CN109822270B - Robot device for intersecting and welding cylinder and ball - Google Patents
Robot device for intersecting and welding cylinder and ball Download PDFInfo
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- CN109822270B CN109822270B CN201910244803.4A CN201910244803A CN109822270B CN 109822270 B CN109822270 B CN 109822270B CN 201910244803 A CN201910244803 A CN 201910244803A CN 109822270 B CN109822270 B CN 109822270B
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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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
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Abstract
The invention relates to a robot device for intersecting and welding a cylinder and a ball. The automatic welding equipment starts to develop in fifty years in China, and the pressure vessel welding robot is relatively behind due to relatively weak foundation compared with developed countries, so that the welding robot is not well developed and applied. The invention relates to a robot device for cross welding of a cylinder and a ball, wherein: one end of the first connecting rod is connected with the slide bar through the second revolute pair, the other end of the first connecting rod is connected with the fourth connecting rod through the third revolute pair, the side link is connected with the external frame through the sixth revolute pair, one end of the third connecting rod is connected with the side link through the seventh revolute pair, and the welding gun guiding device is fixedly connected on the slide bar. The invention aims to overcome the defects of the prior art and provide a novel robot mechanism for intersecting and welding a cylinder and a ball, which has the advantages of simple structure, convenient control, wide application range and the like.
Description
Technical Field
The invention relates to a welding robot device, and provides a novel welding robot device for intersecting a cylinder and a ball.
Background
With the rapid development of welding technology, welding automation and welding intellectualization have become the fastest growing parts of the welding industry, and welding robots are becoming more and more important as typical representatives of welding automation.
The pipe truss structure has the characteristics of attractive appearance, good stability, large structural span, high construction speed and the like, and is widely applied to modern buildings such as various stadiums, convention and exhibition centers, terminal buildings and the like. As the shape of a building becomes more and more attractive, the building structure becomes more and more complex, and the construction difficulty becomes more and more difficult. In welding production, the welding seam formed by splicing the cylindrical pipeline and the ball is a space curve, and the welding is difficult to achieve to a certain extent, the welding of the welding seam is mainly finished by manpower at present, the manual welding working environment is bad, the production period is long, the working efficiency is low, the welding quality is difficult to ensure, and the development of a welding robot aiming at the welding seam is urgently needed. The automatic welding equipment starts to develop in fifty years in China, and the pressure vessel welding robot is relatively behind due to relatively weak foundation compared with developed countries, so that the welding robot is not well developed and applied.
Disclosure of Invention
(one) solving the technical problems
The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a robot device for cross-welding a cylinder and a ball.
(II) technical scheme
The technical scheme of the invention is as follows: a robot device for intersecting and welding a cylinder and a ball comprises a first revolute pair, a rotating shaft, a moving pair, a sliding rod, a second revolute pair, a first connecting rod, a third revolute pair, a fourth revolute pair, a second connecting rod, a fifth revolute pair, a side link, a sixth revolute pair, a seventh revolute pair, a third connecting rod, an eighth revolute pair, a fourth connecting rod, a welding gun guiding device, a cylinder to be welded and a ball to be welded; wherein: one end of the rotating shaft is connected with the external frame through a first revolute pair, the other end of the rotating shaft is connected with a sliding rod through a second revolute pair, one end of a first connecting rod is connected with the sliding rod through a third revolute pair and a fourth connecting rod, one end of a second connecting rod is connected with the fourth connecting rod through a fourth revolute pair, the other end of the second connecting rod is connected with a side link through a fifth revolute pair, the side link is connected with the external frame through a sixth revolute pair, one end of a third connecting rod is connected with the side link through a seventh revolute pair, the other end of the third connecting rod is connected with the fourth connecting rod through a eighth revolute pair, a welding gun guiding device is fixedly connected on the sliding rod, a ball to be welded is placed on the external frame, and a cylinder to be welded is placed on the ball to be welded.
A robotic device for cross-welding a cylinder with a ball, wherein: the rotation axis of the first revolute pair is collinear with the sliding rail of the second revolute pair and parallel to the rotation axis of the second revolute pair, and the rotation axes of the third revolute pair and the second revolute pair are perpendicular to each other and parallel to the rotation axis of the sixth revolute pair.
A robotic device for cross-welding a cylinder with a ball, wherein: the third revolute pair and the sixth revolute pair are respectively arranged at the middle points of the fourth connecting rod and the side link.
A robotic device for cross-welding a cylinder with a ball, wherein: the rotation axes of the fourth rotating pair, the fifth rotating pair, the seventh rotating pair and the eighth rotating pair are mutually parallel and perpendicular to the rotation axis of the third rotating pair.
A robotic device for cross-welding a cylinder with a ball, wherein: the length of the connecting rod IV is equal to that of the connecting rod III.
A robotic device for cross-welding a cylinder with a ball, wherein: the first revolute pair and the second revolute pair can be replaced by a cylindrical pair.
A robotic device for cross-welding a cylinder with a ball, wherein: the rotation axis of the second revolute pair, the extension line of one end of the connecting rod and the pointing direction of the end of the welding gun guiding device are intersected at one point.
A robotic device for cross-welding a cylinder with a ball, wherein: the rod length of the sliding rod, the first connecting rod, the fourth connecting rod, the second connecting rod, the side link and the third connecting rod can be adjusted.
A robotic device for cross-welding a cylinder with a ball, wherein: the parallelogram mechanism consisting of the four revolute pairs, the five revolute pairs, the seven revolute pairs and the eight revolute pairs can be replaced by the parallelogram mechanism consisting of four ball pairs and two revolute pairs.
(III) beneficial effects
The invention has the advantages that: the invention aims to overcome the defects of the prior art and provide a novel robot mechanism for forward, oblique and eccentric welding of a cylinder and a ball, which has the advantages of simple structure, convenient control, wide application range and the like.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The invention will be further described with reference to the drawings.
Drawings
Fig. 1 is a schematic view of a construction of one embodiment of a welding robot device of the invention.
Fig. 2 is a schematic view of one embodiment of the device of the present invention in use for cross-welding a cylinder with a ball.
Reference numerals: the welding machine comprises a first revolute pair 1, a rotating shaft 2, a moving pair 3, a sliding rod 4, a second revolute pair 5, a first connecting rod 6, a third revolute pair 7, a fourth revolute pair 8, a second connecting rod 9, a fifth revolute pair 10, a side link 11, a sixth revolute pair 12, a seventh revolute pair 13, a third connecting rod 14, an eighth revolute pair 15, a fourth connecting rod 16, a welding gun guide device 17, a cylinder 18 to be welded and a ball 19 to be welded.
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.
Embodiment 1 referring to fig. 1-2, a robot device for intersecting and welding a cylinder and a ball comprises a first revolute pair 1, a rotating shaft 2, a moving pair 3, a sliding rod 4, a second revolute pair 5, a first connecting rod 6, a third revolute pair 7, a fourth revolute pair 8, a second connecting rod 9, a fifth revolute pair 10, a side link 11, a sixth revolute pair 12, a seventh revolute pair 13, a third connecting rod 14, an eighth revolute pair 15, a fourth connecting rod 16, a welding gun guide 17, a cylinder 18 to be welded and a ball 19 to be welded; wherein: one end of a rotating shaft 2 is connected with an external frame by a first revolute pair 1, the other end of the rotating shaft 2 is connected with a sliding rod 4 by a moving pair 3, one end of a connecting rod I6 is connected with the sliding rod 4 by a second revolute pair 5, the other end of the connecting rod I6 is connected with a fourth connecting rod 16 by a third revolute pair 7, one end of a connecting rod II 9 is connected with a fourth connecting rod 16 by a fourth revolute pair 8, the other end of the connecting rod II 9 is connected with a side link 11 by a fifth revolute pair 10, the side link 11 is connected with the external frame by a sixth revolute pair 12, one end of a third connecting rod 14 is connected with the side link 11 by a seventh revolute pair 13, the other end of the third connecting rod 14 is connected with the fourth connecting rod 16, a welding gun guiding device 17 is fixedly connected on the sliding rod 4, a to-be-welded ball 19 is placed on the external frame, and a to-be-welded cylinder 18 is placed on the to-be-welded ball 19.
Embodiment 2, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the rotation axis of the first revolute pair 1 is collinear with the sliding rail of the moving pair 3 and parallel to the rotation axis of the second revolute pair 5, and the rotation axes of the third revolute pair 7 and the second revolute pair 5 are perpendicular to each other and parallel to the rotation axis of the sixth revolute pair 12. The procedure is as in example 1.
Embodiment 3, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the third revolute pair 7 and the sixth revolute pair 12 are respectively arranged at the midpoints of the fourth connecting rod 16 and the side link 11. The procedure is as in example 1.
Embodiment 4, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the rotation axes of the fourth rotating pair 8, the fifth rotating pair 10, the seventh rotating pair 13 and the eighth rotating pair 15 are mutually parallel and perpendicular to the rotation axis of the third rotating pair 7. The procedure is as in example 1.
Embodiment 5, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the rod length of the connecting rod IV 16 is equal to that of the connecting rod 11, and the rod length of the connecting rod II 9 is equal to that of the connecting rod III 14. The procedure is as in example 1.
Embodiment 6, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the two kinematic pairs of the revolute pair 1 and the kinematic pair 3 can be replaced by a cylindrical pair. The procedure is as in example 1.
Embodiment 7, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the rotation axis of the second revolute pair 5, the extension line of the end of the first connecting rod 6 and the end direction of the welding gun guiding device 17 intersect at one point. The procedure is as in example 1.
Embodiment 8, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the rod length of the sliding rod 4, the connecting rod one 6, the connecting rod four 16, the connecting rod two 9, the side link 11 and the connecting rod three 14 can be adjusted. The procedure is as in example 1.
Example 9, referring to fig. 1 and 2, a robotic device for cross-welding a cylinder and a ball, wherein: the parallelogram mechanism consisting of the four revolute pairs 8, the five revolute pairs 10, the seven revolute pairs 13 and the eight revolute pairs 15 can be replaced by the parallelogram mechanism consisting of four ball pairs and two revolute pairs. The procedure is as in example 1.
Working principle:
the axis of the rotating shaft 2 coincides with the axis of the cylinder 18 to be welded, the length of the rod adjusted by the sliding rod 4 is equal to the radius of the cylinder 18 to be welded, the length of the rod adjusted by the connecting rod II and the connecting rod III 14 is equal to the radius of the ball 19 to be welded, the length of the rod adjusted by the connecting rod I6 is equal to the distance from the rotating pair VI 12 to the center of the ball 19 to be welded, the length of the rod adjusted is greater than or equal to the diameter of the ball, the length of the rod adjusted by the connecting rod IV 16 and the connecting rod 11 is greater than or equal to the diameter of the ball, and the welding gun can move along the intersecting line between the cylindrical surface to be welded and the spherical surface only by driving the rotating shaft 2 due to the fact that the degree of freedom of a mechanism is equal to one.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The robot device for the cross welding of the cylinder and the ball comprises a first revolute pair (1), a rotating shaft (2), a moving pair (3), a sliding rod (4), a second revolute pair (5), a first connecting rod (6), a third revolute pair (7), a fourth revolute pair (8), a second connecting rod (9), a fifth revolute pair (10), a side link (11), a sixth revolute pair (12), a seventh revolute pair (13), a third connecting rod (14), an eighth revolute pair (15), a fourth connecting rod (16), a welding gun guiding device (17), a cylinder (18) to be welded and a ball (19) to be welded; the method is characterized in that: one end of a rotating shaft (2) is connected with an external frame through a first revolute pair (1), the other end of the rotating shaft (2) is connected with a sliding rod (4) through a second revolute pair (5), one end of a connecting rod I (6) is connected with the sliding rod (4), the other end of the connecting rod I (6) is connected with a fourth connecting rod (16) through a third revolute pair (7), one end of a connecting rod II (9) is connected with the fourth connecting rod (16) through a fourth revolute pair (8), the other end of the connecting rod II (9) is connected with a side connecting rod (11) through a fifth revolute pair (10), the side connecting rod (11) is connected with the external frame through a sixth revolute pair (12), one end of a third connecting rod (14) is connected with the side connecting rod (11), the other end of the connecting rod III (14) is connected with the fourth connecting rod (16) through a eighth revolute pair (15), a welding gun guiding device (17) is fixedly arranged on the sliding rod (4), a ball (19) to be welded is placed on the external frame, and a cylinder (18) to be welded is placed on the ball (19) to be welded;
the axis of the rotating shaft (2) coincides with the axis of the cylinder (18) to be welded, the length of the rod after the adjustment of the sliding rod (4) is equal to the radius of the cylinder (18) to be welded, the length of the rod after the adjustment of the second connecting rod (9) and the third connecting rod (14) is equal to the radius of the ball (19) to be welded, the length of the rod after the adjustment of the first connecting rod (6) is equal to the distance from the sixth rotating pair (12) to the center of the ball (19) to be welded, the length of the rod after the adjustment is equal to the diameter of the ball, the length of the rod after the adjustment of the fourth connecting rod (16) and the side link (11) is equal to the diameter of the ball, and the rotating axis of the second rotating pair (5), the extension line of the tail end of the first connecting rod (6) and the tail end pointing direction of the welding gun guiding device (17) intersect at one point.
2. A robotic device for cross-welding a cylinder with a ball as claimed in claim 1, wherein: the rotation axis of the first revolute pair (1) is collinear with the sliding rail of the second revolute pair (3), is parallel to the rotation axis of the second revolute pair (5), and the rotation axes of the third revolute pair (7) and the second revolute pair (5) are perpendicular to each other and are parallel to the rotation axis of the sixth revolute pair (12).
3. A robotic device for cross-welding a cylinder with a ball as claimed in claim 1, wherein: the third revolute pair (7) and the sixth revolute pair (12) are respectively arranged at the midpoints of the fourth connecting rod (16) and the side link (11).
4. A robotic device for cross-welding a cylinder with a ball as claimed in claim 1, wherein: the rotation axes of the fourth rotation pair (8), the fifth rotation pair (10), the seventh rotation pair (13) and the eighth rotation pair (15) are mutually parallel and perpendicular to the rotation axis of the third rotation pair (7).
5. A robotic device for cross-welding a cylinder with a ball as claimed in claim 1, wherein: the rod length of the connecting rod IV (16) is equal to that of the connecting rod side rod (11), and the rod length of the connecting rod II (9) is equal to that of the connecting rod III (14).
6. A robotic device for cross-welding a cylinder with a ball as claimed in claim 1, wherein: the rotating pair I (1) and the moving pair (3) can be replaced by a cylindrical pair.
7. A robotic device for cross-welding a cylinder with a ball as claimed in claim 1, wherein: the rod length of the sliding rod (4), the connecting rod one (6), the connecting rod four (16), the connecting rod two (9), the side link (11) and the connecting rod three (14) can be adjusted.
8. A robotic device for cross-welding a cylinder with a ball as claimed in claim 1, wherein: the parallelogram mechanism consisting of the four revolute pairs (8), the five revolute pairs (10), the seven revolute pairs (13) and the eight revolute pairs (15) can be replaced by the parallelogram mechanism consisting of four ball pairs and two revolute pairs.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910244803.4A CN109822270B (en) | 2019-03-28 | 2019-03-28 | Robot device for intersecting and welding cylinder and ball |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910244803.4A CN109822270B (en) | 2019-03-28 | 2019-03-28 | Robot device for intersecting and welding cylinder and ball |
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| CN109822270A CN109822270A (en) | 2019-05-31 |
| CN109822270B true CN109822270B (en) | 2023-07-28 |
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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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| CN112518188B (en) * | 2020-12-09 | 2022-06-14 | 南昌大学 | Novel pipeline grafting looks through line welding robot device |
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| CN101456182B (en) * | 2007-12-12 | 2012-03-28 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN102069267A (en) * | 2011-01-25 | 2011-05-25 | 杭州凯尔达电焊机有限公司 | Universal arc welding robot teaching method regarding cylinder intersection welding seam |
| AU2013100701A4 (en) * | 2013-05-21 | 2013-06-20 | Hengdian Group Innuovo Electric Co.,Ltd | Three-jaw Chuck Convenient for Concentrically Positioning Center Hole of Axis Workpiece |
| CN205650975U (en) * | 2016-02-23 | 2016-10-19 | 南京中建化工设备制造有限公司 | Non-standard part automatic welding processing system based on structured light vision |
| US9827678B1 (en) * | 2016-05-16 | 2017-11-28 | X Development Llc | Kinematic design for robotic arm |
| CN109352152B (en) * | 2018-11-26 | 2020-11-10 | 北京卫星制造厂有限公司 | Multi-axis linkage space curve welding seam polarity-changing plasma arc welding method |
| CN210388052U (en) * | 2019-03-28 | 2020-04-24 | 南昌大学 | Novel robot device for intersection welding of cylinder and ball |
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