CN109955271A - Intelligent flexible welding robot - Google Patents
Intelligent flexible welding robot Download PDFInfo
- Publication number
- CN109955271A CN109955271A CN201910233563.8A CN201910233563A CN109955271A CN 109955271 A CN109955271 A CN 109955271A CN 201910233563 A CN201910233563 A CN 201910233563A CN 109955271 A CN109955271 A CN 109955271A
- Authority
- CN
- China
- Prior art keywords
- main body
- fixedly installed
- teaching machine
- edge
- lifting column
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses intelligent flexible welding robots, including robot and controller main body, the controller main body is fixedly mounted on the bottom edge of robot, the inner bottom of the controller main body is fixedly installed with fixing seat main body, the top of the fixing seat main body is connected with teaching machine main body, the inside of the teaching machine main body is fixedly installed with teaching machine, the bottom surface of the teaching machine is fixedly connected with the first handle far from the edge of buttonhole, the inner bottom of the fixing seat main body is fixedly installed with firm banking, the upper end of the firm banking is movably installed with regulating device, the inner bottom of the regulating device is fixedly installed with lifting column, the top of the lifting column is connected with fixed bottom plate, the inner bottom of the firm banking is fixedly installed with pedestal, the top edge of the pedestal offers inserting groove, the one of the pedestal End face edge offers card slot.The present invention can fix teaching machine, carry out writing program convenient for staff.
Description
Technical field
The present invention relates to robot device's technical fields, specially intelligent flexible welding robot.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability, it can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action, preceding robot in the market is controlled by teaching machine, can be carried out manual control by teaching machine, be manipulated teaching
The distant bar on device surface can just be such that robot runs, and automatic running is to be uploaded by program or directly write in teaching machine
Program, so that it may so that robot needs to consolidate teaching machine according to program automatic running, and when teaching machine carries out programming
Fixed, fixed teaching machine is typically fixed with another hand, or is placed on desk, and the general out-of-flatness in teaching machine lower surface,
Take the long period adding to write program generally and can all send out, just will affect staff and carry out writing for program.
Summary of the invention
The purpose of the present invention is to provide intelligent flexible welding robots, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the invention provides the following technical scheme: intelligent flexible welding robot, including robot and
Controller main body, the controller main body are fixedly mounted on the bottom edge of robot, the inner bottom of the controller main body
Be fixedly installed with fixing seat main body, the top of the fixing seat main body is connected with teaching machine main body, the teaching machine main body it is interior
Portion is fixedly installed with teaching machine, and the bottom surface of the teaching machine is fixedly connected with the first handle far from the edge of buttonhole, described solid
The inner bottom of reservation main body is fixedly installed with firm banking, and the upper end of the firm banking is movably installed with regulating device, institute
The inner bottom for stating regulating device is fixedly installed with lifting column, and the top of the lifting column is connected with fixed bottom plate, described
The inner bottom of firm banking is fixedly installed with pedestal, and the top edge of the pedestal offers inserting groove, and the one of the pedestal
End face edge offers card slot, and the edge center of the card slot is rotatably equipped with crank, and the top surface other edge of the pedestal is opened
Equipped with winding box, the inside of the fixed bottom plate is fixedly installed with bottom plate, and two end side surfaces of the bottom plate are fixedly connected with snap-gauge,
The outer surface of the snap-gauge is fixedly installed with the second handle, and the bottom surface of the bottom plate is fixedly installed with the second connecting shaft, the liter
The two sides of drop column offer rack rails, and the edge that the side of the lifting column is located at rack rails has slideway, the lifting column
Top side offers connecting hole, and the top of the lifting column, which is located at right above rack rails, is rotatably equipped with fastening bolt.
Preferably, the side of the teaching machine offers buttonhole.
Preferably, the top of the winding box is rotatably equipped with guard shield, and the inside of the winding box is wrapped with solderless wrapped connection
Line.
Preferably, the inner rotation of the inserting groove is equipped with the first connecting shaft, the middle part appearance of first connecting shaft
Face is fixedly installed with gear, and one end of first connecting shaft is connected with crank, the fixed peace of the upper side of the inserting groove
Equipped with pulley.
Preferably, the side of the snap-gauge is fixedly connected with clamping block, and the side of the snap-gauge is located at the lower section of clamping block
It is fixedly connected with connecting rod.
Preferably, the lifting column is rotated with fixed bottom plate by connecting hole and the second connecting shaft and is connect, the crank
One end be fixedly installed with card adapter plate, one end of the connecting rod is fixedly connected with spring.
Preferably, one end of the crank is fixedly installed with card adapter plate, and one end of the connecting rod is fixedly connected with spring.
Preferably, the upper surface of the guard shield offers take-up hole.
Preferably, the bottom edge of the pedestal offers threaded hole.
Preferably, the upper side of the inserting groove is fixedly installed with pulley.
Compared with prior art, beneficial effects of the present invention are as follows:
The buttonhole that the present invention is opened up by the side of teaching machine can be interlockingly connected with the clamping block of snap-gauge side, thus
Increase the stability of teaching machine, the guard shield of the top rotational installation of winding box, can to inside winding box around wiring into
Row protection and it is easy to repair and replacement, winding box inside connection around wiring, be conducive to robot carry out manual operation
When, teaching machine is moved to convenient position, convenient for debugging to robot, the first of the inner rotation installation of inserting groove connects
The gear that the center outer surface of spindle and the first connecting shaft is fixedly mounted, can be by occurring under the drive of crank with rack rails
Opposite sliding, to control the up and down adjustment of lifting column, convenient for the visual observation of staff, the upper side of inserting groove is fixed
The pulley of installation can be improved lifting column in the fluency moved up and down, and play the role of supporting lifting column preventing swaying,
The side of snap-gauge is located at the connecting rod being fixedly connected below clamping block, is conducive to the upper end that teaching machine installation is fixed to bottom plate,
Connecting rod can be fastened teaching machine by the elastic force effect of spring, so that effectively teaching machine be fixed, be passed through
The items of fixing seat main body are adjusted, effectively the height of teaching machine and tilt angle can be adjusted, to be conducive to
The operation of staff.
Detailed description of the invention
Fig. 1 is agent structure schematic diagram of the invention；
Fig. 2 is main body side view of the invention；
Fig. 3 is controller agent structure schematic diagram of the invention；
Fig. 4 is teaching machine agent structure schematic diagram of the invention；
Fig. 5 is fixing seat agent structure schematic diagram of the invention；
Fig. 6 is regulating device structural schematic diagram of the invention；
Fig. 7 is firm banking structural schematic diagram of the invention；
Fig. 8 is firm banking cut away view of the invention；
Fig. 9 is fixation structural diagram of base plate of the invention；
Figure 10 is lifting rod structure schematic diagram of the invention；
Figure 11 is system operation order figure of the invention.
In figure: 1- robot, 2- controller main body, 3- teaching machine main body, 4- fixing seat main body, the first handle of 5-, 6- button
Connect hole, 7- teaching machine, 8- regulating device, 9- firm banking, the fixed bottom plate of 10-, 11- lifting column, 12- pedestal, 13- winding box,
14- inserting groove, 15- card slot, 16- crank, 17- pulley, 18- gear, the first connecting shaft of 19-, 20- are outer around wiring, 21- protection
Shell, 22- snap-gauge, 23- bottom plate, 24- clamping block, the second handle of 25-, 26- connecting rod, the second connecting shaft of 27-, 28- rack rails, 29-
Fastening bolt, 30- connecting hole, 31- slideway.
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.
Fig. 1-11 is please referred to, a kind of embodiment provided by the invention: intelligent flexible welding robot, including 1 He of robot
Controller main body 2, controller main body 2 are fixedly mounted on the bottom edge of robot 1, and the inner bottom of controller main body 2 is fixed
Fixing seat main body 4 is installed, the top of fixing seat main body 4 is connected with teaching machine main body 3, the fixed peace in the inside of teaching machine main body 3
Equipped with teaching machine 7, the bottom surface of teaching machine 7 is fixedly connected with the first handle 5 far from the edge of buttonhole 6, fixing seat main body 4 it is interior
Portion bottom end is fixedly installed with firm banking 9, and the upper end of firm banking 9 is movably installed with regulating device 8, the inside of regulating device 8
Bottom end is fixedly installed with lifting column 11, and the top of lifting column 11 is connected with fixed bottom plate 10, the inner bottom of firm banking 9
It is fixedly installed with pedestal 12, the top edge of pedestal 12 offers inserting groove 14, and an end face edge of pedestal 12 has card slot
15, the edge center of card slot 15 is rotatably equipped with crank 16, the winding box 13, Neng Gou that the top surface other edge of pedestal 12 opens up
By the inside of the extra winding box 13 wound around wiring 20 when robot automatic running, prevent from tripping around wiring 20 personnel and
Winding robot fuel tank cap works normally, and winding box 13, which belongs to existing apparatus, not to be explained specifically, and the inside of fixed bottom plate 10 is solid
Dingan County is equipped with bottom plate 23, and two end side surfaces of bottom plate 23 are fixedly connected with snap-gauge 22, and the outer surface of snap-gauge 22 is fixedly installed with second
Handle 25, the bottom surface of bottom plate 23 are fixedly installed with the second connecting shaft 27, and the two sides of lifting column 11 offer rack rails 28, lifting column
The edge that 11 side is located at rack rails 28 has slideway 31, and the top side of lifting column 11 offers connecting hole 30, lifting column
The surface that 11 top is located at rack rails 28 is rotatably equipped with fastening bolt 29.
The side of teaching machine 7 offers buttonhole 6, and the top of winding box 13 is rotatably equipped with guard shield 21, winding box
13 inside is wrapped with around wiring 20, and the inner rotation of inserting groove 14 is equipped with the first connecting shaft 19, in the first connecting shaft 19
Portion outer surface is fixedly installed with gear 18, and one end of the first connecting shaft 19 is connected with crank 16, the upper side of inserting groove 14
It is fixedly installed with pulley 17, the side of snap-gauge 22 is fixedly connected with clamping block 24, and the side of snap-gauge 22 is located under clamping block 24
Side is fixedly connected with connecting rod 26, and lifting column 11 passes through connecting hole 30 and the second connecting shaft 27 and fixed 10 company of rotating of bottom plate
It connects, one end of crank 16 is fixedly installed with card adapter plate, and one end of connecting rod 26 is fixedly connected with spring, and one end of crank 16 is fixed
Card adapter plate is installed, one end of connecting rod 26 is fixedly connected with spring, and the upper surface of guard shield 21 offers take-up hole, pedestal
12 bottom edge offers threaded hole, and the upper side of inserting groove 14 is fixedly installed with pulley 17.
Working principle: when carrying out writing program for a long time on teaching machine 7, needing for teaching machine 7 to be fixed, due to
22 or so the side of snap-gauge of 23 liang of end side surfaces of bottom plate can pull, so being drawn away from 5 one end snap-gauge of the first handle, 22 side
Second handle 25 keeps direction of second handle 25 far from bottom plate 23 mobile, and drives 26 transverse shifting of connecting rod, and connecting rod 26 is horizontal
To the spring elongation that will drive the other end connection when movement, spring elongation deformation generates elastic force, and teaching machine 7 is then placed on card
Between plate 22, then the external force of the second handle 25 is shed, will drive the retraction of connecting rod 26 under the effect of spring force, and drive card
Plate 22 is close to the side of teaching machine 7, so that the clamping block 24 of 22 side of snap-gauge is clamped with 6 phase of buttonhole, thus by teaching machine 7
It is fixed on the top of fixed bottom plate 10, preventing teaching machine 7 from shaking when writing program influences to work normally, and then adjusts and shows
The tilt angle for teaching device 7 rotates teaching machine 7 with external force front-rear direction, and drives the fixation bottom plate 10 of bottom end in connecting hole 30
The certain inclination angle of inner rotation, to adapt to the visual angle of staff, the fastening bolt 29 for then rotating 11 top of lifting column is squeezed
The second connecting shaft 27 is pressed, the position of fixed bottom plate 10 is fixed, so that staff is facilitated to carry out writing program, due to
It writes program work personnel for a long time to need to be seated to write, it is necessary to the height of teaching machine 7 is adjusted, so first being rotated with external force
Crank 16, the rotation of crank 16 will drive the rotation of the first connecting shaft 19, and the first connecting shaft 19 rotates the gear 18 that will drive outer surface
Rotation, the rotation of gear 18 can occur to slide relatively with the rack rails 28 of 11 side of lifting column, keep lifting column 11 mobile in vertical direction,
Pulley 17 can prevent lifting column 11 from shaking when moving up and down in the inner rotation of slideway 31 simultaneously, and lifting column 11 is being inserted
It is moved up and down inside access slot 14 with behind suitable position, used external force presses crank 16 to the direction of winding box 13, makes crank 16
The card adapter plate of one end connection is clamped with 15 phase of card slot, to crank 16 be fixed, to prevent lifting column 11 in gravity
Lower decline, influences the normal use of teaching machine 7.
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 (10)
1. intelligent flexible welding robot, including robot (1) and controller main body (2), it is characterised in that: the controller master
Body (2) is fixedly mounted on the bottom edge of robot (1), and the inner bottom of the controller main body (2) is fixedly installed with fixation
Seat main body (4), the top of the fixing seat main body (4) are connected with teaching machine main body (3), the inside of the teaching machine main body (3)
It is fixedly installed with teaching machine (7), the bottom surface of the teaching machine (7) is fixedly connected with the first handle far from the edge of buttonhole (6)
(5), the inner bottom of the fixing seat main body (4) is fixedly installed with firm banking (9), and the upper end of the firm banking (9) is living
Dynamic to be equipped with regulating device (8), the inner bottom of the regulating device (8) is fixedly installed with lifting column (11), the lifting column
(11) top is connected with fixed bottom plate (10), and the inner bottom of the firm banking (9) is fixedly installed with pedestal (12),
The top edge of the pedestal (12) offers inserting groove (14), and an end face edge of the pedestal (12) has card slot
(15), the edge center of the card slot (15) is rotatably equipped with crank (16), and the top surface other edge of the pedestal (12) opens up
Have winding box (13), the inside of the fixed bottom plate (10) is fixedly installed with bottom plate (23), two end side surfaces of the bottom plate (23)
It is fixedly connected with snap-gauge (22), the outer surface of the snap-gauge (22) is fixedly installed with the second handle (25), the bottom plate (23)
Bottom surface is fixedly installed with the second connecting shaft (27), and the two sides of the lifting column (11) offer rack rails (28), the lifting column
(11) edge that side is located at rack rails (28) has slideway (31), and the top side of the lifting column (11) offers connection
Hole (30), the top of the lifting column (11), which is located at right above rack rails (28), is rotatably equipped with fastening bolt (29).
2. intelligent flexible welding robot according to claim 1, it is characterised in that: open the side of the teaching machine (7)
Equipped with buttonhole (6).
3. intelligent flexible welding robot according to claim 1, it is characterised in that: the top of the winding box (13) turns
Dynamic to be equipped with guard shield (21), the inside of the winding box (13) is wrapped with around wiring (20).
4. intelligent flexible welding robot according to claim 1, it is characterised in that: the inside of the inserting groove (14) turns
Dynamic to be equipped with the first connecting shaft (19), the center outer surface of first connecting shaft (19) is fixedly installed with gear (18), described
One end of first connecting shaft (19) is connected with crank (16).
5. intelligent flexible welding robot according to claim 1, it is characterised in that: the side of the snap-gauge (22) is fixed
It is connected with clamping block (24), the side of the snap-gauge (22), which is located at below clamping block (24), is fixedly connected with connecting rod (26).
6. intelligent flexible welding robot according to claim 1, it is characterised in that: the lifting column (11) passes through connection
Hole (30) and the second connecting shaft (27) rotate with fixed bottom plate (10) to be connect.
7. intelligent flexible welding robot according to claim 1, it is characterised in that: one end of the crank (16) is fixed
Card adapter plate is installed, one end of the connecting rod (26) is fixedly connected with spring.
8. intelligent flexible welding robot according to claim 3, it is characterised in that: the upper table of the guard shield (21)
Face offers take-up hole.
9. intelligent flexible welding robot according to claim 1, it is characterised in that: the bottom edge of the pedestal (12)
Offer threaded hole.
10. intelligent flexible welding robot according to claim 1, it is characterised in that: the top of the inserting groove (14)
Side is fixedly installed with pulley (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233563.8A CN109955271A (en) | 2019-03-26 | 2019-03-26 | Intelligent flexible welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910233563.8A CN109955271A (en) | 2019-03-26 | 2019-03-26 | Intelligent flexible welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109955271A true CN109955271A (en) | 2019-07-02 |
Family
ID=67024973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910233563.8A Pending CN109955271A (en) | 2019-03-26 | 2019-03-26 | Intelligent flexible welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109955271A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100078330A (en) * | 2008-12-30 | 2010-07-08 | 주식회사수산중공업 | Drill rod changer |
| DE102014104774A1 (en) * | 2013-11-22 | 2015-05-28 | Hyundai Motor Company | Ausschweiß jig |
| CN106735613A (en) * | 2016-11-16 | 2017-05-31 | 天津百利机械装备研究院有限公司 | Spiral bevel gear tooth top corner cutting off apparatus based on robot |
| CN206973049U (en) * | 2017-07-24 | 2018-02-06 | 青岛凯平机械设备安装工程有限公司 | A kind of Pipe installing device |
| CN108115706A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of control system of multiaxis aircraft cleaning machine device people |
| CN208222028U (en) * | 2018-05-28 | 2018-12-11 | 吴健 | A kind of self-shooting bar with tripod |
| CN208556434U (en) * | 2018-06-29 | 2019-03-01 | 天津裕鼎金属制品有限公司 | A kind of automatic welder of head and heat-dissipating pipe |
| CN210100035U (en) * | 2019-03-26 | 2020-02-21 | 苏州协同创新智能制造装备有限公司 | Intelligent flexible welding robot |
-
2019
- 2019-03-26 CN CN201910233563.8A patent/CN109955271A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100078330A (en) * | 2008-12-30 | 2010-07-08 | 주식회사수산중공업 | Drill rod changer |
| DE102014104774A1 (en) * | 2013-11-22 | 2015-05-28 | Hyundai Motor Company | Ausschweiß jig |
| CN106735613A (en) * | 2016-11-16 | 2017-05-31 | 天津百利机械装备研究院有限公司 | Spiral bevel gear tooth top corner cutting off apparatus based on robot |
| CN206973049U (en) * | 2017-07-24 | 2018-02-06 | 青岛凯平机械设备安装工程有限公司 | A kind of Pipe installing device |
| CN108115706A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of control system of multiaxis aircraft cleaning machine device people |
| CN208222028U (en) * | 2018-05-28 | 2018-12-11 | 吴健 | A kind of self-shooting bar with tripod |
| CN208556434U (en) * | 2018-06-29 | 2019-03-01 | 天津裕鼎金属制品有限公司 | A kind of automatic welder of head and heat-dissipating pipe |
| CN210100035U (en) * | 2019-03-26 | 2020-02-21 | 苏州协同创新智能制造装备有限公司 | Intelligent flexible welding robot |
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