CN109822270A - It is a kind of to pass through the robot device for handing over welding for cylinder and ball - Google Patents
It is a kind of to pass through the robot device for handing over welding for cylinder and ball Download PDFInfo
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- CN109822270A CN109822270A CN201910244803.4A CN201910244803A CN109822270A CN 109822270 A CN109822270 A CN 109822270A CN 201910244803 A CN201910244803 A CN 201910244803A CN 109822270 A CN109822270 A CN 109822270A
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- connecting rod
- revolute pair
- welding
- cylinder
- pair
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- 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
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The robot device for handing over and welding is passed through for cylinder and ball the present invention relates to a kind of.China starts to develop automatic welding equipment in the fifties, and due to starting late compared to developed country, basis is weaker, causes pressure vessel welding robot relatively backward, so that such welding robot does not obtain developing well and application.The robot device for handing over and welding is passed through for cylinder and ball the present invention relates to a kind of, wherein: one end of connecting rod one is coupled by revolute pair two and slide bar, the other end of connecting rod one is coupled by revolute pair three and connecting rod four, connecting rod is coupled by revolute pair six and external rack, one end of connecting rod three is coupled by revolute pair seven and connecting rod, and welding gun guiding device is fixedly arranged on slide bar.A kind of new machine robot mechanism for passing through for cylinder and ball and handing over welding is provided the purpose of the present invention is overcome the deficiencies in the prior art, this kind of mechanism has many advantages, such as simple structure, convenient control, has a wide range of application.
Description
Technical field
The present invention relates to a kind of welding robot devices, pass through friendship for cylinder and ball and provide a kind of novel welding machine people dress
It sets.
Background technique
With welding technique high speed development, Automation of Welding and welding intelligence have become fastest-rising in welding profession
Part, Typical Representative of the welding robot as Automation of Welding, is increasingly valued by people.
Tube truss structure has the characteristics that handsome in appearance, stability is good, structural span is big, speed of application is fast, in various bodies
It educates and is widely used in the modern architectures such as venue, conference and exhibition center, terminal building.As the moulding of building becomes more next
It is more graceful, cause building structure to become to become increasingly complex, difficulty of construction is also just increasing.In welding production, tube bundle
The weld seam formed with ball grafting is space curve, welds certain difficulty, and the welding of current such weld seam is mainly by people
Work is completed, and human weld's working environment is severe, the production cycle is long, working efficiency is low, is difficult to guarantee welding quality, and there is an urgent need to develop
For the welding robot of such weld seam.China starts to develop automatic welding equipment in the fifties, due to compared to flourishing state
Family starts late, and basis is weaker, causes pressure vessel welding robot relatively backward, so that such welding robot
It does not obtain developing and applying well.
Summary of the invention
(1) the technical issues of solving
The purpose of the present invention is mainly in view of the above technical problems, and provides and a kind of pass through friendship welding for cylinder and ball
Robot device.
(2) technical solution
Technical solution of the present invention: it is a kind of to pass through the robot device for handing over welding for cylinder and ball, including revolute pair one, turn
Axis, prismatic pair, slide bar, revolute pair two, connecting rod one, revolute pair three, revolute pair four, connecting rod two, revolute pair five, connecting rod, rotation
Pair six, connecting rod three, revolute pair eight, connecting rod four, welding gun guiding device, cylinder to be welded, to be welded is received at revolute pair seven；Wherein: turning
One end of axis is coupled by revolute pair one and external rack, and the other end of shaft is coupled by prismatic pair and slide bar, one end of connecting rod one
Coupled by revolute pair two and slide bar, the other end of connecting rod one is coupled by revolute pair three and connecting rod four, and one end of connecting rod two is by rotating
Pair four and connecting rod four couple, and the other end of connecting rod two is coupled by revolute pair five and connecting rod, and connecting rod is by revolute pair six and outside
One end of rack connection, connecting rod three is coupled by revolute pair seven and connecting rod, and the other end of connecting rod three is by revolute pair eight and connecting rod four
Connection, welding gun guiding device are fixedly arranged on slide bar, and to be welded receive is placed on external rack, and cylinder to be welded is placed on to be welded
On ball.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: the pivot center and prismatic pair of revolute pair one
Sliding rail it is conllinear and parallel with the pivot center of revolute pair two, the pivot center of revolute pair three and revolute pair two is mutually perpendicular to, and
It is parallel to each other with the pivot center of revolute pair six.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: revolute pair three, revolute pair six are respectively placed in
The midpoint of connecting rod four, connecting rod.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: revolute pair four, revolute pair five, revolute pair seven
It is parallel to each other with the pivot center of revolute pair eight, and vertical with the pivot center of revolute pair three.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: connecting rod four is equal with the bar of connecting rod length, even
Bar two is equal with the bar of connecting rod three length.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: two kinematic pairs of revolute pair one and prismatic pair
It can be substituted by a cylindrical pair.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: the pivot center of revolute pair two, one end of connecting rod
The extended line at end and the end of welding gun guiding device are directed toward three and intersect at a point.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: slide bar, connecting rod one, connecting rod four, connecting rod two,
The bar of connecting rod and connecting rod three is long adjustable.
It is a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: revolute pair four, revolute pair five, revolute pair seven
The parallelogram mechanism formed with revolute pair eight can be replaced by the parallelogram mechanism that four ball pairs are formed with two revolute pairs
Generation.
(3) beneficial effect
The present invention has the advantages that provided the purpose of the present invention is overcome the deficiencies in the prior art it is a kind of for cylinder with
Ball just passes through, tiltedly passes through, passes through the new machine robot mechanism of welding partially, and this kind of mechanism has simple structure, convenient control, has a wide range of application
The advantages that.
Other than above-mentioned described objects, features and advantages, there are also other objects, features and advantages by the present invention.Under
Face will be referring to figure, and the present invention is further described.
Detailed description of the invention
Attached drawing 1 is the structure diagram schematic diagram of one of embodiment of welding robot device of the invention.
Attached drawing 2 is that the device of the invention passes through the schematic diagram for handing over one of installation embodiment when welding for cylinder and ball.
Appended drawing reference: revolute pair 1, prismatic pair 3, slide bar 4, revolute pair 25, connecting rod 1, revolute pair 37, turns shaft 2
Dynamic pair 48, connecting rod 29, revolute pair 5 10, connecting rod 11, revolute pair 6 12, revolute pair 7 13, connecting rod 3 14, revolute pair eight
15, connecting rod 4 16, welding gun guiding device 17, cylinder to be welded 18, to be welded receive 19.
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.
Embodiment 1 please refers to Fig. 1-Fig. 2, a kind of to pass through the robot device for handing over welding, including revolute pair for cylinder and ball
One 1, shaft 2, prismatic pair 3, slide bar 4, revolute pair 25, connecting rod 1, revolute pair 37, revolute pair 48, connecting rod 29, revolute pair
5 10, connecting rod 11, revolute pair 6 12, revolute pair 7 13, connecting rod 3 14, revolute pair 8 15, connecting rod 4 16, welding gun guiding device
17, cylinder 18 to be welded, to be welded receive 19；Wherein: one end of shaft 2 is coupled by revolute pair 1 and external rack, shaft 2
The other end is coupled by prismatic pair 3 and slide bar 4, and one end of connecting rod 1 is coupled by revolute pair 25 and slide bar 4, connecting rod 1 it is another
End is coupled by revolute pair 37 and connecting rod 4 16, and one end of connecting rod 29 is coupled by revolute pair 48 and connecting rod 4 16, connecting rod 29
The other end is coupled by revolute pair 5 10 and connecting rod 11, and connecting rod 11 is coupled by revolute pair 6 12 and external rack, connecting rod 3 14
One end coupled by revolute pair 7 13 and connecting rod 11, the other end of connecting rod 3 14 is coupled by revolute pair 8 15 and connecting rod 4 16,
Welding gun guiding device 17 is fixedly arranged on slide bar 4, and to be welded receive 19 is placed on external rack, and cylinder 18 to be welded is placed on to be welded
It receives on 19.
Embodiment 2 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: rotation
Pair 1 pivot center it is conllinear with the sliding rail of prismatic pair 3 and parallel with the pivot center of revolute pair 25, revolute pair 37 and turn
The pivot center of dynamic pair 25 is mutually perpendicular to, and is parallel to each other with the pivot center of revolute pair 6 12.Remaining is the same as embodiment 1.
Embodiment 3 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: rotation
Pair 37, revolute pair 6 12 are respectively placed in the midpoint of connecting rod 4 16, connecting rod 11.Remaining is the same as embodiment 1.
Embodiment 4 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: rotation
Secondary 48, the pivot center of revolute pair 5 10, revolute pair 7 13 and revolute pair 8 15 is parallel to each other, and the rotation with revolute pair 37
Axis is vertical.Remaining is the same as embodiment 1.
Embodiment 5 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: connecting rod
4 16 is equal with the bar of connecting rod 11 length, and connecting rod 29 is equal with the bar of connecting rod 3 14 length.Remaining is the same as embodiment 1.
Embodiment 6 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: rotation
Pair 1 and 3 two kinematic pairs of prismatic pair can be substituted by a cylindrical pair.Remaining is the same as embodiment 1.
Embodiment 7 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: rotation
It is directed toward three and intersects at one in the end of the pivot center of pair 25, the extended line of one 6 end of connecting rod and welding gun guiding device 17
Point.Remaining is the same as embodiment 1.
Embodiment 8 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: slide bar
4, the bar of connecting rod 1, connecting rod 4 16, connecting rod 29, connecting rod 11 and connecting rod 3 14 is long adjustable.Remaining is the same as embodiment 1.
Embodiment 9 please refers to Fig. 1 and Fig. 2, a kind of to pass through the robot device for handing over welding for cylinder and ball, in which: rotation
The parallelogram mechanism that pair 48, revolute pair 5 10, revolute pair 7 13 and revolute pair 8 15 form can be by four ball pairs and two
The parallelogram mechanism substitution of revolute pair composition.Remaining is the same as embodiment 1.
Working principle:
The axis of shaft 2 is overlapped with the axis of cylinder 18 to be welded, and the bar after slide bar 4 is adjusted is long equal to cylinder 18 to be welded
Radius, connecting rod 29 and connecting rod 3 14 adjust after bar it is long be equal to it is to be welded receive 19 radius, connecting rod 1 adjust after bar
The long distance equal to revolute pair 6 12 to 19 centre ofs sphere to be welded of receiving, and the long diameter for being more than or equal to ball of bar after adjusting, connecting rod four
16 and connecting rod 11 adjust after the long diameter for being more than or equal to ball of bar only need to drive since mechanism freedom is equal to one
Shaft 2 can be realized intersection of the welding gun between cylindrical surface to be welded and spherical surface and be moved.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
- Pass through the robot device for handing over welding for cylinder and ball 1. a kind of, including revolute pair one (1), shaft (2), prismatic pair (3), Slide bar (4), revolute pair two (5), connecting rod one (6), revolute pair three (7), revolute pair four (8), connecting rod two (9), revolute pair five (10), Connecting rod (11), revolute pair six (12), revolute pair seven (13), connecting rod three (14), revolute pair eight (15), connecting rod four (16), welding gun Guiding device (17), cylinder to be welded (18), receive (19) to be welded；It is characterized by: one end of shaft (2) is by revolute pair one (1) coupled with external rack connection, the other end of shaft (2) by prismatic pair (3) and slide bar (4), one end of connecting rod one (6) is by turning Two (5) of dynamic pair and slide bar (4) connection, the other end of connecting rod one (6) are coupled by revolute pair three (7) and connecting rod four (16), connecting rod two (9) one end is coupled by revolute pair four (8) and connecting rod four (16), and the other end of connecting rod two (9) is by revolute pair five (10) and frame linking Bar (11) connection, connecting rod (11) are coupled by revolute pair six (12) and external rack, and one end of connecting rod three (14) is by revolute pair seven (13) coupled with connecting rod (11) connection, the other end of connecting rod three (14) by revolute pair eight (15) and connecting rod four (16), welding gun is led Be fixedly arranged on slide bar (4) to device (17), receive (19) to be welded are placed on external rack, cylinder (18) to be welded be placed on to In solder sphere (19).
- 2. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: rotation The pivot center of secondary one (1) is conllinear with the sliding rail of prismatic pair (3) and parallel with the pivot center of revolute pair two (5), revolute pair three (7) it is mutually perpendicular to the pivot center of revolute pair two (5), and is parallel to each other with the pivot center of revolute pair six (12).
- 3. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: rotation Secondary three (7), revolute pair six (12) are respectively placed in the midpoint of connecting rod four (16), connecting rod (11).
- 4. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: rotation Secondary four (8), revolute pair five (10), revolute pair seven (13) and revolute pair eight (15) pivot center be parallel to each other, and and revolute pair The pivot center of three (7) is vertical.
- 5. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: connecting rod Four (16) are equal with the bar of connecting rod (11) length, and connecting rod two (9) is equal with the bar of connecting rod three (14) length.
- 6. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: rotation (3) two kinematic pairs in secondary one (1) and prismatic pair can be substituted by a cylindrical pair.
- 7. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: rotation It is directed toward three's intersection in the end of the pivot center of secondary two (5), the extended line of connecting rod one (6) end and welding gun guiding device (17) In a bit.
- 8. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: slide bar (4), the bar of connecting rod one (6), connecting rod four (16), connecting rod two (9), connecting rod (11) and connecting rod three (14) is long adjustable.
- 9. a kind of robot device for passing through friendship welding for cylinder and ball according to claim 1, it is characterised in that: rotation The parallelogram mechanism that secondary four (8), revolute pair five (10), revolute pair seven (13) and revolute pair eight (15) form can be by four balls The secondary parallelogram mechanism with two revolute pair compositions substitutes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910244803.4A CN109822270B (en) | 2019-03-28 | 2019-03-28 | Robot device for intersecting and welding cylinder and ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910244803.4A CN109822270B (en) | 2019-03-28 | 2019-03-28 | Robot device for intersecting and welding cylinder and ball |
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| Publication Number | Publication Date |
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| CN109822270A true CN109822270A (en) | 2019-05-31 |
| CN109822270B CN109822270B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910244803.4A Active CN109822270B (en) | 2019-03-28 | 2019-03-28 | Robot device for intersecting and welding cylinder and ball |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518188A (en) * | 2020-12-09 | 2021-03-19 | 南昌大学 | Novel pipeline grafting looks through line welding robot device |
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| CN109822270B (en) | 2023-07-28 |
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