113 output terminal of the second speed reducer are provided with the second transmission gear 114, described
The second clamping part 103 insertion through hole one end be provided with the second driven gear 115 being meshed with the second transmission gear 114,
First joint portion 102 is provided with angular transducer close to described 103 one end of second joint portion.
In order to ensure the fixed effect of welding mechanism, in the present embodiment, it is provided in 104 inside of clamping part anti-skidding
Burr 117.
In order to avoid clamping part 104 is easily influenced by heat its performance, the clamping part 104 is made of refractory metal.
Embodiment 2：
On the basis of embodiment 1, a kind of control method of welding robot comprises the following steps the present embodiment：
S1：Record initial position message：Record the initial position of 102 opposite pedestal 101 of the first joint portion, second joint portion
The initial position and clamping part 104 of 103 opposite first joint portions 102 are with respect to the initial position in second joint portion 103；
S2：Controller information is received, starts the first driving motor 105, the first joint portion 102 is made to be rotated relative to pedestal 101,
Start the second driving motor 116, second joint portion 102 is made to be rotated relative to the first joint portion 102, start the 3rd driving motor at this time
110 make clamping part 104 be rotated around the shaft relative to the second clamping part 103；
S3：Using each rotatable parts rotational angle information in angular transducer detecting step S2, and it will send information to control
Device processed；
S4：By the angle information in step S3 compared with the initial information in step S1 pair, and receive with controller outer
Portion's input information compensates operation compared to to comparison result difference.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of welding robot, it is characterised in that：Including being sequentially connected the pedestal connect (101), the first joint portion (102),
Two joint portions (103) and clamping part (104), first joint portion (102) are rotatably connected on the pedestal (101),
The second joint portion (103) is rotatably connected on first joint portion (102), and the clamping part (104) rotates
It is connected in the second joint portion (103)；
The clamping part (104) is rotatably connected in the second joint portion (103), in the second joint portion
(103) described clamping part (104) one end is provided with through hole, shaft, the clamping is provided in the through hole
Portion (104) is fixedly connected in the shaft, the 3rd driven gear (109) is provided at both ends in the shaft, described
Second joint portion (103) on be provided with the 3rd driving motor (110) and the 3rd speed reducer (111) being matched therewith, it is described
The 3rd speed reducer (111) be connected by chain with the 3rd driven gear (109), in the second joint portion
(103) described clamping part (104) one end is provided with angular transducer；
The clamping part (104) takes the shape of the letter U structure away from described shaft one end, and liquid is provided on the inside of the U-shaped structure
Cylinder pressure (112)；
The axis and the axis of second joint portion (103) of first joint portion (102) are mutually perpendicular to.
2. a kind of welding robot according to claim 1, it is characterised in that：It is set in the middle part of the pedestal (101)
There are the first driving motor (105) and the first speed reducer matched with the first driving motor (105) (106), described first
Speed reducer (106) output terminal is provided with the first transmission gear (107), is provided on first joint portion (102) and first
The first driven gear (108) that transmission gear (107) is meshed, the axis of the pedestal (101) and first joint
The axial direction in portion (102) coincides, and angular transducer is provided on the pedestal (101).
3. a kind of welding robot according to claim 1 or 2, it is characterised in that：In the second joint portion (103)
Described the first joint portion (102) one end is provided with the second driving motor (116) and matches with the second driving motor (116)
The second speed reducer (113) closed is set in first joint portion (102) close to described second joint portion (103) one end
There is through hole, shaft is provided in the through hole, described the second clamping part (103) one end is embedded in the through hole, in institute
The second speed reducer (113) output terminal stated is provided with the second transmission gear (114), embedded in second clamping part (103)
Through hole one end is provided with the second driven gear (115) being meshed with the second transmission gear (114), in first joint portion
(102) described second joint portion (103) one end is provided with angular transducer.
4. a kind of welding robot according to claim 1 or 2, it is characterised in that：On the inside of the clamping part (104)
It is provided with anti-sliding burr (117).
5. a kind of welding robot according to claim 1 or 2, it is characterised in that：The clamping part (104) is resistance to height
Warm metal is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352643.2A CN108081250A (en) | 2017-12-15 | 2017-12-15 | A kind of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352643.2A CN108081250A (en) | 2017-12-15 | 2017-12-15 | A kind of welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081250A true CN108081250A (en) | 2018-05-29 |
Family
ID=62175996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711352643.2A Pending CN108081250A (en) | 2017-12-15 | 2017-12-15 | A kind of welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081250A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204893263U (en) * | 2015-08-20 | 2015-12-23 | 天津中环创新科技有限公司 | Welding robot |
| CN105728917A (en) * | 2016-05-11 | 2016-07-06 | 裴翌翔 | Self-adaptive weld-seam welding industrial robot capable of automatically feeding and blanking |
-
2017
- 2017-12-15 CN CN201711352643.2A patent/CN108081250A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204893263U (en) * | 2015-08-20 | 2015-12-23 | 天津中环创新科技有限公司 | Welding robot |
| CN105728917A (en) * | 2016-05-11 | 2016-07-06 | 裴翌翔 | Self-adaptive weld-seam welding industrial robot capable of automatically feeding and blanking |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |