CN109877495A - A kind of Intelligent welding robot and process - Google Patents
A kind of Intelligent welding robot and process Download PDFInfo
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- CN109877495A CN109877495A CN201910238808.6A CN201910238808A CN109877495A CN 109877495 A CN109877495 A CN 109877495A CN 201910238808 A CN201910238808 A CN 201910238808A CN 109877495 A CN109877495 A CN 109877495A
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Abstract
A kind of Intelligent welding robot and process, including body portion, welding portion, cross bar pick-up, vertical bar pick-up, fixed support portion, the welding portion, third support plate is fixedly mounted on the first locating piece, annular rod is slidably mounted in the 4th dovetail groove in third support plate, annular rack is mounted in annular rod, second stepper motor is mounted on the first locating piece, 5th gear and annular rack are intermeshed, Four-slider is slidably mounted in the 4th dovetail groove of annular rod, stepper motor is installed on Four-slider, 4th gear and annular rack are intermeshed, the cylinder base of second hydraulic cylinder is fixedly mounted on the second locating piece, its telescopic rod is fixedly linked with the first support, first rotary shaft is rotatably mounted in the circular hole of the first support, welding gun is installed on the rotary shaft, welding gun can be with The welding of any direction may be implemented in sliding in dovetail groove, keeps its application range wider, realizes automation installation.
Description
Technical field
The present invention relates to welding technology field, in particular to a kind of Intelligent welding robot and process.
Background technique
It is frequently necessary to that some sports equipments are installed near cell, such as horizontal bar, parallel bars, and output is huge, worker's division
Fu is during the welding process, it usually needs and two vertical bars are mounted on the suitable position of cross bar by worker, then by human weld, by
Be easy to causeing in the height of the welding technique of people connects unstable between cross bar and vertical bar, there are security risk, welding process is needed
Excessively high temperature is wanted, casualties is also be easy to cause, therefore is badly in need of a kind of machine that can weld horizontal bar.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of Intelligent welding robot and process, by that will weld needed for horizontal bar
The cross bar wanted is placed in the second support bar of body portion, and vertical bar is placed in the cylinder of body portion, puts machine
The materials for setting more set horizontal bar & parallel bars, can disposably weld multiple when welding, improve work efficiency.
Technical solution used in the present invention is: a kind of Intelligent welding robot, including body portion, filling part, picks up
Part, fixed support portion, welding portion are taken, body portion includes the first sliding block, the first stepper motor, first gear, first
Hydraulic cylinder, the first dovetail groove, the first support plate, second gear, the second sliding block, the first rack gear, the second rack gear, first support bar,
Second support bar, cylinder, the second support plate, third sliding block, third gear, the second dovetail groove, the first slide bar, third dovetail groove,
Third rack gear, body portion bottom plate；Welding portion includes annular rack, the 4th dovetail groove, Four-slider, the 4th gear, the 5th
Gear, second stepper motor, the first locating piece, third support plate, second hydraulic cylinder, the first rotary shaft, third hydraulic cylinder, second
Rotary shaft, the second locating piece, the first support, third stepper motor, third locating piece, the second support, the 4th stepper motor, weldering
Rifle；Cross bar pick-up includes the 4th hydraulic cylinder, third support rod, the first collection claw, the 4th locating piece, the 5th sliding block, the 6th
Gear, the second slide bar, the 4th support plate, the 5th rack gear；Vertical bar pick-up includes the 5th support plate, the 5th dovetail groove, the 4th
Rack gear, the 7th gear, the 5th stepper motor, the 6th sliding block, the 5th hydraulic cylinder, the 6th support plate, the 6th hydraulic cylinder, second are collected
Pawl, the 7th support plate；The fixed support portion includes the 8th support plate, the 7th hydraulic cylinder, hydraulic cylinder baffle, octadentate
Wheel, the 9th support plate, the 4th support rod, the 6th locating piece, the 5th locating piece, the 9th gear；It is characterized by: welding portion
First locating piece is fixedly mounted on the second sliding block of body portion, and the 4th support plate of cross bar pick-up is fixedly mounted on vehicle
In second support plate of body part, the 5th support plate of vertical bar pick-up is fixedly mounted on the third sliding block of body portion,
The telescopic rod of the first hydraulic cylinder of the 6th locating piece and body portion of fixed support portion is fixedly linked.
Further, the second support plate is fixedly mounted on body portion bottom plate, the first support plate is fixedly mounted on
The side of two support plates, first support bar are fixedly mounted on the upper surface of first support plate, the top of the first slide bar and first support bar
End is fixedly linked, and the first rack gear, the second rack gear are mounted on the first slide bar, and the second sliding block is slidably mounted below the first slide bar
In third dovetail groove, stepper motor is installed on sliding block, motor shaft is fixedly linked with second gear；Second gear and the first rack gear phase
Mutually engagement, third sliding block are slidably mounted in the second dovetail groove above the first slide bar, and stepper motor is installed on third sliding block, electricity
Arbor is fixedly linked with third gear, and third gear and the second rack gear are intermeshed；Third rack gear is mounted in the second support plate,
First sliding block is slidably mounted in the first dovetail groove, and stepper motor is installed on sliding block, and motor shaft is made to be fixedly linked with first gear,
First gear and third rack gear are intermeshed, and the cylinder base of first hydraulic cylinder is fixedly mounted on the first sliding block；Cylinder installation
At the both ends of body portion bottom plate, second support bar is mounted on body portion bottom plate.
Further, welding portion include annular rack, the 4th dovetail groove, Four-slider, the 4th gear, the 5th gear,
Second stepper motor, the first locating piece, third support plate, second hydraulic cylinder, the first rotary shaft, third hydraulic cylinder, the second rotation
Axis, the second locating piece, the first support, third stepper motor, third locating piece, the second support, the 4th stepper motor, welding gun, the
Three support plates are fixedly mounted on the first locating piece, and Four-slider is slidably mounted in the 4th dovetail groove in third support plate,
Annular rack is rotatably installed in the groove in third support plate；Second stepper motor is mounted on the first locating piece, electricity is made
Arbor is fixedly linked with the 5th gear, and the 5th gear and annular rack are intermeshed；Stepper motor, motor are installed on Four-slider
Axis is fixedly linked with the 4th gear, and the 4th gear and annular rack are intermeshed；Second locating piece is fixedly mounted on Four-slider
On, the cylinder base of second hydraulic cylinder is fixedly mounted on the second locating piece, and telescopic rod is fixedly linked with the first support, and first
Rotary shaft is rotatably mounted in the circular hole of the first support, and third stepper motor is mounted on first support one end, makes motor shaft
It is fixedly linked with the first rotary shaft, third locating piece is fixedly mounted in the first rotary shaft, and the cylinder base of third hydraulic cylinder is solid
On the third locating piece, the telescopic rod of hydraulic cylinder is fixedly linked with the second support for Dingan County, and the second rotary shaft is rotatably mounted on the
In the circular hole of two supports, the 4th stepper motor is mounted on one end of the second support, fixes motor shaft with the second rotary shaft
It is connected, welding gun is fixedly mounted in the second rotary shaft.
Further, the second slide bar and the 5th rack gear are mounted in the 4th support plate, and the 5th sliding block is slidably mounted on second
In the dovetail groove of slide bar；Stepper motor is installed on the 5th sliding block, the motor shaft of stepper motor is fixedly linked with the 6th gear, and the 6th
Gear and the 5th rack gear are intermeshed；The cylinder base of 4th hydraulic cylinder is fixedly mounted on the 5th sliding block, the 4th hydraulic cylinder
Telescopic rod is fixedly linked with the 4th locating piece, and third support rod is mounted on the 4th locating piece, and the first collection claw is fixedly mounted on
On third support rod.
Further, the 4th rack gear is mounted in the 5th support plate, and the 6th sliding block is slidably mounted in the 5th support plate
In 5th dovetail groove, the 5th stepper motor is installed on the 6th sliding block, the 5th stepper motor motor shaft is fixedly linked with the 7th gear,
7th gear and the 4th rack gear are intermeshed；The cylinder base of 5th hydraulic cylinder is fixedly mounted on the 6th sliding block, hydraulic cylinder
Telescopic rod is fixedly linked with the 6th support plate, and the 7th support plate is mounted in the 6th support plate, the cylinder base of the 6th hydraulic cylinder
It is fixedly mounted in the 6th support plate, telescopic rod is fixedly linked with the second collection claw.
Further, the 4th support rod is fixedly mounted on the 6th locating piece, and the 9th support plate is fixedly mounted on the 4th
On strut, the 9th support rod is equipped with rotary shaft, and eighth gear is rotatably mounted in rotary shaft, and the 5th locating piece is fixedly mounted on
On the edge of 9th support plate；Stepper motor is installed on 5th locating piece, motor shaft is made to be fixedly linked with the 9th gear, the 9th tooth
Wheel is intermeshed with eighth gear, and hydraulic cylinder baffle is fixedly mounted in eighth gear, the cylinder base installation of the 7th hydraulic cylinder
On hydraulic cylinder baffle, the telescopic rod of hydraulic cylinder is fixedly linked with the 8th support plate.
Further, the method for the welding of the Intelligent welding robot, which comprises the following steps:
(1) blank is installed: will need the cross bar that welds and vertical bar be put into the second support bar of body portion respectively and cylinder in；
(2) steel pipe splices: the stepper motor of cross bar pick-up starts running, and cross bar pick-up is made to reach the position of cross bar,
The elongation of 4th hydraulic cylinder drives the first collection claw to pick up cross bar, is transported among fixed support portion, the 7th hydraulic cylinder starts
Work drives the 8th support plate to fix cross bar, and stepper motor starts to drive the 9th gear operation, turns to cross bar suitably
Welding position, the stepper motor of body portion start running drive third sliding block make vertical bar pick-up reach vertical bar position,
It drives the second collection claw to reach vertical bar position by the 5th stepper motor and the 5th hydraulic cylinder, is extended and driven by the 6th hydraulic cylinder
Vertical bar is put into suitable position by the second collection claw；
(3) weld: the stepper motor of body portion drives second gear operating, second hydraulic cylinder, third hydraulic cylinder, third stepping
Motor and the 4th stepper motor are started to work, and welding portion is made to reach suitable welding position, and second stepper motor and the 4th are slided
Motor on block starts running, and welding gun is made to carry out circumferential welding to contact portion.
Beneficial effects of the present invention:
1. being placed in the second support bar of body portion by that will weld cross bar required for horizontal bar, vertical bar is placed on automobile body part
In the cylinder divided, so that machine is placed the materials of more set horizontal bar & parallel bars, multiple, raising can be disposably welded when welding
Working efficiency.
2. driving second gear operating by the stepper motor of body portion, second hydraulic cylinder, third hydraulic cylinder start work
Make, welding portion is made to reach suitable welding position, second stepper motor starts running, and welding gun is made to carry out circumferential welding to horizontal bar
Complete to weld, by circumferential direction welding make welding more it is solid more comprehensively, improve weldering quality.
3. making machine realize full-automatic work by automation feeding welding, improving work efficiency, when having saved
Between, it saves manually, reduces costs.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram of body portion of the invention.
Fig. 3, Fig. 4 are the structural schematic diagram of welding portion of the invention.
Fig. 5 is the structural schematic diagram of cross bar pick-up of the invention.
Fig. 6 is the structural schematic diagram of vertical bar pick-up of the invention.
Fig. 7 is the structural schematic diagram of fixed support portion of the invention.
Drawing reference numeral: the fixed branch of 1- body portion, 2- welding portion, 3- cross bar pick-up, 4- vertical bar pick-up, 5-
Support part point, the first sliding block of 101-, the first stepper motor of 102-, 103- first gear, 104- first hydraulic cylinder, the first dovetail of 105-
Slot, the first support plate of 106-, 107- second gear, the second sliding block of 108-, the first rack gear of 109-, the second rack gear of 110-, 111-
One support rod, 112- second support bar, 113- cylinder, the second support plate of 114-, 115- third sliding block, 116- third gear,
The second dovetail groove of 117-, the first slide bar of 118-, 119- third dovetail groove, 120- third rack gear, 121- body portion bottom plate, 201-
Annular rack, the 4th dovetail groove of 202-, 203- Four-slider, the 4th gear of 204-, the 5th gear of 205-, 206- the second stepping electricity
Machine, the first locating piece of 207-, 208- third support plate, 209- second hydraulic cylinder, 210- second hydraulic cylinder, 211- third are hydraulic
Cylinder, the second rotary shaft of 212-, the second locating piece of 213-, the first support of 214-, 215- third stepper motor, the positioning of 216- third
Block, the second support of 217-, the 4th stepper motor of 218-, 219- welding gun, the 4th hydraulic cylinder of 301-, 302- third support rod, 303-
First collection claw, the 4th locating piece of 304-, the 5th sliding block of 305-, the 6th gear of 306-, the second slide bar of 307-, 308- the 4th are supported
Plate, the 5th rack gear of 309-, the 5th support plate of 401-, the 5th dovetail groove of 402-, the 4th rack gear of 403-, the 7th gear of 404-, 405-
5th stepper motor, the 6th sliding block of 406-, the 5th hydraulic cylinder of 407-, the 6th support plate of 408-, the 6th hydraulic cylinder of 409-, 410-
Two collection claws, the 7th support plate of 411-, the 8th support plate of 501-, the 7th hydraulic cylinder of 502-, 503- hydraulic cylinder baffle, 504- the 8th
Gear, the 9th support plate of 505-, the 4th support rod of 506-, the 6th locating piece of 507-, the 5th locating piece of 508-, the 9th tooth of 509-
Wheel.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of shown, Intelligent welding robot, including vehicle body
Part 1, filling part 2, pick-up 3, fixed support portion 4, welding portion 5, body portion 1 include the first sliding block 101, the
One stepper motor 102, first gear 103, first hydraulic cylinder 104, the first dovetail groove 105, the first support plate 106, second gear
107, the second sliding block 108, the first rack gear 109, the second rack gear 110, first support bar 111, second support bar 112, cylinder 113,
Second support plate 114, third sliding block 115, third gear 116, the second dovetail groove 117, the first slide bar 118, third dovetail groove
119, third rack gear 120, body portion bottom plate 121；Welding portion 2 is sliding including annular rack 201, the 4th dovetail groove the 202, the 4th
Block 203, the 4th gear 204, the 5th gear 205, second stepper motor 206, the first locating piece 207, third support plate 208,
Two hydraulic cylinders 209, the first rotary shaft 210, third hydraulic cylinder 211, the second rotary shaft 212, the second locating piece 213, the first support
214, third stepper motor 215, third locating piece 216, the second support 217, the 4th stepper motor 218, welding gun 219；Cross bar picks up
Taking part 3 includes the 4th hydraulic cylinder 301, third support rod 302, the first collection claw 303, the 4th locating piece 304, the 5th sliding block
305, the 6th gear 306, the second slide bar 307, the 4th support plate 308, the 5th rack gear 309；Vertical bar pick-up 4 includes the 5th
Fagging 401, the 5th dovetail groove 402, the 4th rack gear 403, the 7th gear 404, the 5th stepper motor 405, the 6th sliding block 406,
Five hydraulic cylinders 407, the 6th support plate 408, the 6th hydraulic cylinder 409, the second collection claw 410, the 7th support plate 411；Described consolidates
Determining support section 5 includes the 8th support plate 501, the 7th hydraulic cylinder 502, hydraulic cylinder baffle 503, the support of eighth gear the 504, the 9th
Plate 505, the 4th support rod 506, the 6th locating piece 507, the 5th locating piece 508, the 9th gear 509；It is characterized by: weld part
2 the first locating piece 207 is divided to be fixedly mounted on the second sliding block 108 of body portion 1, the 4th support of cross bar pick-up 3
Plate 308 is fixedly mounted in the second support plate 114 of body portion 1, the fixed peace of the 5th support plate 401 of vertical bar pick-up 4
On the third sliding block 115 of body portion 1, the first liquid of the 6th locating piece 507 and body portion 1 of fixed support portion 5
The telescopic rod of cylinder pressure 104 is fixedly linked.
Further, the second support plate 114 is fixedly mounted on body portion bottom plate 121, the first support plate 106 is fixed
It is mounted on the side of the second support plate 114, first support bar 111 is fixedly mounted on the upper surface of first support plate 106, the first slide bar
118 are fixedly linked with the top of first support bar 111, and the first rack gear 109, the second rack gear 110 are mounted on the first slide bar 118,
Second sliding block 108 is slidably mounted in the third dovetail groove 119 below the first slide bar 118, and stepper motor, motor are installed on sliding block
Axis is fixedly linked with second gear 107, drives welding portion 2 mobile by the stepper motor of the second sliding block 108；Second gear
107 and first rack gear 109 be intermeshed, third sliding block 115 is slidably mounted on the second dovetail groove 117 above the first slide bar 118
In, stepper motor is installed, motor shaft is fixedly linked with third gear 116, third gear 116 and the second tooth on third sliding block 115
Item 110 is intermeshed, and drives vertical bar pick-up 4 mobile by the stepper motor on third sliding block 115；Third rack gear 120 is pacified
In the second support plate 114, the first sliding block 101 is slidably mounted in the first dovetail groove 105, and stepper motor is installed on sliding block,
Motor shaft is set to be fixedly linked with first gear 103, first gear 103 and third rack gear 120 are intermeshed, first hydraulic cylinder 104
Cylinder base be fixedly mounted on the first sliding block 101, pass through the stepper motor band of first hydraulic cylinder 104 and the first sliding block 101
Dynamic cross bar pick-up 3 is mobile；Cylinder 113 is mounted on the both ends of body portion bottom plate 121, and second support bar 112 is mounted on vehicle
On body part backplane 121, the cross bar welded and vertical bar will be needed to be put into the second support bar 112 of body portion 1 and justify respectively
In cylinder 113.
Further, welding portion 2 includes annular rack 201, the 4th dovetail groove 202, Four-slider 203, the 4th gear
204, the 5th gear 205, second stepper motor 206, the first locating piece 207, third support plate 208, second hydraulic cylinder 209,
One rotary shaft 210, third hydraulic cylinder 211, the second rotary shaft 212, the second locating piece 213, the first support 214, third stepping electricity
Machine 215, third locating piece 216, the second support 217, the 4th stepper motor 218, welding gun 219, third support plate 208 are fixedly mounted
On the first locating piece 207, Four-slider 203 is slidably mounted in the 4th dovetail groove 202 in third support plate 208, annular
Rack gear 201 is rotatably installed in the groove in third support plate 208；Second stepper motor 206 is mounted on the first locating piece 207
On, so that motor shaft is fixedly linked with the 5th gear 205, the 5th gear 205 is intermeshed with annular rack 201；Four-slider 203
Upper installation stepper motor, motor shaft are fixedly linked with the 4th gear 204, and the 4th gear 204 is intermeshed with annular rack 201；
Second locating piece 213 is fixedly mounted on Four-slider 203, and it is fixed that the cylinder base of second hydraulic cylinder 209 is fixedly mounted on second
On the block 213 of position, telescopic rod is fixedly linked with the first support 214, and the first rotary shaft 210 is rotatably mounted on the first support 214
In circular hole, third stepper motor 215 is mounted on 214 one end of the first support, makes 210 stationary phase of motor shaft and the first rotary shaft
Even, third locating piece 216 is fixedly mounted in the first rotary shaft 210, and the cylinder base of third hydraulic cylinder 211 is fixedly mounted on the
On three locating pieces 216, the telescopic rod of hydraulic cylinder is fixedly linked with the second support 217, and the second rotary shaft 212 is rotatably mounted on second
In the circular hole of support 217, the 4th stepper motor 218 is mounted on one end of the second support 217, rotates motor shaft and second
Axis 212 is fixedly linked, and welding gun 219 is fixedly mounted in the second rotary shaft 212；Pass through second stepper motor 206, Four-slider
203 stepper motor, second hydraulic cylinder 209,218 band of third hydraulic cylinder 211, third stepper motor 215 and the 4th stepper motor
Dynamic welding gun 219 completes welding.
Further, the second slide bar 307 and the 5th rack gear 309 are mounted in the 4th support plate 308, and the 5th sliding block 305 is sliding
It is dynamic to be mounted in the dovetail groove of the second slide bar 307；Stepper motor, the motor shaft of stepper motor and are installed on the 5th sliding block 305
Six gears 306 are fixedly linked, and the 6th gear 306 and the 5th rack gear 309 are intermeshed；The cylinder base of 4th hydraulic cylinder 301 is solid
Dingan County is on the 5th sliding block 305, and telescopic rod and the 4th locating piece 304 of the 4th hydraulic cylinder 301 are fixedly linked, third support rod
302 are mounted on the 4th locating piece 304, and the first collection claw 303 is fixedly mounted on third support rod 302；Pass through the 5th sliding block
Stepper motor and the 4th hydraulic cylinder 301 on 305 drive the first collection claw 303 and then cross bar are driven to reach the position for needing to weld
It sets.
Further, the 4th rack gear 403 is mounted in the 5th support plate 401, and the 6th sliding block 406 is slidably mounted on the 5th
In the 5th dovetail groove 402 on fagging 401, the 5th stepper motor 405,405 electricity of the 5th stepper motor are installed on the 6th sliding block 406
Arbor is fixedly linked with the 7th gear 404, and the 7th gear 404 and the 4th rack gear 403 are intermeshed；The cylinder of 5th hydraulic cylinder 407
Body bottom is fixedly mounted on the 6th sliding block 406, and the telescopic rod of hydraulic cylinder is fixedly linked with the 6th support plate 408, the 7th support
Plate 411 is mounted in the 6th support plate 408, and the cylinder base of the 6th hydraulic cylinder 409 is fixedly mounted in the 6th support plate 408,
Its telescopic rod is fixedly linked with the second collection claw 410；Pass through the 5th stepper motor 405, the 5th hydraulic cylinder 407 and the 6th hydraulic cylinder
Vertical bar is clamped and is transported to the position of welding by 409 the second collection claws 410 of drive.
Further, the 4th support rod 506 is fixedly mounted on the 6th locating piece 507, and the 9th support plate 505 is fixedly mounted
On the 4th support rod 506, the 9th support rod 505 is equipped with rotary shaft, and eighth gear 504 is rotatably mounted in rotary shaft, the
Five locating pieces 508 are fixedly mounted on the edge of the 9th support plate 505；Stepper motor is installed on 5th locating piece 508, makes motor
Axis is fixedly linked with the 9th gear 509, and the 9th gear 509 is intermeshed with eighth gear 504, the fixed peace of hydraulic cylinder baffle 503
In eighth gear 504, the cylinder base of the 7th hydraulic cylinder 502 is mounted on hydraulic cylinder baffle 503, the telescopic rod of hydraulic cylinder
It is fixedly linked with the 8th support plate 501, cross is rotated by stepper motor on the 5th locating piece 508 and the 7th hydraulic cylinder 502
The position of bar is convenient for welding.
Further, the method for the welding of the Intelligent welding robot, which comprises the following steps:
(1) blank is installed: the cross bar welded and vertical bar will be needed to be put into the second support bar 112 of body portion 1 and justify respectively
In cylinder 113；
(2) steel pipe splices: the stepper motor of cross bar pick-up 3 starts running, and cross bar pick-up 3 is made to reach the position of cross bar
It sets, the elongation of the 4th hydraulic cylinder 301 drives the first collection claw 303 to pick up cross bar, is transported among fixed support portion 5, the 7th
Hydraulic cylinder 502, which is started to work, drives the 8th support plate 501 to fix cross bar, and stepper motor starts to drive the operating of the 9th gear 509,
Cross bar is set to turn to suitable welding position, the stepper motor of body portion 1, which starts running, drives third sliding block 115 to pick up vertical bar
It takes part 4 to reach the position of vertical bar, drives the second collection claw 410 to reach by the 5th stepper motor 405 and the 5th hydraulic cylinder 407
Vertical bar position is extended by the 6th hydraulic cylinder 409 and drives the second collection claw 410 that vertical bar is put into suitable position；
(3) weld: the stepper motor of body portion 1 drives second gear 107 to operate, second hydraulic cylinder 209, third hydraulic cylinder
211, third stepper motor 215 and the 4th stepper motor 218 are started to work, and welding portion 2 is made to reach suitable welding position, the
Motor on two stepping motor 206 and Four-slider starts running, and welding gun 219 is made to carry out circumferential welding to contact portion.
Claims (7)
1. a kind of Intelligent welding robot, including body portion (1), filling part (2), pick-up (3), fixed support portion
(4), welding portion (5), body portion (1) include the first sliding block (101), the first stepper motor (102), first gear (103),
First hydraulic cylinder (104), the first dovetail groove (105), the first support plate (106), second gear (107), the second sliding block (108),
First rack gear (109), the second rack gear (110), first support bar (111), second support bar (112), cylinder (113), second
Fagging (114), third sliding block (115), third gear (116), the second dovetail groove (117), the first slide bar (118), third dovetail
Slot (119), third rack gear (120), body portion bottom plate (121)；Welding portion (2) includes annular rack (201), the 4th dovetail
Slot (202), Four-slider (203), the 4th gear (204), the 5th gear (205), second stepper motor (206), the first positioning
Block (207), third support plate (208), second hydraulic cylinder (209), the first rotary shaft (210), third hydraulic cylinder (211), second
Rotary shaft (212), the second locating piece (213), the first support (214), third stepper motor (215), third locating piece (216),
Second support (217), the 4th stepper motor (218), welding gun (219)；Cross bar pick-up (3) include the 4th hydraulic cylinder (301),
Third support rod (302), the first collection claw (303), the 4th locating piece (304), the 5th sliding block (305), the 6th gear (306),
Second slide bar (307), the 4th support plate (308), the 5th rack gear (309)；Vertical bar pick-up (4) includes the 5th support plate
(401), the 5th dovetail groove (402), the 4th rack gear (403), the 7th gear (404), the 5th stepper motor (405), the 6th sliding block
(406), the 5th hydraulic cylinder (407), the 6th support plate (408), the 6th hydraulic cylinder (409), the second collection claw (410), the 7th
Fagging (411)；The fixed support portion (5) includes the 8th support plate (501), the 7th hydraulic cylinder (502), hydraulic cylinder baffle
(503), eighth gear (504), the 9th support plate (505), the 4th support rod (506), the 6th locating piece (507), the 5th positioning
Block (508), the 9th gear (509)；It is characterized by: the first locating piece (207) of welding portion (2) is fixedly mounted on automobile body part
Divide on second sliding block (108) of (1), the 4th support plate (308) of cross bar pick-up (3) is fixedly mounted on body portion (1)
The second support plate (1114) on, the 5th support plate (401) of vertical bar pick-up (4) is fixedly mounted on body portion (1)
On third sliding block (115), the first hydraulic cylinder of the 6th locating piece (507) and body portion (1) of fixed support portion (5)
(104) telescopic rod is fixedly linked.
2. Intelligent welding robot according to claim 1, it is characterised in that: the second support plate (114) are fixedly mounted
On body portion bottom plate (121), the first support plate (106) is fixedly mounted on the side of the second support plate (114), the first support
Bar (111) is fixedly mounted on the upper surface of first support plate (106), and the first slide bar (118) and the top of first support bar (111) are solid
Fixed to be connected, the first rack gear (109), the second rack gear (110) are mounted on the first slide bar (118), and the second sliding block (108) is slidably installed
In the third dovetail groove (119) of the first slide bar (118) below, stepper motor, motor shaft and second gear are installed on sliding block
(107) it is fixedly linked；Second gear, (107) and the first rack gear (109) are intermeshed, and third sliding block (115) is slidably mounted on the
In the second dovetail groove (117) of one slide bar (118) above, stepper motor, motor shaft and third tooth are installed on third sliding block (115)
Wheel (116) is fixedly linked, and third gear (116) and the second rack gear (110) are intermeshed；Third rack gear (120) is mounted on second
In support plate (114), the first sliding block (101) is slidably mounted in the first dovetail groove (105), and stepper motor is installed on sliding block, is made
Motor shaft is fixedly linked with first gear (103), and first gear (103) and third rack gear (120) are intermeshed, first hydraulic cylinder
(104) cylinder base is fixedly mounted on the first sliding block (101)；Cylinder (113) is mounted on the two of body portion bottom plate (121)
End, second support bar (112) are mounted on body portion bottom plate (121).
3. Intelligent welding robot according to claim 1, it is characterised in that: welding portion (2) includes annular rack
(201), the 4th dovetail groove (202), Four-slider (203), the 4th gear (204), the 5th gear (205), second stepper motor
(206), the first locating piece (207), third support plate (208), second hydraulic cylinder (209), the first rotary shaft (210), third liquid
Cylinder pressure (211), the second rotary shaft (212), the second locating piece (213), the first support (214), third stepper motor (215),
Three locating pieces (216), the second support (217), the 4th stepper motor (218), welding gun (219), the fixed peace of third support plate (208)
On the first locating piece (207), Four-slider (203) is slidably mounted on the 4th dovetail groove on third support plate (208)
(202) in, annular rack (201) is rotatably installed in the groove on third support plate (208)；By second stepper motor (206)
It is mounted on the first locating piece (207), motor shaft is made to be fixedly linked with the 5th gear (205), the 5th gear (205) and annular tooth
Item (201) intermeshing；Stepper motor is installed on Four-slider (203), motor shaft is fixedly linked with the 4th gear (204), the
Four gears (204) and annular rack (201) are intermeshed；Second locating piece (213) is fixedly mounted on Four-slider (203),
The cylinder base of second hydraulic cylinder (209) is fixedly mounted on the second locating piece (213), telescopic rod and the first support (214)
It is fixedly linked, the first rotary shaft (210) is rotatably mounted in the circular hole of the first support (214), third stepper motor (215)
It is mounted on the first support (214) one end, motor shaft is made to be fixedly linked with the first rotary shaft (210), third locating piece (216) is fixed
It being mounted on the first rotary shaft (210), the cylinder base of third hydraulic cylinder (211) is fixedly mounted on third locating piece (216),
The telescopic rod of hydraulic cylinder is fixedly linked with the second support (217), and the second rotary shaft (212) is rotatably mounted on the second support (217)
Circular hole in, the 4th stepper motor (218) is mounted on one end of the second support (217), makes motor shaft and the second rotary shaft
(212) it is fixedly linked, welding gun (219) is fixedly mounted on the second rotary shaft (212).
4. Intelligent welding robot according to claim 1, it is characterised in that: the second slide bar (307) and the 5th rack gear
(309) it is mounted in the 4th support plate (308), the 5th sliding block (305) is slidably mounted in the dovetail groove of the second slide bar (307)；
Stepper motor is installed, the motor shaft of stepper motor is fixedly linked with the 6th gear (306), the 6th gear on the 5th sliding block (305)
(306) it is intermeshed with the 5th rack gear (309)；The cylinder base of 4th hydraulic cylinder (301) is fixedly mounted on the 5th sliding block (305)
On, telescopic rod and the 4th locating piece (304) of the 4th hydraulic cylinder (301) are fixedly linked, and third support rod (302) is mounted on the 4th
On locating piece (304), the first collection claw (303) is fixedly mounted on third support rod (302).
5. Intelligent welding robot according to claim 1, it is characterised in that: the 4th rack gear (403) is mounted on the 5th
On fagging (401), the 6th sliding block (406) is slidably mounted in the 5th dovetail groove (402) in the 5th support plate (401), and the 6th
5th stepper motor (405), the 5th stepper motor (405) motor shaft and the 7th gear (404) stationary phase are installed on sliding block (406)
Even, the 7th gear (404) and the 4th rack gear (403) are intermeshed；The cylinder base of 5th hydraulic cylinder (407) is fixedly mounted on
On six sliding blocks (406), the telescopic rod of hydraulic cylinder is fixedly linked with the 6th support plate (408), and the 7th support plate (411) is mounted on
In six support plates (408), the cylinder base of the 6th hydraulic cylinder (409) is fixedly mounted in the 6th support plate (408), telescopic rod
It is fixedly linked with the second collection claw (410).
6. Intelligent welding robot according to claim 1, it is characterised in that: the 4th support rod (506) is fixedly mounted on
On 6th locating piece (507), the 9th support plate (505) is fixedly mounted on the 4th support rod (506), the 9th support rod (505)
It is equipped with rotary shaft, eighth gear (504) is rotatably mounted in rotary shaft, and the 5th locating piece (508) is fixedly mounted on the 9th
On the edge of fagging (505)；Stepper motor is installed on 5th locating piece (508), makes motor shaft and the 9th gear (509) stationary phase
Even, the 9th gear (509) and eighth gear (504) are intermeshed, and hydraulic cylinder baffle (503) is fixedly mounted on eighth gear
(504) on, the cylinder base of the 7th hydraulic cylinder (502) is mounted on hydraulic cylinder baffle (503), the telescopic rod of hydraulic cylinder and the 8th
Support plate (501) is fixedly linked.
7. the method for the welding of Intelligent welding robot according to claim 1-6, which is characterized in that including with
Lower step:
(1) blank is installed: the cross bar welded and vertical bar will be needed to be put into the second support bar (112) of body portion (1) respectively
It is inner with cylinder (113)；
(2) steel pipe splices: the stepper motor of cross bar pick-up (3) starts running, and cross bar pick-up (3) is made to reach cross bar
Position, the elongation of the 4th hydraulic cylinder (301) drive the first collection claw (303) to pick up cross bar, are transported in fixed support portion (5)
Between, the 7th hydraulic cylinder (502), which is started to work, drives the 8th support plate (501) to fix cross bar, and stepper motor starts to drive the 9th
Gear (509) operating, makes cross bar turn to suitable welding position, and the stepper motor of body portion (1) starts running drive the
Three sliding blocks (115) make vertical bar pick-up (4) to reach the position of vertical bar, pass through the 5th stepper motor (405) and the 5th hydraulic cylinder
(407) it drives the second collection claw (410) to reach vertical bar position, is extended by the 6th hydraulic cylinder (409) and drive the second collection claw
(410) vertical bar is put into suitable position；
(3) weld: the stepper motor of body portion (1) drives second gear (107) operating, second hydraulic cylinder (209), third liquid
Cylinder pressure (211), third stepper motor (215) and the 4th stepper motor (218) are started to work, and reach welding portion (2) suitable
Welding position, the motor on second stepper motor (206) and Four-slider starts running, and makes welding gun (219) to contact portion
Carry out circumferential welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910238808.6A CN109877495B (en) | 2019-03-27 | 2019-03-27 | Intelligent welding robot and process |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910238808.6A CN109877495B (en) | 2019-03-27 | 2019-03-27 | Intelligent welding robot and process |
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| CN109877495A true CN109877495A (en) | 2019-06-14 |
| CN109877495B CN109877495B (en) | 2020-10-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110202299A (en) * | 2019-06-24 | 2019-09-06 | 王霞 | A kind of workbench welding robot |
| CN112475733A (en) * | 2020-12-01 | 2021-03-12 | 辽宁科技大学 | Workbench welding device |
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| CN112475733A (en) * | 2020-12-01 | 2021-03-12 | 辽宁科技大学 | Workbench welding device |
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|---|---|
| CN109877495B (en) | 2020-10-16 |
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