CN108971839B - Welding robot - Google Patents
Welding robot Download PDFInfo
- Publication number
- CN108971839B CN108971839B CN201811022497.1A CN201811022497A CN108971839B CN 108971839 B CN108971839 B CN 108971839B CN 201811022497 A CN201811022497 A CN 201811022497A CN 108971839 B CN108971839 B CN 108971839B
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- connecting plate
- rod
- welding robot
- fixed part
- sliding groove
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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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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a welding robot, which relates to the field of welding devices, wherein a first chute and a second chute are arranged on a second connecting plate, a first sliding rod is fixedly arranged at one end of a third connecting plate, the first sliding rod is slidably arranged in the first chute, a sliding block is arranged in the second chute, the sliding block comprises a fixed part and a hinge part fixedly connected with the fixed part, a through hole communicated with the second chute is arranged at one end of the second connecting plate, the size of the through hole is larger than that of the hinge part and smaller than that of the fixed part, the fixed part is connected with one end of the second chute through an elastic piece, one end of the first connecting plate is movably connected with the hinge part through the through hole, a stop lever is arranged on the first sliding rod, the stop lever can push the fixed part to drive the hinge part to pass through the through hole, the connection relation between the first connecting plate and the second connecting plate can be flexibly switched between a moving pair and a revolute pair in the working process, the welding robot has high local degree of freedom and good movement flexibility, and good applicability.
Description
Technical Field
The invention relates to the field of welding devices, in particular to a welding robot.
Background
With the gradual development of the mechanical industry, the structure of various mechanical products is more and more complex, and the welding parts of various mechanical parts are more and more important. However, the industry has gradually entered the 4.0 era of industry, modern production is not separated from welding robots, and welding robots play an increasingly important role in industrial production. However, the conventional welding robots in the current market often have only a single configuration, have poor adaptability and local flexibility, cannot work in a narrow space, or cannot accurately weld small parts.
Therefore, providing a welding robot with good adaptability and local flexibility is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a welding robot which solves the problems in the prior art and has good adaptability and local flexibility.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a welding robot which comprises a bottom plate, a third connecting plate, a second connecting plate, a first connecting plate, an output rod, a fourth connecting plate, a fifth connecting plate and a sixth connecting plate, wherein the third connecting plate and the sixth connecting plate are movably connected with the bottom plate, a first sliding groove and a second sliding groove are formed in the second connecting plate, a first sliding rod is fixedly arranged at one end of the third connecting plate, the first sliding rod is slidably arranged in the first sliding groove, a sliding block is arranged in the second sliding groove, the sliding block comprises a fixed part and a hinging part fixedly connected with the fixed part, a through hole communicated with the second sliding groove is formed in one end of the second connecting plate, the size of the through hole is larger than that of the hinging part and smaller than that of the fixed part, the fixed part is connected with one end of the second sliding groove through an elastic piece, one end of the first connecting plate penetrates through the through hole and is movably connected with the hinging part, a blocking rod is arranged on the first sliding rod can push the fixed part to drive the hinging part to penetrate through the through hole, the first connecting plate is movably connected with the fourth connecting plate, one end of the fifth connecting plate is provided with the second sliding rod, one end of the second sliding rod is slidably arranged at one end of the second sliding rod, one end of the fourth connecting plate is slidably arranged on the other end of the fifth connecting plate, and the fifth connecting plate is movably connected with the sixth connecting plate.
Preferably, the fixed part is provided with a stop block matched with the stop lever, and the stop lever can push the stop block to drive the hinge part to pass through the through hole.
Preferably, the stop lever comprises a cross rod and a vertical rod, the cross rod is vertically connected with the vertical rod, and the vertical rod is fixed on the first slide rod.
Preferably, the output rod is connected with the fourth connecting plate through the first spherical pair, and one end of the fifth connecting plate is connected with the sixth connecting plate through the second spherical pair.
Preferably, the first connecting plate is connected with the output rod through a first pin shaft, the third connecting plate is connected with the bottom plate through a second pin shaft, the sixth connecting plate is connected with the bottom plate through a third pin shaft, and the hinge part is connected with the first connecting plate through a fourth pin shaft.
Preferably, the elastic member is a spring.
Preferably, the fourth connecting plate is provided with a third chute, and one end of the second sliding rod is slidably installed in the third chute.
Preferably, the bar is fixed to the upper surface of the slide bar.
Compared with the prior art, the invention has the following technical effects:
according to the welding robot provided by the invention, the connection relation between the first connecting plate and the second connecting plate can be flexibly switched between the moving pair and the rotating pair, so that the local part of the welding robot can be flexibly switched in a plane state and a space state, the local degree of freedom of the welding robot is high in the welding process, the welding flexibility is good, and the applicability of the welding robot is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a welding robot in the present invention, wherein the first connecting plate and the second connecting plate are connected in a manner of a mobile pair;
fig. 2 is a schematic structural diagram of a welding robot according to the present invention, in which a first connection plate and a second connection plate are connected in a revolute pair;
FIG. 3 is a schematic view of a first connection plate of a welding robot according to the present invention;
FIG. 4 is a schematic structural view of a second connection plate of the welding robot according to the present invention;
FIG. 5 is a schematic structural view of a third connecting plate of the welding robot according to the present invention;
fig. 6 is a schematic structural view of a fourth connection board of the welding robot according to the present invention;
FIG. 7 is a schematic view of a slider of a welding robot according to the present invention;
FIG. 8 is a schematic view of a spring arrangement of a welding robot according to the present invention;
in the figure: 1. an output lever; 2. a first pin; 3. a second connecting plate; 4. a second pin; 5. a bottom plate; 6. a first spherical pair; 7. a fourth connecting plate; 8. a fifth connecting plate; 9. a second spherical pair; 10. a sixth connecting plate; 11. a third pin; 12. a first connection plate; 13. a slide block; 14. a stop lever; 15. a slide bar; 16. a third connecting plate; 17. a second chute; 18. a first chute; 19. a stop block; 20. a fourth pin; 21. a spring; 22. a fixing part; 23. a hinge part; 24. and a third chute.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a welding robot which solves the problems existing in the prior art.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The invention provides a welding robot, as shown in fig. 1-7, which comprises a bottom plate 5, a third connecting plate 16, a second connecting plate 3, a first connecting plate 12, an output rod 1, a fourth connecting plate 7, a fifth connecting plate 8 and a sixth connecting plate 10, wherein the third connecting plate 16 and the sixth connecting plate 10 are movably connected with the bottom plate 5, a first sliding groove 18 and a second sliding groove 17 are arranged on the second connecting plate 3, a first sliding rod 15 is welded at one end of the third connecting plate 16, the first sliding rod 15 is slidably arranged in the first sliding groove 18, a sliding block 13 is arranged in the second sliding groove 17, the sliding block 13 comprises a fixed part 22 and a hinge part 23 fixedly connected with the fixed part 22, one end of the second connecting plate 3 is provided with a through hole communicated with the second sliding groove 17, the through hole is larger than the hinge part 23 in size and smaller than the fixed part 22 in size, the fixed part 22 is connected with one end of the second sliding groove 17 through an elastic piece, one end of the first connecting plate 12 passes through the through hole and is movably connected with the hinge part 23, a stop lever 14 is welded on the first sliding rod 15, the stop lever 14 can push the fixed part 22 to drive the hinge part 23 to move out of the through the fixed part 12 and can be flexibly connected with the second connecting plate 1 and the second connecting plate 8 to the second connecting plate 8 in a movable mode, the second connecting plate 8 is movably connected with the other end 8 in a flexible manner, and the flexible pair is flexibly and flexibly connected with the other end 8 is arranged, and is flexibly and connected with the other end 8, and is flexibly and flexibly connected with the other end 8.
In a specific embodiment of the present invention, a stop 19 matched with the stop lever 14 is welded on the fixing portion 22, the stop lever 14 can push the stop lever 19 to drive the hinge portion 23 to pass through the through hole, the stop lever 14 includes a cross bar and a vertical bar, the cross bar is vertically connected with the vertical bar, the vertical bar is fixed on the upper surface of the first slide bar 15, the height of the stop lever 14 and the height of the stop lever 19 are located in the same plane, the elastic member is a spring 21, two ends of the spring 21 are respectively welded with one end of the fixing portion 22 and one end of the second slide groove 17, the output rod 1 is connected with the fourth connecting plate 7 through the first spherical pair 6, and one end of the fifth connecting plate 8 is connected with the sixth connecting plate 10 through the second spherical pair 9. The first connecting plate 12 is connected with the output rod 1 through the first pin shaft 2, the third connecting plate 16 is connected with the bottom plate 5 through the second pin shaft 4, the sixth connecting plate 10 is connected with the bottom plate 5 through the third pin shaft 11, the hinge part 23 is connected with the first connecting plate 12 through the fourth pin shaft 20, a third sliding groove 24 is formed in the fourth connecting plate 7, and one end of the second sliding rod 15 is slidably arranged in the third sliding groove 24.
In the working process, when the welding robot is in a natural state, the stop lever 14 and the stop block 19 are in a separated state, at the moment, the slide rod 15 can slide in the first sliding groove 18 of the second connecting plate 3, the first connecting plate 12 and the second connecting plate 3 are connected in a moving pair, two ends of the spring 21 are respectively welded and fixed at one end of the second sliding groove 17 and one end of the fixed part 22, when the spring 21 is in a natural stretching state, if no external force acts on the spring 21, the spring 21 completely limits the slide block 13 in the second sliding groove 17, so that the fourth pin shaft 20 for connecting the hinge part 23 and the first connecting plate 12 is also limited in the second sliding groove 17, at the moment, the first connecting plate 12 and the slide block 13 cannot rotate around the fourth pin shaft 20, and in this case, the first connecting plate 12 and the second connecting plate 3 can be regarded as the same plate, and the plate is connected in a moving pair with the third connecting plate 16. When the slide bar 15 moves forward along the first chute 18, the stop lever 14 will approach the stop 19 slowly, when the stop lever 14 contacts the stop lever 19, if the slide bar 15 moves forward, the stop lever 19 will move forward under the pushing force of the stop lever 14, so as to drive the slide block 13 to move forward along the second chute 17, because the length of the second chute 17 is limited, when the slide block 13 moves to the top end of the second chute 17, the fixed portion 22 of the slide block 13 is blocked from moving further, but at this time, the hinge portion 23 of the slide block 13 and the fourth pin 20 have moved away from the second chute 17, the first connecting plate 12 can rotate around the fourth pin 20, at this time, the second connecting plate 3 and the third connecting plate 16 can be regarded as the same plate, which is connected with the first connecting plate 12 as a revolute pair, when the revolute pair needs to be changed back, only the stop lever 14 needs to move in a direction away from the stop lever 19, and the spring 21 will pull the hinge portion 23 of the slide block 13 and the fourth pin 20 back into the second chute 17, so as to limit the fourth pin 20 in the second chute 17, and the first connecting plate 12 can not rotate around the fourth pin 20.
In addition, when the connection mode between the first connecting plate 12 and the second connecting plate 3 is a moving pair, the first connecting plate 12, the second connecting plate 3 and the third connecting plate 16 are always located in the same plane, the second pin 4 is rotated to change the angles of the first connecting plate 12, the second connecting plate 3 and the bottom plate 5 of the second connecting plate 16, the sliding rod 15 moves in the first sliding groove 18 to change the lengths of planes formed by the first connecting plate 12, the second connecting plate 3 and the third connecting plate 16, the first pin 2 is rotated to change the angles of planes formed by the first connecting plate 12, the second connecting plate 3 and the third connecting plate 16 and the output rod 1, the third pin 11 is rotated to change the angles of the sixth connecting plate 10 and the bottom plate 5, the second spherical pair 9 is rotated to change the angles of the sixth connecting plate 10 and the fifth connecting plate 8, the fourth connecting plate 7 and the fifth connecting plate 8 are connected by adopting a moving pair, the fifth connecting plate 8 can move in the third sliding groove 24 of the fourth connecting plate 7, the first spherical pair 6 is rotated to change the angles of the fourth connecting plate 7 and the output rod 1, and the final position of the output rod 1 can be precisely overlapped with the lengths of the first pin 4, the third connecting plate 3 and the third pin 11 and the fourth connecting plate 8 by changing the lengths of the third pin 11 and the third pin 8.
When the connection mode between the first connecting plate 12 and the second connecting plate 3 is the revolute pair, that is, the stop lever 14 pushes the fixing portion 22 to drive the hinge portion 23 and the fourth pin 20 to pass through the through hole, the fourth pin 20 completely leaves the second chute 17, and the first connecting plate 12 can rotate around the fourth pin 20. At this time, the working position of the welding robot output rod 1 can only be raised to the space range from the previous working in the plane range, so that the local freedom degree and the working flexibility of the welding robot are improved to a great extent.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A welding robot, characterized in that: the device comprises a bottom plate, a third connecting plate, a second connecting plate, a first connecting plate, an output rod, a fourth connecting plate, a fifth connecting plate and a sixth connecting plate, wherein the third connecting plate and the sixth connecting plate are movably connected with the bottom plate, a first sliding groove and a second sliding groove are formed in the second connecting plate, a first sliding rod is fixedly arranged at one end of the third connecting plate, the first sliding rod is slidably arranged in the first sliding groove, a sliding block is arranged in the second sliding groove, the sliding block comprises a fixed part and a hinging part fixedly connected with the fixed part, one end of the second connecting plate is provided with a through hole which is communicated with the second sliding groove, the size of the through hole is larger than that of the hinging part and smaller than that of the fixed part, the fixed part is connected with one end of the second sliding groove through an elastic piece, one end of the first connecting plate penetrates through the through hole and is movably connected with the hinging part, a blocking rod is arranged on the first sliding rod, the blocking rod can push the fixed part to drive the hinging part to pass through the through hole, the first connecting plate is movably connected with the fourth connecting plate, the other end of the second connecting plate is movably connected with the fifth connecting plate, and the fifth connecting plate is movably arranged at the other end of the fourth connecting plate;
the output rod is connected with the fourth connecting plate through a first spherical pair, and one end of the fifth connecting plate is connected with the sixth connecting plate through a second spherical pair;
the first connecting plate is connected with the output rod through a first pin shaft, the third connecting plate is connected with the bottom plate through a second pin shaft, the sixth connecting plate is connected with the bottom plate through a third pin shaft, and the hinge part is connected with the first connecting plate through a fourth pin shaft;
the connection relation between the first connecting plate and the second connecting plate can be switched between a moving pair and a rotating pair, and the welding robot part can be switched between a plane state and a space state.
2. The welding robot of claim 1, wherein: the fixed part is provided with a stop block matched with the stop lever, and the stop lever can push the stop block to drive the hinge part to pass through the through hole.
3. The welding robot of claim 1, wherein: the stop lever comprises a cross rod and a vertical rod, wherein the cross rod is vertically connected with the vertical rod, and the vertical rod is fixed on the first sliding rod.
4. The welding robot of claim 1, wherein: the elastic piece is a spring.
5. The welding robot of claim 1, wherein: the fourth connecting plate is provided with a third sliding groove, and one end of the second sliding rod is slidably arranged in the third sliding groove.
6. The welding robot of claim 1, wherein: the stop lever is fixed on the upper surface of the slide bar.
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 CN108971839A (en) | 2018-12-11 |
| CN108971839B true CN108971839B (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811022497.1A Active CN108971839B (en) | 2018-09-03 | 2018-09-03 | Welding robot |
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Families Citing this family (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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| CN108971839A (en) | 2018-12-11 |
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