CN108971839A - A kind of welding robot - Google Patents
A kind of welding robot Download PDFInfo
- Publication number
- CN108971839A CN108971839A CN201811022497.1A CN201811022497A CN108971839A CN 108971839 A CN108971839 A CN 108971839A CN 201811022497 A CN201811022497 A CN 201811022497A CN 108971839 A CN108971839 A CN 108971839A
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- CN
- China
- Prior art keywords
- connecting plate
- bar
- welding robot
- fixed part
- slide bar
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- 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.)
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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
- B23K37/0252—Steering means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The present invention discloses a kind of welding robot, it is related to welder field, first sliding groove and second sliding slot are provided on second connecting plate, one end of third connecting plate is fixedly installed the first slide bar, first slide bar is slidably disposed in first sliding groove, sliding block is provided in second sliding slot, sliding block includes fixed part and the articulated section that is fixedly connected with fixed part, one end of second connecting plate is provided with the through-hole being connected to second sliding slot, clear size of opening is greater than articulated section size and is less than fixed part size, fixed part is connected by an elastic component with one end of second sliding slot, one end of first connecting plate passes through through-hole and is flexibly connected with articulated section, bar is provided on first slide bar, bar can push fixed part that articulated section via through holes is driven to be pierced by, connection relationship in the course of work between the first connecting plate and the second connecting plate can be between prismatic pair and revolute pair Flexibly switching, welding robot isolated degree of freedom is high, and kinematic dexterity is good, and applicability is good.
Description
Technical field
The present invention relates to welder fields, more particularly to a kind of welding robot.
Background technique
With the gradually development of machinery industry, the structure of all kinds of engineering goods is increasingly sophisticated, all kinds of shape machine components
Weldment is also increasingly important.However industry now has stepped into industrial 4.0 epoch, the production of modernization be unable to do without welding robot
People, welding robot play increasingly important function in the industrial production.But traditional welding robot is often currently on the market
Only there is single structure state, adaptability and local flexibility are poor, can not work in narrow space, or can not be to small-sized zero
Part is precisely welded.
Therefore it provides a kind of adaptability and the good welding robot of local flexibility are current urgent problems to be solved.
Summary of the invention
The object of the present invention is to provide a kind of welding robots, to solve the above-mentioned problems of the prior art, make to weld
Robot adaptability and local flexibility are good.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of welding robot, including bottom plate, third connecting plate, the second connecting plate, the first connecting plate, defeated
Rod, the 4th connecting plate, the 5th connecting plate and the 6th connecting plate, third connecting plate and the 6th connecting plate connect with bottom plate activity
It connecing, first sliding groove and second sliding slot is provided on the second connecting plate, one end of third connecting plate is fixedly installed the first slide bar, the
One slide bar is slidably disposed in first sliding groove, and sliding block is provided in second sliding slot, and sliding block includes fixed part and and fixed part
The articulated section being fixedly connected, one end of the second connecting plate are provided with the through-hole being connected to second sliding slot, and clear size of opening is greater than hinged
Portion's size is simultaneously less than fixed part size, and fixed part is connected by an elastic component with one end of second sliding slot, and the one of the first connecting plate
End is flexibly connected across through-hole with articulated section, and bar is provided on the first slide bar, and bar can push fixed part to drive articulated section
Via through holes are pierced by, and the first connecting plate is flexibly connected with output rod, and output rod is flexibly connected with the 4th connecting plate, the 5th connecting plate
One end is provided with the second slide bar, and one end of the second slide bar is slidably mounted on the 4th connecting plate, the 5th connecting plate it is another
End is flexibly connected with the 6th connecting plate.
Preferably, the block matched with bar is provided on fixed part, bar can push block to drive articulated section warp
Through-hole is pierced by.
Preferably, bar includes cross bar and vertical bar, and cross bar is vertically connected with vertical bar, and vertical bar is fixed on the first slide bar.
Preferably, output rod is connect by the first spherical pair with the 4th connecting plate, and one end of the 5th connecting plate passes through second
Spherical pair is connect with the 6th connecting plate.
Preferably, the first connecting plate is connect by the first pin shaft with output rod, and third connecting plate passes through the second pin shaft and bottom
Plate connection, the 6th connecting plate are connect by third pin shaft with bottom plate, and articulated section is connect by the 4th pin shaft with the first connecting plate.
Preferably, elastic component is spring.
Preferably, third sliding slot is provided on the 4th connecting plate, it is sliding that one end of the second slide bar is slidably mounted on third
In slot.
Preferably, bar is fixed on the upper surface of slide bar.
The present invention achieves following technical effect compared with the existing technology:
A kind of welding robot provided by the invention, the connection relationship between the first connecting plate and the second connecting plate can move
Flexibly switch between dynamic secondary and revolute pair, and then turn welding robot locally can under flat state and spatiality flexibly
It changes, welding robot isolated degree of freedom is high during welding, and welding flexibility is good, and the applicability of welding robot also mentions significantly
It is high.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is when a kind of the first connecting plate of welding robot and the second connecting plate connection type are prismatic pair in the present invention
Structural schematic diagram；
Fig. 2 is when a kind of the first connecting plate of welding robot and the second connecting plate connection type are revolute pair in the present invention
Structural schematic diagram；
Fig. 3 is a kind of structural schematic diagram of first connecting plate of welding robot of the present invention；
Fig. 4 is a kind of structural schematic diagram of second connecting plate of welding robot of the present invention；
Fig. 5 is a kind of structural schematic diagram of the third connecting plate of welding robot of the present invention；
Fig. 6 is a kind of structural schematic diagram of 4th connecting plate of welding robot of the present invention；
Fig. 7 is a kind of structural schematic diagram of the sliding block of welding robot of the present invention；
Fig. 8 is a kind of structural schematic diagram of the spring set-up mode of welding robot of the present invention；
In figure: 1. output rods；2. the first pin shaft；3. the second connecting plate；4. the second pin shaft；5. bottom plate；6. the first spherical pair；
7. the 4th connecting plate；8. the 5th connecting plate；9. the second spherical pair；10. the 6th connecting plate；11. third pin shaft；12. the first connection
Plate；13. sliding block；14. bar；15. slide bar；16. third connecting plate；17. second sliding slot；18. first sliding groove；19. block；20.
4th pin shaft；21. spring；22. fixed part；23. articulated section；24. third sliding slot.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of welding robots, of the existing technology to solve the problems, such as, make.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of welding robot, and as shown in Fig. 1-Fig. 7, including bottom plate 5, third connecting plate 16, second connect
Fishplate bar 3, the first connecting plate 12, output rod 1, the 4th connecting plate 7, the 5th connecting plate 8 and the 6th connecting plate 10, third connecting plate 16
It is flexibly connected with bottom plate 5 with the 6th connecting plate 10, first sliding groove 18 and second sliding slot 17 is provided on the second connecting plate 3, the
One end of three connecting plates 16 is welded with the first slide bar 15, and the first slide bar 15 is slidably disposed in first sliding groove 18, and second is sliding
Sliding block 13 is provided in slot 17, sliding block 13 includes fixed part 22 and the articulated section 23 being fixedly connected with fixed part 22, the second connection
One end of plate 3 is provided with the through-hole being connected to second sliding slot 17, and clear size of opening is greater than 23 size of articulated section and is less than fixed part 22
Size, fixed part 22 are connected by an elastic component with one end of second sliding slot 17, one end of the first connecting plate 12 across through-hole and
Articulated section 23 is flexibly connected, and bar 14 is welded on the first slide bar 15, and bar 14 can push fixed part 22 to drive articulated section 23
Via through holes are pierced by, and the first connecting plate 12 is flexibly connected with output rod 1, and output rod 1 is flexibly connected with the 4th connecting plate 7, and the 5th connects
One end of fishplate bar 8 is provided with the second slide bar 15, and one end of the second slide bar 15 is slidably mounted on the 4th connecting plate 7, and the 5th
The other end of connecting plate 8 is flexibly connected with the 6th connecting plate 10, in the course of work between the first connecting plate 12 and the second connecting plate 3
Connection relationship can flexibly switch between prismatic pair and revolute pair, welding robot isolated degree of freedom is high, kinematic dexterity and
Applicability is good.
In the present invention one specifically embodiment, the block 19 matched with bar 14, bar are welded on fixed part 22
14 can push block 19 that 23 via through holes of articulated section is driven to be pierced by, and bar 14 includes cross bar and vertical bar, and cross bar is vertically connected with vertical bar,
Vertical bar is fixed on the upper surface of the first slide bar 15, and 14 height of bar is in the same plane with 19 height of block, elastic component
For spring 21, the both ends of spring 21 are welded to connect with one end of fixed part 22 and one end of second sliding slot 17 respectively, and output rod 1 is logical
It crosses the first spherical pair 6 to connect with the 4th connecting plate 7, one end of the 5th connecting plate 8 passes through the second spherical pair 9 and the 6th connecting plate 10
Connection.First connecting plate 12 is connect by the first pin shaft 2 with output rod 1, and third connecting plate 16 passes through the second pin shaft 4 and bottom plate 5
Connection, the 6th connecting plate 10 are connect by third pin shaft 11 with bottom plate 5, and articulated section 23 passes through the 4th pin shaft 20 and the first connecting plate
It is provided with third sliding slot 24 on 12 the 4th connecting plates 7 of connection, one end of the second slide bar 15 is slidably mounted on third sliding slot 24
It is interior.
In the course of work, when welding robot descends in the raw, bar 14 and block 19 are discrete state, at this time
Slide bar 15 can slide in the first sliding groove 18 of the second connecting plate 3, belong to movement between the first connecting plate 12 and the second connecting plate 3
Pair connection, one end of the one end for being fixed on second sliding slot 17 and fixed part 22 is respectively welded in 21 both ends of spring, when spring 21 is in
When natural drawing state, if sliding block 13 is entirely limited in second sliding slot 17 by spring 21 without external force in spring 21, from
And the 4th pin shaft 20 for being used to connect articulated section 23 and the first connecting plate 12 is also limited in second sliding slot 17, at this point, first
Connecting plate 12 and sliding block 13 can not rotate, in this case, the first connecting plate 12 and the second connecting plate 3 around the 4th pin shaft 20
It can be considered same plate, and the plate is that prismatic pair is connect with third connecting plate 16.When slide bar 15 is slowly along first sliding groove 18
When forward movement, the meeting of bar 14 is slowly close to block 19, when 14 contact blocks 19 of bar, if slide bar 15 continues to move along,
Then block 19 can move forward under the thrust of bar 14, thus moved forward with movable slider 13 along second sliding slot 17, by
It is had certain limitations in 17 length of second sliding slot, when sliding block 13 is moved to the top of second sliding slot 17, the fixed part 22 of sliding block 13
Being blocked can not continue to move to, but the articulated section 23 of sliding block 13 and the 4th pin shaft 20 have left second sliding slot 17 at this time, and first connects
Fishplate bar 12 can be rotated around the 4th pin shaft 20, at this point, the second connecting plate 3 and third connecting plate 16 can be considered same plate, the plate
Part is that revolute pair is connect with the first connecting plate 12, when needing to become prismatic pair again from revolute pair, it is only necessary to by bar 14 to separate
The direction of block 19 is mobile, and spring 21 can retract the articulated section 23 of sliding block 13 and the 4th pin shaft 20 in second sliding slot 17, thus
4th pin shaft 20 is limited in second sliding slot 17, the first connecting plate 12 can not be rotated around the 4th pin shaft 20 at this time.
In addition, when the connection type between the first connecting plate 12 and the second connecting plate 3 is prismatic pair, the first connecting plate
12, the second connecting plate 3, third connecting plate 16 are always positioned in same plane, and the first connecting plate can be changed in the second pin shaft 4 of rotation
12, the angle of 16 bottom plate 5 of the second connecting plate 3 and the second connecting plate, mobile changeable first company in first sliding groove 18 of slide bar 15
Fishplate bar 12, the second connecting plate 3, the formed plane of third connecting plate 16 length, the first pin shaft 2 of rotation is changeable can the first connection
Angle between plate 12, the second connecting plate 3, the formed plane of third connecting plate 16 and output rod 1, rotation third pin shaft 11 can change
Become the angle of the 6th connecting plate 10 with bottom plate 5, the second spherical pair 9 of rotation can be changed the 6th connecting plate 10 and the 5th connecting plate 8 it
Between angle, between the 4th connecting plate 7 and the 5th connecting plate 8 using prismatic pair connect, the 5th connecting plate 8 can be in the 4th connecting plate
It is moved in 7 third sliding slot 24, the angle between the 4th connecting plate 7 and output rod 1, output can be changed in the first spherical pair 6 of rotation
The final position of bar 1 can be by changing the first pin shaft 2, the second pin shaft 4, third pin shaft 11, the first spherical pair 6 and the second spherical pair
9 corner, the first connecting plate 12, the second connecting plate 3, the formed plane of third connecting plate 16 length and the 4th connecting plate 7
Length is overlapped to adjust, to reach precise positioning between the 5th connecting plate 8.
When the connection type between the first connecting plate 12 and the second connecting plate 3 is revolute pair, i.e., bar 14, which pushes, fixes
Portion 22 drives articulated section 23 and 20 via through holes of the 4th pin shaft to be pierced by, and the 4th pin shaft 20 leaves second sliding slot 17, the first connection completely
Plate 12 can be rotated around the 4th pin shaft 20.At this point, the operating position of the welding robot output rod 1 is by before can only be in plane model
It encloses interior work and rises to work in spatial dimension, isolated degree of freedom and the work for largely improving welding robot are flexible
Property.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (8)
1. a kind of welding robot, it is characterised in that: including bottom plate, third connecting plate, the second connecting plate, the first connecting plate, defeated
Rod, the 4th connecting plate, the 5th connecting plate and the 6th connecting plate, the third connecting plate and the 6th connecting plate with it is described
Bottom plate is flexibly connected, and first sliding groove and second sliding slot are provided on second connecting plate, and one end of the third connecting plate is solid
Surely it is provided with the first slide bar, first slide bar is slidably disposed in the first sliding groove, setting in the second sliding slot
There is a sliding block, the sliding block includes fixed part and the articulated section that is fixedly connected with the fixed part, one end of second connecting plate
It is provided with the through-hole being connected to the second sliding slot, the clear size of opening is greater than the articulated section size and is less than the fixed part
Size, the fixed part are connected by an elastic component with one end of the second sliding slot, and one end of first connecting plate passes through
The through-hole is flexibly connected with the articulated section, and bar is provided on first slide bar, and the bar can push described solid
Determining portion drives the articulated section to be pierced by through the through-hole, and first connecting plate is flexibly connected with the output rod, the output
Bar is flexibly connected with the 4th connecting plate, and one end of the 5th connecting plate is provided with the second slide bar, second slide bar
One end is slidably mounted on the 4th connecting plate, the other end of the 5th connecting plate and the 6th connecting plate activity
Connection.
2. welding robot according to claim 1, it is characterised in that: be provided on the fixed part and the bar phase
The block of cooperation, the bar can push the block that the articulated section is driven to be pierced by through the through-hole.
3. welding robot according to claim 1, it is characterised in that: the bar includes cross bar and vertical bar, the cross
Bar is vertically connected with the vertical bar, and the vertical bar is fixed on first slide bar.
4. welding robot according to claim 1, it is characterised in that: the output rod by the first spherical pair with it is described
One end of the connection of 4th connecting plate, the 5th connecting plate is connect by the second spherical pair with the 6th connecting plate.
5. welding robot according to claim 1, it is characterised in that: first connecting plate passes through the first pin shaft and institute
Output rod connection is stated, the third connecting plate is connect by the second pin shaft with the bottom plate, and the 6th connecting plate passes through third pin shaft
It is connect with the bottom plate, the articulated section is connect by the 4th pin shaft with first connecting plate.
6. welding robot according to claim 1, it is characterised in that: the elastic component is spring.
7. welding robot according to claim 1, it is characterised in that: it is sliding to be provided with third on the 4th connecting plate
Slot, one end of second slide bar are slidably mounted in the third sliding slot.
8. welding robot according to claim 1, it is characterised in that: the bar is fixed on the upper table of the slide bar
Face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022497.1A CN108971839B (en) | 2018-09-03 | 2018-09-03 | Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022497.1A CN108971839B (en) | 2018-09-03 | 2018-09-03 | Welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108971839A true CN108971839A (en) | 2018-12-11 |
| CN108971839B CN108971839B (en) | 2023-06-23 |
Family
ID=64548743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811022497.1A Active CN108971839B (en) | 2018-09-03 | 2018-09-03 | Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108971839B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001075A (en) * | 2021-03-29 | 2021-06-22 | 江苏贺颖智能科技有限公司 | Mechanical arm of welding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001075A (en) * | 2021-03-29 | 2021-06-22 | 江苏贺颖智能科技有限公司 | Mechanical arm of welding robot |
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| Publication number | Publication date |
|---|---|
| CN108971839B (en) | 2023-06-23 |
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