CN108857413A - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
- Publication number
- CN108857413A CN108857413A CN201810790758.8A CN201810790758A CN108857413A CN 108857413 A CN108857413 A CN 108857413A CN 201810790758 A CN201810790758 A CN 201810790758A CN 108857413 A CN108857413 A CN 108857413A
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- China
- Prior art keywords
- chamber
- slot
- mounting groove
- slide
- fixed
- Prior art date
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
- B23K26/28—Seam welding of curved planar seams
- B23K26/282—Seam welding of curved planar seams of tube sections
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Plasma & Fusion (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of robot control systems, including pedestal, be symmetrical set in the base top end face rack and be set to the base top end face and be located at left and right two racks between mounting rack, first turn of chamber is equipped in the rack, switch block is rotatably equipped with by bearing in first turn of chamber, annular groove is equipped in first turn of cavity wall, the outer gear ring being fixed on the switch block in the annular groove of position, the second turn of chamber to interlink with the annular groove is symmetrically set in the pedestal, the first toothed wheel being cooperatively connected with the outer gear ring is rotatably installed in second turn of chamber, be equipped in the mounting rack port it is upward slide chamber, it is described slide to slide in chamber sliding seat is installed, the perforative threaded hole in left and right is equipped in the sliding seat.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of robot control system.
Background technique
With the continuous development of science and technology hair, some welding robots use and its extensively in the industrial production, and in tradition
Welding robot annular solder operation can not be carried out when being subjected to some pipe fitting weld seams, while after to welding
Generated burr need to be polished using grinding device, considerably increase equipment use cost, and there are larger defects, be needed
It improves.
Summary of the invention
Deficiency in view of the above technology, the invention proposes a kind of robot control systems.
A kind of robot control system of apparatus of the present invention, including pedestal, be symmetrical set in the base top end
The rack in face and the mounting rack for being set to the base top end face and being located between two racks in left and right, the rack
In be equipped with first turn of chamber, switch block is rotatably equipped with by bearing in first turn of chamber, is set in first turn of cavity wall
Have annular groove, the outer gear ring being fixed on the switch block in the annular groove of position, be symmetrically set in the pedestal with it is described
Second turn of chamber that annular groove interlinks rotatably is equipped with the first tooth being cooperatively connected with the outer gear ring in second turn of chamber
Shape wheel, be equipped in the mounting rack port it is upward slide chamber, it is described slide to slide in chamber sliding seat is installed, the sliding seat
In be equipped with the perforative threaded hole in left and right, screw rod is fitted in the threaded hole, extended end and institute on the right side of the screw rod
It states and slides inner wall on the right side of chamber and be rotatably assorted connection, described slide is equipped with the first mounting groove in chamber inner left wall, the screw rod left side
Side extended end is protruded into first mounting groove and is rotatably assorted with the first mounting groove inner left wall and connect, the screw rod
On be fixed with the first driving wheel in first mounting groove, left and right extends in the pedestal slided below chamber
Be provided with empty slot, be equipped with the second mounting groove in the pedestal below first mounting groove, second mounting groove with it is described
First rotating shaft is rotatably provided between empty slot, first rotating shaft right side extended end protrudes into the empty slot and right side tip
It is fixed with the first taper cone pulley, extended end protrudes into the second mounting groove on the left of the first rotating shaft and left side tip and described second is pacified
Tankage is rotatably assorted connection, and the second driving wheel being fixed in second mounting groove in the first rotating shaft is described
Lead between second mounting groove and first mounting groove and be provided with first and lead to slot, first driving wheel and described second passes
Transmission, which is connected with, between driving wheel leads to the first transmission belt in slot positioned at described first, and the is equipped in the empty slot inner bottom wall
One slide slot slides in first slide slot and is equipped with the first sliding block, and the first sliding block right end face is fixed with
Permanent magnet, is equipped with the electromagnetic actuator device with the permanent magnetism mates on the right side of first slide slot in inner wall, and described first
The first driving machine is equipped in sliding block top end surface, be connected by power at the top of first driving machine protrude into the empty slot and with
The second taper cone pulley that first taper cone pulley is cooperatively connected.
Further technical solution is equipped with third mounting groove, the third installation in the pedestal on the right side of the empty slot
Slot and the empty slot, which are rotatably assorted, is equipped with the second shaft, and the second shaft left side extended end protrudes into the empty slot and left side
Tip is fixed with third taper cone pulley, on the right side of second shaft extended end protrude into the third mounting groove and with the third
Inner wall is rotatably assorted connection on the right side of mounting groove, and the third biography in the third mounting groove is fixed in second shaft
Driving wheel.
Further technical solution is equipped with the 4th mounting groove, left and right two in the pedestal below the third mounting groove
Be rotatably assorted the third shaft being equipped with through the 4th mounting groove between a second turn of chamber, in second turn of chamber
The second toothed wheel being cooperatively connected with first toothed wheel is fixed in the third shaft, in the 4th mounting groove
It is fixed with the 4th driving wheel in the third shaft, leads between the third mounting groove and the 4th mounting groove and is provided with
Second leads to slot, and transmission, which is connected with, between the third driving wheel and the 4th driving wheel leads to slot positioned at described second
In the second transmission belt.
Further technical solution, the second upward slide slot of port is respectively equipped in the sliding seat and third slides
Slot slides in second slide slot and is equipped with the second sliding block, and the second sliding block top end surface is fixed with Laser Welding
Connector and right end face are fixed with the first tooth form item, slide in the third slide slot and are equipped with third sliding block, and described
It is equipped with the second driving machine in three sliding block top end faces, grinding wheel has been connected by power at the top of second driving machine, the third is sliding
Row block left end face is fixed with the second tooth form item, leads between second slide slot and third slide slot and is provided with third turn
Chamber, the third turn to be equipped with extended 4th shaft in front and back in chamber, and extended end and the third turn chamber on front side of the 4th shaft
Front inner wall is rotatably assorted connection, and rear side extended end drives with the third that the third turns on rear side of chamber in inner wall is fixedly installed on
Mechanomotive force connection is fixed with the with first tooth form article and second tooth form article mating connection in the 4th shaft
Three toothed wheels.
Further technical solution is equipped in the switch block and clamps chamber, is symmetrically arranged with liquid in the upper and lower end wall of the clampings chamber
Cylinder pressure, the hydraulic stem of the hydraulic cylinder protrudes into the clamping chamber and inside tip is fixed with the clamping chamber and slides cooperation company
The clamping plate connect, the clamping plate inner side end are fixed with protective pad, left and right are equipped in the rack through the clamping chamber and is led to
Slot outside even.
Further technical solution, the first slide slot inner bottom wall are equipped with the first guide groove, slide in first guide groove
The first guide block being fixedly connected with first sliding block is installed, is equipped with and described first in inner wall on the right side of first guide groove
The pressure spring that guide block offsets.
Further technical solution, is equipped with the second guide groove in the second slide slot inner left wall, in second guide groove
The second guide block for being equipped with and being fixedly connected with second sliding block is slided, is equipped with third on the right side of the third slide slot in inner wall
Guide groove, the third guide groove slide the third guide block for being equipped with and being fixedly connected with the third sliding block.
The beneficial effects of the invention are as follows：
Apparatus of the present invention when in use, by pipe fitting one end through two slots in left and right, then control the hydraulic cylinder operation,
Clamping plate described in two Driven by Hydraulic Cylinder up and down is set to be clamped fixation with respect to sliding and to pipe fitting both ends, after the completion of fixed,
First driving machine rotation is controlled first, can pass through described in the second taper wheel drive the after the first driving machine rotation
One taper cone pulley drives second driving wheel, the first driving wheel and screw rod rotation, can drive after the screw rod rotation
Moving the sliding seat drives the laser welding head to slide to the right, when the laser welding head is located at below pipe fitting weld seam, control
It makes first driving machine to stop operating, while controlling the electromagnetic actuator device and powering on, after the electromagnetic actuator device powers on
The permanent magnet, which can be acted on, slides first sliding block to the right, when the first sliding block right end face and described first are slided
When inner wall offsets on the right side of row slot, second taper cone pulley is meshed with the third taper cone pulley, is then turned on first driving
Machine and the laser welding head can pass through third taper described in the second taper wheel drive after the first driving machine rotation
Wheel rotation can drive the third driving wheel, the 4th driving wheel, third shaft, the second tooth form after the third taper cone pulley rotation
Wheel and first toothed wheel rotation can be enclosed by the outside after the first toothed wheel rotation and the switch block driven to drive
Pipe fitting rotation, and annular solder operation can be carried out to weld seam after laser welding head unlatching, to be greatly improved welding
Efficiency and welding effect；
After the completion of welding, control under the electromagnetic actuator device it is electric, make second taper cone pulley again with first taper cone pulley
It is meshed, then drives the sliding seat that the grinding wheel is driven to slide into below welding position by first driving machine
Place controls first driving machine and stops operating, and controls the third driving machine rotation simultaneously, the third driving machine rotation
After third toothed wheel can be driven to rotate, second sliding block can be driven to drive the Laser Welding after third toothed wheel rotation
While connector is gradually accommodated in second slide slot, the third sliding block can be driven to drive described in grinding wheel gradually stretches out
Third slide slot controls the third driving machine and stops operating, then controls when offseting at the grinding wheel and welding position
Second driving machine rotation, with simultaneously by the electromagnetic actuator device power on and the rotation of first driving machine
Continue to control pipe fitting rotation, and the grinding wheel can be driven to carry out sanding operation after second driving machine rotation, thus
Equipment use cost can be greatly reduced, reduce labor intensity, improve polishing quality；
Apparatus of the present invention structure is simple, easy to operate, and high degree of automation is, it can be achieved that welding to pipe fitting weld seam and polishing one
The operation of body formula, can greatly reduce equipment use cost, reduce labor intensity, improve working efficiency.
Detailed description of the invention
It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only to invent
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of robot control system of the invention.
Fig. 2 is the structural schematic diagram of sliding seat in Fig. 1.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive spy
Other than sign and/or step, it can combine in any way.
This specification（Including any accessory claim, abstract and attached drawing）Disclosed in any feature, except non-specifically chatting
State, can it is equivalent by other or have similar purpose alternative features replaced.That is, unless specifically stated, each feature is
An example in a series of equivalent or similar characteristics.
As shown in Figs. 1-2, a kind of robot control system of apparatus of the present invention, including pedestal 10, be symmetrical set in
The rack 11 of 10 top end surface of pedestal and be set to 10 top end surface of pedestal and be located at left and right two racks
Mounting rack 22 between 11, is equipped with first turn of chamber 12 in the rack 11, rotatable by bearing in first turn of chamber 12
Switch block 13 is installed, annular groove 17 is equipped in first turn of chamber, 12 inner wall, is fixed with the position annular groove 17 on the switch block 13
In outer gear ring 18, be symmetrically set with the second turn of chamber 52 to interlink with the annular groove 17 in the pedestal 10, described
The first toothed wheel 53 being cooperatively connected with the outer gear ring 18 is rotatably installed in two turns of chambers 52, is set in the mounting rack 22
Have port it is upward slide chamber 23, it is described slide to slide in chamber 23 sliding seat 24 is installed, left and right is equipped in the sliding seat 24
Perforative threaded hole 25, is fitted with screw rod 26 in the threaded hole 25, the 26 right side extended end of screw rod with it is described
It slides 23 right side inner wall of chamber to be rotatably assorted connection, described slide is equipped with the first mounting groove 41, the spiral in 23 inner left wall of chamber
26 left side extended end of bar is protruded into first mounting groove 41 and is rotatably assorted with 41 inner left wall of the first mounting groove and connect,
The first driving wheel 42 in first mounting groove 41 is fixed on the screw rod 26, it is described to slide below chamber 23
Left and right, which extends, in the pedestal 10 is provided with empty slot 38, is equipped with the second peace in the pedestal 10 of 41 lower section of the first mounting groove
Tankage 44 is rotatably provided with first rotating shaft 55, the first rotating shaft between second mounting groove 44 and the empty slot 38
55 right side extended ends protrude into the empty slot 38 and right side tip is fixed with the first taper cone pulley 40,55 left side of first rotating shaft
Extended end protrudes into the second mounting groove 44 and left side tip is rotatably assorted with second mounting groove 44 and connect, the first rotating shaft 55
On be fixed with the second driving wheel 45 in second mounting groove 44, second mounting groove 44 and first installation
Lead between slot 41 and be provided with first and lead to slot 44, cooperation is driven between first driving wheel 42 and second driving wheel 45
It is connected with and is located at described first and leads to the first transmission belt in slot 44, be equipped with the first slide slot 56 in 38 inner bottom wall of empty slot,
It is slided in first slide slot 56 and first sliding block 57 is installed, 57 right end face of the first sliding block is fixed with permanent magnetism
Body 62 is equipped with the electromagnetic actuator device 63 matched with the permanent magnet 62 in first slide slot, the 56 right side inner wall, described
It is equipped with the first driving machine 58 in first sliding block, 57 top end surface, has been connected by power at the top of first driving machine 58 described in protruding into
The second taper cone pulley 39 being cooperatively connected in empty slot 38 and with first taper cone pulley 40.
Valuably or illustratively, wherein it is equipped with third mounting groove 48 in the pedestal 10 on 38 right side of the empty slot, described the
Three mounting grooves 48 are rotatably assorted with the empty slot 38 is equipped with the second shaft 47, and the 47 left side extended end of the second shaft protrudes into institute
It states in empty slot 38 and left side tip is fixed with third taper cone pulley 46, the 47 right side extended end of the second shaft protrudes into the third
It is rotatably assorted in mounting groove 48 and with the 48 right side inner wall of third mounting groove and connect, be fixed with position in second shaft 47
Third driving wheel 49 in the third mounting groove 48.
Valuably or illustratively, wherein be equipped with the 4th installation in the pedestal 10 of 48 lower section of third mounting groove
Slot 64 controls the third shaft being equipped with through the 4th mounting groove 64 that is rotatably assorted between two second turn of chambers 52
66, second to be cooperatively connected with first toothed wheel 53 is fixed in the third shaft 66 in second turn of chamber 52
Toothed wheel 54 is fixed with the 4th driving wheel 65, the third peace in the third shaft 66 in the 4th mounting groove 64
Lead between tankage 48 and the 4th mounting groove 64 and is provided with second and leads to slot 50, the third driving wheel 49 and the described 4th
Transmission is connected with the second transmission belt led in slot 50 positioned at described second between driving wheel 65.
Valuably or illustratively, wherein upward 27 He of the second slide slot in port is respectively equipped in the sliding seat 24
Third slide slot 32 slides in second slide slot 27 and is equipped with the second sliding block 28,28 top end of the second sliding block
Face is fixed with laser welding head 29 and right end face is fixed with the first tooth form item, slides installation in the third slide slot 32
There is third sliding block 33, the second driving machine 34,34 top of the second driving machine are equipped in 33 top end face of third sliding block
It is connected by power grinding wheel 35,33 left end face of third sliding block is fixed with the second tooth form item, second slide slot
Lead between 27 and third slide slot 32 and be provided with third and turn chamber 27, the third turns to be equipped with extended 4th turn of front and back in chamber 27
Axis 37, the 37 front side extended end of the 4th shaft with the third turns 27 front inner wall of chamber and is rotatably assorted to connect, and rear side extends
The third driving machine that the third turns in 27 rear side inner wall of chamber is held and is fixedly installed on to be connected by power, it is solid in the 4th shaft 37
It is fixed to be equipped with the third toothed wheel 371 being cooperatively connected with the first tooth form item and the second tooth form item.
Valuably or illustratively, wherein be equipped in the switch block 13 and clamp chamber 14, in about 14 end wall of clamping chamber
It is symmetrically arranged with hydraulic cylinder 19, the hydraulic stem 20 of the hydraulic cylinder 19 protrudes into the clamping chamber 14 and inside tip is fixed with institute
It states and clamps the clamping plate 15 that chamber 14 slides mating connection, 15 inner side end of clamping plate is fixed with protective pad 16, the rack 11
In be equipped with left and right through the clamping chamber 14 and lead to external slot 21.
Valuably or illustratively, wherein 56 inner bottom wall of the first slide slot is equipped with the first guide groove 59, and described first leads
The first guide block 60 for being equipped with and being fixedly connected with first sliding block 57, the 59 right side inner wall of the first guide groove are slided in slot 59
In be equipped with the pressure spring 61 that offsets with first guide block 60.
Valuably or illustratively, wherein it is equipped with the second guide groove 30 in 27 inner left wall of the second slide slot, described the
The second guide block 31 for being equipped with and being fixedly connected with second sliding block 28 is slided in two guide grooves 30, the third slide slot 32 is right
Third guide groove 67 is equipped in the inner wall of side, the third guide groove 67 slides for being equipped with and being fixedly connected with the third sliding block 33
Three guide blocks 68.
Apparatus of the present invention in the initial state, under the action of pressure spring 61,57 left end face of the first sliding block
It offsets with 56 inner left wall of the first slide slot, second taper cone pulley 39 is meshed with first taper cone pulley 40, described
Laser welding head 29 stretches out outside 27 top end surface of the second slide slot, and the grinding wheel 35 is accommodated in the third completely and slides
In row slot 32.
In use, the hydraulic cylinder 19 then controlled and runs, make pipe fitting one end through two slots 21 in left and right
Lower two hydraulic cylinders 19 drive the clamping plate 15 to be clamped fixation with respect to sliding and to pipe fitting both ends, after the completion of fixed,
It controls first driving machine 58 first to rotate, first driving machine 58 can be driven after rotating by second taper cone pulley 39
First taper cone pulley 40 drives second driving wheel 45, the first driving wheel 42 and the screw rod 26 to rotate, the spiral shell
Spinner handle 26 can drive the sliding seat 24 that the laser welding head 29 is driven to slide to the right after rotating, when the laser welding head 29
When below pipe fitting weld seam, controls first driving machine 58 and stop operating, while controlling on the electromagnetic actuator device 63
Electricity, the electromagnetic actuator device 63 can act on the permanent magnet 62 after powering on slide first sliding block 57 to the right, works as institute
State 57 right end face of the first sliding block and when the 56 right side inner wall of the first slide slot offsets, second taper cone pulley 39 with it is described
Third taper cone pulley 46 is meshed, and is then turned on first driving machine 58 and the laser welding head 29, first driving
Machine 58 can drive the third taper cone pulley 46 to rotate by second taper cone pulley 39 after rotating, the third taper cone pulley 46 rotates
After can drive the third driving wheel 49, the 4th driving wheel 56, third shaft 66, the second toothed wheel 54 and first tooth form
52 rotation of wheel, first toothed wheel 52 can drive the switch block 13 to drive pipe fitting rotation by the outer gear ring 185 after rotating,
And annular solder operation can be carried out to weld seam after the laser welding head 29 unlatching；
After the completion of welding, electricity under the electromagnetic actuator device 63 is controlled, bores second taper cone pulley 39 with described first again
Shape wheel 40 is meshed, and then drives the sliding seat 24 that the grinding wheel 35 is driven to slide into weldering by first driving machine 58
It connects at below position, then controls first driving machine 58 and stop operating, and control the third driving machine rotation, institute simultaneously
Third toothed wheel 371 can be driven to rotate after stating the rotation of third driving machine, the third toothed wheel 371 can drive described the after rotating
While two sliding blocks 28 drive the laser welding head 29 to be gradually accommodated in the second slide slot 27, the third can be driven
Sliding block 33 drives grinding wheel 35 gradually to stretch out the third slide slot 32, when offseting at the grinding wheel 35 and welding position
It controls the third driving machine to stop operating, then controls second driving machine 34 and rotate, pass through the electromagnetism at the same time
Driving device 47 power on and the rotation of first driving machine 58 and continue control pipe fitting rotation, and it is described second driving
Machine 34 can drive the grinding wheel 35 to carry out sanding operation after rotating.
The beneficial effects of the invention are as follows：
Apparatus of the present invention when in use, by pipe fitting one end through two slots in left and right, then control the hydraulic cylinder operation,
Clamping plate described in two Driven by Hydraulic Cylinder up and down is set to be clamped fixation with respect to sliding and to pipe fitting both ends, after the completion of fixed,
First driving machine rotation is controlled first, can pass through described in the second taper wheel drive the after the first driving machine rotation
One taper cone pulley drives second driving wheel, the first driving wheel and screw rod rotation, can drive after the screw rod rotation
Moving the sliding seat drives the laser welding head to slide to the right, when the laser welding head is located at below pipe fitting weld seam, control
It makes first driving machine to stop operating, while controlling the electromagnetic actuator device and powering on, after the electromagnetic actuator device powers on
The permanent magnet, which can be acted on, slides first sliding block to the right, when the first sliding block right end face and described first are slided
When inner wall offsets on the right side of row slot, second taper cone pulley is meshed with the third taper cone pulley, is then turned on first driving
Machine and the laser welding head can pass through third taper described in the second taper wheel drive after the first driving machine rotation
Wheel rotation can drive the third driving wheel, the 4th driving wheel, third shaft, the second tooth form after the third taper cone pulley rotation
Wheel and first toothed wheel rotation can be enclosed by the outside after the first toothed wheel rotation and the switch block driven to drive
Pipe fitting rotation, and annular solder operation can be carried out to weld seam after laser welding head unlatching, to be greatly improved welding
Efficiency and welding effect；
After the completion of welding, control under the electromagnetic actuator device it is electric, make second taper cone pulley again with first taper cone pulley
It is meshed, then drives the sliding seat that the grinding wheel is driven to slide into below welding position by first driving machine
Place controls first driving machine and stops operating, and controls the third driving machine rotation simultaneously, the third driving machine rotation
After third toothed wheel can be driven to rotate, second sliding block can be driven to drive the Laser Welding after third toothed wheel rotation
While connector is gradually accommodated in second slide slot, the third sliding block can be driven to drive described in grinding wheel gradually stretches out
Third slide slot controls the third driving machine and stops operating, then controls when offseting at the grinding wheel and welding position
Second driving machine rotation, with simultaneously by the electromagnetic actuator device power on and the rotation of first driving machine
Continue to control pipe fitting rotation, and the grinding wheel can be driven to carry out sanding operation after second driving machine rotation, thus
Equipment use cost can be greatly reduced, reduce labor intensity, improve polishing quality；
Apparatus of the present invention structure is simple, easy to operate, and high degree of automation is, it can be achieved that welding to pipe fitting weld seam and polishing one
The operation of body formula, can greatly reduce equipment use cost, reduce labor intensity, improve working efficiency.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (7)
1. a kind of robot control system, including pedestal, be symmetrical set in the base top end face rack and set
The mounting rack for being placed in the base top end face and being located between two racks in left and right, it is characterised in that：In the rack
Equipped with first turn of chamber, switch block is rotatably equipped with by bearing in first turn of chamber, is equipped in first turn of cavity wall
Annular groove, the outer gear ring being fixed on the switch block in the annular groove of position are symmetrically set with and the ring in the pedestal
Second turn of chamber that slot interlinks rotatably is equipped with the first tooth form being cooperatively connected with the outer gear ring in second turn of chamber
Wheel, be equipped in the mounting rack port it is upward slide chamber, it is described slide to slide in chamber sliding seat is installed, in the sliding seat
Equipped with the perforative threaded hole in left and right, be fitted with screw rod in the threaded hole, on the right side of the screw rod extended end with it is described
It slides inner wall on the right side of chamber to be rotatably assorted connection, described slide is equipped with the first mounting groove in chamber inner left wall, the screw rod left side
Extended end is protruded into first mounting groove and is rotatably assorted with the first mounting groove inner left wall and connect, on the screw rod
It is fixed with the first driving wheel being located in first mounting groove, left and right, which extends, in the pedestal slided below chamber sets
It is equipped with empty slot, is equipped with the second mounting groove, second mounting groove and the sky in the pedestal below first mounting groove
First rotating shaft is rotatably provided between slot, extended end protrudes into the empty slot on the right side of the first rotating shaft and right side tip is solid
Surely it is equipped with the first taper cone pulley, extended end protrudes into the second mounting groove on the left of the first rotating shaft and left side tip and described second is installed
Slot is rotatably assorted connection, the second driving wheel being fixed in second mounting groove in the first rotating shaft, and described
Lead between two mounting grooves and first mounting groove and is provided with first and leads to slot, first driving wheel and second transmission
Transmission, which is connected with, between wheel leads to the first transmission belt in slot positioned at described first, is equipped with first in the empty slot inner bottom wall
Slide slot slides in first slide slot and is equipped with the first sliding block, and the first sliding block right end face is fixed with forever
Magnet is equipped with the electromagnetic actuator device with the permanent magnetism mates on the right side of first slide slot in inner wall, described first is sliding
The first driving machine is equipped in row block top end surface, be connected by power at the top of first driving machine protrude into the empty slot and with institute
State the second taper cone pulley of the first taper cone pulley mating connection.
2. a kind of robot control system according to claim 1, it is characterised in that：The pedestal on the right side of the empty slot
In be equipped with third mounting groove, the third mounting groove and the empty slot, which are rotatably assorted, is equipped with the second shaft, second shaft
Left side extended end protrudes into the empty slot and left side tip is fixed with third taper cone pulley, and extended end is stretched on the right side of second shaft
Enter in the third mounting groove and be rotatably assorted with inner wall on the right side of the third mounting groove to connect, fixation is set in second shaft
There is the third driving wheel being located in the third mounting groove.
3. a kind of robot control system according to claim 1, it is characterised in that：Institute below the third mounting groove
It states and is equipped with the 4th mounting groove in pedestal, be rotatably assorted and be equipped with through the 4th installation between the two second turn of chambers in left and right
The third shaft of slot, is fixed in the third shaft in second turn of chamber and first toothed wheel is cooperatively connected
Second toothed wheel is fixed with the 4th driving wheel, the third mounting groove in the third shaft in the 4th mounting groove
Lead between the 4th mounting groove and be provided with second and lead to slot, is passed between the third driving wheel and the 4th driving wheel
It is dynamic to be connected with the second transmission belt led in slot positioned at described second.
4. a kind of robot control system according to claim 1, it is characterised in that：End is respectively equipped in the sliding seat
Mouthful upward the second slide slot and third slide slot slide in second slide slot and are equipped with the second sliding block, and described second
Sliding block top end surface is fixed with laser welding head and right end face is fixed with the first tooth form item, in the third slide slot
It slides and third sliding block is installed, the second driving machine, the second driving machine top are equipped in the third sliding block top end face
It is connected by power grinding wheel, the third sliding block left end face is fixed with the second tooth form item, second slide slot and
To lead between three slide slots and is provided with third and turns chamber, the third turns to be equipped with extended 4th shaft in front and back in chamber, and the described 4th
Extended end with the third turns chamber front inner wall and is rotatably assorted connect on front side of shaft, and rear side extended end be fixedly installed on described in
The third driving machine that third turns on rear side of chamber in inner wall is connected by power, and is fixed in the 4th shaft and first tooth form article
The third toothed wheel being cooperatively connected with the second tooth form item.
5. a kind of robot control system according to claim 1, it is characterised in that：It is equipped in the switch block and clamps chamber,
Hydraulic cylinder is symmetrically arranged with above and below the clamping chamber in end wall, the hydraulic stem of the hydraulic cylinder protrudes into the clamping chamber and inside end
The tip is fixed with the clamping plate that the clamping chamber slides mating connection, and the clamping plate inner side end is fixed with protective pad, the machine
It is equipped with left and right in frame through the clamping chamber and leads to external slot.
6. a kind of robot control system according to claim 1, it is characterised in that：The first slide slot inner bottom wall is set
There is the first guide groove, slides the first guide block for being equipped with and being fixedly connected with first sliding block in first guide groove, described
The pressure spring to offset with first guide block is equipped on the right side of one guide groove in inner wall.
7. a kind of robot control system according to claim 1, it is characterised in that：The second slide slot inner left wall
In be equipped with the second guide groove, slide the second guide block for being equipped with and being fixedly connected with second sliding block, institute in second guide groove
It states and is equipped with third guide groove on the right side of third slide slot in inner wall, the third guide groove is slided to be equipped with and be fixed with the third sliding block
The third guide block of connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810790758.8A CN108857413A (en) | 2018-07-18 | 2018-07-18 | A kind of robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810790758.8A CN108857413A (en) | 2018-07-18 | 2018-07-18 | A kind of robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108857413A true CN108857413A (en) | 2018-11-23 |
Family
ID=64302917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810790758.8A Withdrawn CN108857413A (en) | 2018-07-18 | 2018-07-18 | A kind of robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108857413A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300410A (en) * | 2020-02-25 | 2020-06-19 | 江苏理工学院 | Copper pipe transfer positioning device |
-
2018
- 2018-07-18 CN CN201810790758.8A patent/CN108857413A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300410A (en) * | 2020-02-25 | 2020-06-19 | 江苏理工学院 | Copper pipe transfer positioning device |
| CN111300410B (en) * | 2020-02-25 | 2021-08-24 | 江苏理工学院 | Copper pipe transfer positioning device |
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Application publication date: 20181123 |
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