CN110125582B - Automatic welding mechanical arm - Google Patents
Automatic welding mechanical arm Download PDFInfo
- Publication number
- CN110125582B CN110125582B CN201910314302.9A CN201910314302A CN110125582B CN 110125582 B CN110125582 B CN 110125582B CN 201910314302 A CN201910314302 A CN 201910314302A CN 110125582 B CN110125582 B CN 110125582B
- Authority
- CN
- China
- Prior art keywords
- arm
- mechanical arm
- groove
- fixedly connected
- oil storage
- 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.)
- Active
Links
Images
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
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
-
- 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
- B25J19/0062—Lubrication means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic welding mechanical arm which comprises a mechanical arm supporting base, a cylinder air belt through groove, a mechanical arm welding head, a buffering mechanism, a lubricating mechanism and a protection mechanism, wherein the buffering mechanism comprises a semi-arc groove, the semi-arc groove is formed in the inner side of the cylinder air belt through groove, a semi-arc sheet is arranged in the semi-arc groove, two ends of the inner side of the semi-arc sheet are fixedly connected with a connecting short shaft, the end part of the connecting short shaft is fixedly connected with an arc buffering abutting sheet, and a cylindrical spring groove is formed in the cylinder air belt through groove; through the design of arc buffering support piece, both can realize pressing from both sides tight fixed to the cylinder gas area, can provide the buffering for the cylinder gas area simultaneously, reduce the range of buckling that the cylinder gas area produced when arm joint of mechanical arm rotated to reduce the damage in cylinder gas area, through the design of semicircle piece, be convenient for realize two arc buffering support piece's syntropy motion, through buffer spring's design, be convenient for provide cushioning effect to the semicircle piece.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to an automatic welding mechanical arm.
Background
The mechanical arm is a high-precision and high-speed dispensing robot hand, and is a complex system with multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. The mechanical arm is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading. The mechanical arm simulates the actions of a human hand, can assist or replace the work of human beings, such as production industry, construction industry or dangerous work, can be divided into various types according to different use scenes, such as a mechanical arm for performing stirring operation, a mechanical arm for performing carrying operation, a mechanical arm for performing welding operation and the like, and realizes the simulation of the human hand by driving each arm joint of the mechanical arm to rotate through the cylinder.
The existing automatic welding mechanical arm mainly simulates a human hand to complete specific operation through the movement of a joint, an arm joint can lead to continuous repeated bending of a connected cylinder air belt in long-time continuous rotation, the cylinder air belt is easy to break, and a protective layer on the surface of a joint part can be damaged by long-time rotation friction of the joint, so that the joint part is easy to rust.
Disclosure of Invention
The invention aims to provide an automatic welding mechanical arm, which solves the problems that the prior automatic welding mechanical arm provided in the background art simulates a human hand to complete specific operation mainly through the movement of a joint, the joint of the arm can cause the continuous repeated bending of a connected cylinder air belt in the long-time continuous rotation, the air belt of the cylinder is easy to break, the protective layer on the surface of a joint part can be damaged due to the long-time rotation friction of the joint part, the joint part is easy to rust, in addition, the welding head of the prior automatic welding mechanical arm can be easily damaged in the long-time use, the welding head needs to be periodically maintained in order to prolong the service life of the welding head, and the problems of time waste, energy waste and the like caused by the maintenance of protective oil for wiping the welding head.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic welding arm, supports base, cylinder gas area poling, arm bonding tool, buffer gear, lubricated mechanism and protection machanism including the arm, buffer gear includes the semicircle groove, the semicircle groove is seted up in the inboard of cylinder gas area poling, the inside of semicircle groove is provided with the semicircle piece, the equal fixedly connected with in inboard both ends of semicircle piece connects the minor axis, the tip fixedly connected with arc buffering of connecting the minor axis supports the piece, cylindricality spring groove has been seted up to the inside of cylinder gas area poling, just the one end and the semicircle groove intercommunication in cylindricality spring groove, the other end in cylindricality spring groove runs through the inboard surface in cylinder gas area poling, the inboard fixed surface in cylindricality spring groove is connected with buffer spring, just buffer spring cup joints in the outside of connecting the minor axis.
Preferably, lubricating mechanism includes second swivel connected coupler, first swivel connected coupler and arm swivel joint link, second swivel connected coupler and first swivel connected coupler are located the inboard of arm and are located the joint junction of arm, the equal fixedly connected with rotation center connecting axle in both sides of arm swivel joint link, arm swivel joint link passes through rotation center connecting axle and second swivel connected coupler and first swivel connected coupler swing joint.
Preferably, the fixed oily disc that draws has been cup jointed to the one end external surface fixation of rotation center connecting axle, the top of first swivel connected coupler is located fixed oily disc fixedly connected with lubricating oil storage bucket of drawing department, lubricating oil storage bucket's top fixedly connected with oil storage bucket top cap.
Preferably, the bottom swing joint of lubricating oil storage bucket has an oil storage bucket bottom, a pair of fin of bilateral symmetry fixedly connected with of oil storage bucket bottom, a pair of rectangle plectrum of top symmetry fixedly connected with of fixed oil guide disc, just rectangle plectrum and fin one-to-one.
Preferably, the top surface of the inner side of the first rotating connecting piece is symmetrically and fixedly connected with a pair of rectangular sliding arms at two sides of the oil storage barrel bottom cover, a pair of rectangular sliding grooves are symmetrically formed in two sides of the outer surface of the oil storage barrel bottom cover, and the rectangular sliding grooves are matched with the end portions of the rectangular sliding arms.
Preferably, the top surface of the inner side of the first rotating connecting piece is fixedly connected with a return spring at one side of the wing piece, and one end of the return spring is fixedly connected with the wing piece.
Preferably, the rotating center connecting shaft and one side of the outer surface of the fixed oil guiding disc are both provided with a lubricating oil flowing groove, and the lubricating oil flowing groove and the bottom opening of the lubricating oil storage barrel are positioned on the same vertical line.
Preferably, the two arc-shaped buffering abutting pieces are respectively positioned at two sides of the cylinder gas band, and the outer surfaces of the arc-shaped buffering abutting pieces are attached to the outer surface of the cylinder gas band.
Preferably, the protection mechanism comprises a welding head protection barrel, the welding head protection barrel is movably sleeved at the end part of the welding head of the mechanical arm, the inner side surface of the welding head protection barrel is fixedly connected with oil immersion sponge, and the oil immersion sponge is sleeved and attached to the outer surface of the welding head of the mechanical arm.
Preferably, an annular limiting disc is fixedly connected to one side of the outer surface of the mechanical arm welding head, a pair of cylindrical limiting holes are formed in the bottom surface of the annular limiting disc, a magnet piece is fixedly connected to the inside of each cylindrical limiting hole, a pair of metal limiting tips are fixedly connected to the top of the welding head protective cylinder, and the top ends of the metal limiting tips are matched with the cylindrical limiting holes.
Preferably, one side of the inside of the oil immersion sponge is fixedly connected with a protective oil guide pipe, and one end of the protective oil guide pipe penetrates through the outer surface of the welding head protective cylinder and is fixedly connected with a protective oil storage barrel.
Preferably, the inside of protection oil storage bucket has seted up spacing annular, it is protruding that protection oil pipe's top fixedly connected with spacing ring, spacing ring is protruding to be matched with spacing annular.
Preferably, one side of the top of the protective oil guide pipe is fixedly connected with a first semicircular piece, and one side of the surface of the inside of the protective oil storage barrel is fixedly connected with a second semicircular piece.
Preferably, the first semicircular sheet and the second semicircular sheet are both semicircular structures, and the diameters of the semicircular structures are equal.
Preferably, the bottom surface of protection oil storage bucket has seted up spacing arc groove, the spacing card of surface one side fixedly connected with L shape of protection oil pipe is protruding, just the protruding top and the spacing arc groove phase-match of the spacing card of L shape.
Preferably, the top swing joint that the arm supported the base has the arm revolving stage, the top fixedly connected with arm stand of arm revolving stage, the top swing joint of arm stand has the big arm, the top swing joint of big arm has the arm connecting rod, the big arm has mechanical forearm through arm connecting rod swing joint, just the one end swing joint of mechanical forearm has robotic wrist, robotic wrist's tip fixedly connected with arm bonding tool, the surface of mechanical forearm is seted up in cylinder gas area through groove, cylinder gas area runs through cylinder gas area through groove.
Preferably, the top surface of the rotating table of the mechanical arm is fixedly connected with a cylinder on one side of the upright post of the mechanical arm, and the cylinder is electrically connected with an external power supply.
Preferably, the outer surface of the large arm is fixedly connected with a cylinder gas belt fixing sleeve, and the cylinder gas belt penetrates through the inside of the cylinder gas belt fixing sleeve.
Compared with the prior art, the invention has the beneficial effects that:
(1) through the design of arc buffering support piece, both can realize pressing from both sides tight fixed to the cylinder gas area, can provide the buffering for the cylinder gas area simultaneously, reduce the range of buckling that the cylinder gas area produced when arm joint of mechanical arm rotated to reduce the damage in cylinder gas area, through the design of semicircle piece, be convenient for realize two arc buffering support piece's syntropy motion, through buffer spring's design, be convenient for provide cushioning effect to the semicircle piece.
(2) Through the design of lubricating oil storage bucket, be convenient for to the arm joint department of arm add lubricating oil, in order to keep the articulated operation of arm smooth, and lubricating oil storage bucket can store lubricating oil, conveniently take at any time, design through lubricating oil flow groove, the arm joint junction of the lubricating oil flow direction arm in the lubricating oil storage bucket of being convenient for, design through the oil storage bucket bottom, be convenient for block the bottom of lubricating oil storage bucket, avoid the lubricating oil in the lubricating oil storage bucket to flow out, design through fin and rectangle plectrum, be convenient for promote oil storage bucket bottom to one side, thereby be convenient for the outflow of lubricating oil, design through reset spring, be convenient for realize the bottom of oil storage bucket that resets, design through rectangle spout and rectangle cursor slide, be convenient for realize the fixed and the slip of oil storage bucket bottom.
(3) Through the design of a bonding tool protection section of thick bamboo, be convenient for carry out idle protection to the arm bonding tool, design through the immersion oil sponge, be convenient for paint the maintenance on the arm bonding tool with protection oil and maintain, through the design of protection oil guide pipe and protection oil storage bucket, be convenient for to the storage and the interpolation of protection oil, through the design of first semicircle piece and second semicircle piece, be convenient for realize opening and closing the oil-out of protection oil storage bucket bottom, through the protruding design of spacing arc groove and the spacing card of L shape, be convenient for protect the spacing rotation of oil storage bucket on protection oil guide pipe.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a buffering mechanism according to the present invention;
FIG. 3 is a schematic structural view of the lubricating mechanism of the present invention;
FIG. 4 is an enlarged view of a portion of the structure of FIG. 3 according to the present invention;
FIG. 5 is a side view of a portion of the structure of FIG. 4 in accordance with the present invention;
FIG. 6 is a cross-sectional view of a weld head shield cartridge in accordance with the present invention in connection with a robot arm weld head;
FIG. 7 is a schematic view of the attachment of the weld head shield cartridge of the present invention to the weld head of a robotic arm;
fig. 8 is a sectional view showing the connection between the protection oil conduit pipe and the protection oil storage barrel according to the present invention.
In the figure: 1. the mechanical arm supports the base; 2. a mechanical arm rotating platform; 3. a cylinder; 4. a cylinder gas belt fixing sleeve; 5. a cylinder gas band; 6. the cylinder gas belt penetrates through the groove; 7. a mechanical forearm; 8. a mechanical wrist; 9. a mechanical arm welding head; 10. an arm link; 11. a large arm; 12. a lubricating oil storage barrel; 13. a mechanical arm upright post; 14. a semi-circular arc groove; 15. a semicircular arc piece; 16. a buffer spring; 17. connecting the short shaft; 18. an arc-shaped buffer resisting sheet; 19. a cylindrical spring groove; 20. an arm rotary joint connecting end; 21. a first rotational connection; 22. a rotation center connecting shaft; 23. fixing an oil guiding disc; 24. a rectangular plectrum; 25. a second rotational connection; 26. a fin; 27. a lubricating oil flow groove; 28. an oil storage barrel top cap; 29. the bottom cover of the oil storage barrel; 30. a rectangular chute; 31. a rectangular slider; 32. a return spring; 33. an annular limiting disc; 34. a cylindrical limiting hole; 35. a weld head protective cartridge; 36. oil-impregnated sponge; 37. a metal limit pin; 38. protecting an oil guide pipe; 39. a protective oil storage barrel; 40. a limiting ring groove; 41. the limiting ring is convex; 42. a first half wafer; 43. a second half-round piece; 44. a limiting arc groove; 45. the L-shaped limiting clamp is convex.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, the present invention provides a technical solution: an automatic welding mechanical arm comprises a mechanical arm supporting base 1, a cylinder gas band 5, a cylinder gas band through groove 6, a mechanical arm welding head 9, a buffering mechanism, a lubricating mechanism and a protection mechanism, wherein the buffering mechanism comprises a semi-arc groove 14, the semi-arc groove 14 is arranged on the inner side of the cylinder gas band through groove 6, a semi-arc sheet 15 is arranged inside the semi-arc groove 14, both ends of the inner side of the semi-arc sheet 15 are fixedly connected with a connecting short shaft 17, the end part of the connecting short shaft 17 is fixedly connected with an arc buffering abutting sheet 18, a cylindrical spring groove 19 is arranged inside the cylinder gas band through groove 6, one end of the cylindrical spring groove 19 is communicated with the semi-arc groove 14, the other end of the cylindrical spring groove 19 penetrates through the inner side surface of the cylinder gas band through groove 6, the inner side surface of the cylindrical spring groove 19 is fixedly connected with a buffering spring 16, the buffering spring 16 is sleeved on the outer side of the connecting short, both can realize the tight fixed of clamp to cylinder gas area 5, can provide the buffering for cylinder gas area 5 simultaneously, reduce the range of buckling that cylinder gas area 5 produced when the arm joint of mechanical arm rotates to reduce the damage of cylinder gas area 5, through the design of semicircle piece 15, be convenient for realize two arc buffering and support piece 18's syntropy motion, through buffer spring 16's design, be convenient for provide cushioning effect to semicircle piece 15.
In order to lubricate the arm joint of the mechanical arm conveniently and ensure the smooth operation of the joint, in this embodiment, preferably, the lubricating mechanism includes a second rotating connecting member 25, a first rotating connecting member 21 and an arm rotating joint connecting end 20, the second rotating connecting member 25 and the first rotating connecting member 21 are located at the inner side of the mechanical arm and at the joint connecting position of the mechanical arm, both sides of the arm rotating joint connecting end 20 are fixedly connected with a rotating center connecting shaft 22, and the arm rotating joint connecting end 20 is movably connected with the second rotating connecting member 25 and the first rotating connecting member 21 through the rotating center connecting shaft 22.
In order to facilitate the addition and storage of lubricating oil, so as to lubricate and maintain the joint of the mechanical arm through the lubricating oil in the lubricating oil storage barrel 12 at any time, in the embodiment, preferably, the outer surface of one end of the rotating center connecting shaft 22 is fixedly sleeved with the fixed oil guiding disc 23, the top of the first rotating connecting part 21 is located at the fixed oil guiding disc 23 and is fixedly connected with the lubricating oil storage barrel 12, and the top end of the lubricating oil storage barrel 12 is fixedly connected with the oil storage barrel top cap 28.
In order to facilitate the opening and closing of the oil outlet at the bottom of the lubricating oil storage barrel 12 through the rotation of the mechanical arm joint arm, in this embodiment, preferably, the bottom of the lubricating oil storage barrel 12 is movably connected with a storage barrel bottom cover 29, a pair of fins 26 are symmetrically and fixedly connected to two sides of the storage barrel bottom cover 29, a pair of rectangular shifting pieces 24 are symmetrically and fixedly connected to the top of the fixed oil guiding disc 23, and the rectangular shifting pieces 24 correspond to the fins 26 one to one.
In order to facilitate the sliding of the bottom cover 29 of the oil storage barrel, so as to close and open the bottom cover 29 of the oil storage barrel, in this embodiment, preferably, a pair of rectangular sliding arms 31 are symmetrically and fixedly connected to the top surface of the inner side of the first rotary connecting element 21, which is located on two sides of the bottom cover 29 of the oil storage barrel, a pair of rectangular sliding grooves 30 are symmetrically formed on two sides of the outer surface of the bottom cover 29 of the oil storage barrel, and the rectangular sliding grooves 30 are matched with the ends of the rectangular sliding arms.
In order to facilitate the resetting of the oil storage barrel bottom cover 29 by the return spring 32, so as to push the oil storage barrel bottom cover 29 to the bottom of the lubricating oil storage barrel 12, so as to block the lubricating oil in the lubricating oil storage barrel 12 and prevent the lubricating oil from flowing downwards, in this embodiment, preferably, the return spring 32 is fixedly connected to one side of the fin 26 on the top surface of the inner side of the first rotating connecting member 21, and one end of the return spring 32 is fixedly connected to the fin 26.
In order to facilitate the lubricating oil in the lubricating oil storage barrel 12 to drop into the lubricating oil flowing groove 27 and further flow into the joint of the mechanical arm, in this embodiment, preferably, the lubricating oil flowing groove 27 is formed on one side of the outer surfaces of the rotation center connecting shaft 22 and the fixed oil guiding disc 23, and the lubricating oil flowing groove 27 and the bottom opening of the lubricating oil storage barrel 12 are located on the same vertical line.
In order to clamp the cylinder air belt 5 through the arc-shaped buffering abutting pieces 18 and buffer the cylinder air belt 5 through the arc-shaped buffering abutting pieces 18, so as to reduce bending abrasion to the cylinder air belt 5, in this embodiment, preferably, the two arc-shaped buffering abutting pieces 18 are respectively located at two sides of the cylinder air belt 5, and the outer surfaces of the arc-shaped buffering abutting pieces 18 are attached to the outer surface of the cylinder air belt 5.
In order to facilitate the welding when the arm is idle, can paint the protection of protective oil to arm bonding tool 9 to increase the life of arm bonding tool 9, in this embodiment, it is preferred that the protection machanism includes bonding tool protective barrel 35, and bonding tool protective barrel 35 activity cup joints in the tip of arm bonding tool 9, and the inboard fixed surface of bonding tool protective barrel 35 is connected with immersion oil sponge 36, and immersion oil sponge 36 cup joints the laminating with the surface of arm bonding tool 9.
In order to facilitate the realization of the limiting fixation between the welding head protection cylinder 35 and the annular limiting disc 33, so as to avoid the influence of the welding head protection cylinder 35 on the welding work caused by downward sliding in the vibration generated by the work of the mechanical arm, in the embodiment, preferably, one side of the outer surface of the mechanical arm welding head 9 is fixedly connected with the annular limiting disc 33, a pair of cylindrical limiting holes 34 are formed in the bottom surface of the annular limiting disc 33, a magnet piece is fixedly connected inside the cylindrical limiting holes 34, a pair of metal limiting tips 37 are fixedly connected to the top of the welding head protection cylinder 35, and the top ends of the metal limiting tips 37 are matched with the cylindrical limiting holes 34.
In order to facilitate the protective oil in the protective oil storage barrel 39 to enter the interior of the oil immersion sponge 36, in this embodiment, preferably, one side of the interior of the oil immersion sponge 36 is fixedly connected with a protective oil conduit 38, and one end of the protective oil conduit 38 penetrates through the outer surface of the welding head protective barrel 35 and is fixedly connected with the protective oil storage barrel 39.
In order to facilitate the slip between the protection oil storage barrel 39 and the protection oil conduit 38, and facilitate the protection oil in the protection oil storage barrel 39 to flow to the outside of the protection oil conduit 38, in this embodiment, preferably, the inside of the protection oil storage barrel 39 has been provided with a limiting ring groove 40, the top end of the protection oil conduit 38 is fixedly connected with a limiting ring protrusion 41, and the limiting ring protrusion 41 is matched with the limiting ring groove 40.
In order to facilitate the opening and the closing of the protection oil in the protection oil conduit 38, the protection oil is preferably stored in the protection oil conduit 38, wherein the first half-round piece 42 is fixedly connected to one side of the top of the protection oil conduit 38, the second half-round piece 43 is fixedly connected to one side of the inside of the protection oil storage bucket 39, and when the first half-round piece 42 and the second half-round piece 43 are in an up-and-down stacking state, the protection oil in the protection oil storage bucket 39 can flow downwards, and then flows into the oil-soaked sponge 36 through the protection oil conduit 38, and when the first half-round piece 42 and the second half-round piece 43 are in a horizontal state, the protection oil can be blocked in the protection oil storage bucket 39 and cannot flow downwards.
In order to facilitate the mutual closing of the first semicircular plate 42 and the second semicircular plate 43, in this embodiment, it is preferable that the first semicircular plate 42 and the second semicircular plate 43 are both semicircular structures, and the diameters of the semicircular structures are equal.
In order to facilitate the spacing rotation of realizing protection oil storage bucket 39 to realize opening and closing of first semicircle 42 and second semicircle 43 through the rotation of protection oil storage bucket 39, in this embodiment, preferably, spacing arc groove 44 has been seted up on the bottom surface of protection oil storage bucket 39, the protruding 45 of the spacing card of surface one side fixedly connected with L shape of protection oil pipe 38, and the top and the spacing arc groove 44 phase-match of the protruding 45 of the spacing card of L shape.
In order to facilitate the mechanical arm to simulate a human hand to perform automatic welding operation, in this embodiment, preferably, the top of the mechanical arm support base 1 is movably connected with a mechanical arm rotating platform 2, the top of the mechanical arm rotating platform 2 is fixedly connected with a mechanical arm upright column 13, the top of the mechanical arm upright column 13 is movably connected with a large arm 11, the top of the large arm 11 is movably connected with an arm connecting rod 10, the large arm 11 is movably connected with a small mechanical arm 7 through the arm connecting rod 10, one end of the small mechanical arm 7 is movably connected with a mechanical wrist 8, the end of the mechanical wrist 8 is fixedly connected with a mechanical arm welding head 9, a cylinder gas belt through groove 6 is formed in the outer surface of the small mechanical arm 7, and a cylinder gas.
In order to facilitate the power supply to the mechanical arm, thereby realizing the automatic welding operation of the mechanical arm, and facilitating the automatic operation of the mechanical arm, in this embodiment, preferably, the top surface of the mechanical arm rotating table 2 is located on one side of the mechanical arm upright post 13 and is fixedly connected with the cylinder 3, and the cylinder 3 is electrically connected with an external power supply.
In order to protect the cylinder air belt 5, in the embodiment, it is preferable that the cylinder air belt fixing sleeve 4 is fixedly connected to the outer surface of the large arm 11, and the cylinder air belt 5 penetrates through the inside of the cylinder air belt fixing sleeve 4.
The type of the middle cylinder 3 of the invention is as follows: CQ2B
The working principle and the using process of the invention are as follows: after the device is installed, when the mechanical small arm 7 rotates upwards, the cylinder air belt 5 can pull the arc-shaped buffering resisting sheet 18 downwards, the arc-shaped buffering resisting sheet 18 at the bottom moves downwards under the action of pressure, meanwhile, the semi-arc sheet 15 can be driven to move downwards through the connecting short shaft 17, the semi-arc sheet 15 can drive the arc-shaped buffering resisting sheet 18 at the top to move downwards, so that the cylinder air belt 5 can move downwards when the mechanical small arm 7 rotates upwards, the cylinder air belt 5 is buffered through the displacement, the cylinder air belt 5 is prevented from being directly extruded and bent, the two arc-shaped buffering resisting sheets 18 are always attached to the outer surface of the cylinder air belt 5 when moving downwards, the cylinder air belt 5 is clamped, the working mode of the mechanical arm is that the hand simulation is realized through the rotation among the joints of each arm, and the joints need to be lubricated and maintained, adding lubricating oil into the lubricating oil storage barrel 12 after opening the top cap 28 of the oil storage barrel, driving the fixed oil guiding disc 23 to rotate together through the rotating central connecting shaft 22 when the arm rotating joint connecting end 20 rotates, pushing the wing 26 to one side when the fixed oil guiding disc 23 rotates, driving the bottom cover 29 of the oil storage barrel to move to one side by the wing 26, then downwards dropping the lubricating oil in the lubricating oil storage barrel 12 into the lubricating oil flowing groove 27 and flowing to the joint of the mechanical arm, thereby realizing the purpose of automatically adding the lubricating oil through the rotation of the mechanical arm, when the welding mechanical arm is idle, downwards sliding the protective barrel 35 to the outer side of the end of the mechanical arm welding head 9, smearing protective oil to the end of the mechanical arm welding head 9 through the oil soaking sponge 36, in the process, firstly storing the protective oil in the protective oil storage barrel 39, and enabling the first half-round piece 42 and the second half-piece 43 to be piled up and down through rotating the protective oil storage barrel 39 by one hundred eighty degrees The folded state, thereby make the interior protection oil of protection oil storage bucket 39 flow downwards, and then through protection oil pipe 38 flow to immersion oil sponge 36 in, the rotatory protection oil storage bucket 39 of reverse one hundred eighty degrees makes first semicircle 42 and second semicircle 43 become the level and pastes the state mutually, thereby block up protection oil in protection oil storage bucket 39, when the arm uses, with the bonding tool protection section of thick bamboo 35 upwards remove to cyclic annular spacing dish 33 department, make the top card of the spacing hole 34 of cylindricality advance in the spacing hole 34 of cylindricality and connect fixedly through magnetic adsorption, avoid the vibration in the arm course of operation to lead to the bonding tool protection section of thick bamboo 35 to fall downwards.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An automated welding robot arm, comprising: the mechanical arm comprises a mechanical arm supporting base (1), a mechanical arm rotating table (2), a cylinder (3), a cylinder gas belt fixing sleeve (4), a cylinder gas belt (5), a cylinder gas belt through groove (6), a mechanical small arm (7), a mechanical wrist (8), a mechanical arm welding head (9), an arm connecting rod (10), a large arm (11), a lubricating oil storage barrel (12), a mechanical arm upright post (13), a buffer mechanism, a lubricating mechanism and a protection mechanism; the top surface of the mechanical arm supporting base (1) is rotatably provided with a mechanical arm rotating platform (2), the top surface of the mechanical arm rotating platform (2) is upwards and sequentially fixed with a mechanical arm upright post (13), a large arm (11), an arm connecting rod (10) and a mechanical small arm (7), the tail end of the mechanical small arm (7) is hinged with a mechanical wrist (8), and the tail end of the mechanical wrist (8) is provided with a mechanical arm welding head (9); the top surface of the mechanical arm rotating table (2) is also fixedly provided with an air cylinder (3), and the side surface of the mechanical small arm (7) is provided with an air cylinder air belt through groove (6); the output end of the cylinder is communicated with a cylinder air belt (5), and the cylinder air belt (5) extends to a cylinder air belt through groove (6) along the surface of the large arm (11); the surface of the large arm (11) is also wound with an air cylinder air belt fixing sleeve (4), and the air cylinder air belt fixing sleeve (4) is used for fixing an air cylinder air belt (5) on the surface of the large arm (11); the buffer mechanism is arranged in the cylinder air belt penetrating groove (6) and is in contact with the cylinder air belt (5) in the cylinder air belt penetrating groove (6); the lubricating mechanism is positioned at the joint of the mechanical arm and used for injecting lubricating oil into a moving part of the joint, and the protecting mechanism is positioned at the end part of the mechanical arm welding head (9) and used for protecting the mechanical arm welding head (9); the method is characterized in that: buffer gear includes semicircle arc groove (14), the inboard of cylinder gas tape threading groove (6) is seted up in semicircle arc groove (14), the inside of semicircle arc groove (14) is provided with semicircle arc piece (15), the equal fixedly connected with in inboard both ends of semicircle arc piece (15) connects minor axis (17), the tip fixedly connected with arc buffering support piece (18) of connecting the minor axis, cylindricality spring groove (19) have been seted up to the inside of cylinder gas tape threading groove (6), just the one end and the semicircle arc groove (14) intercommunication of cylindricality spring groove (19), the other end of cylindricality spring groove (19) runs through the inboard surface of cylinder gas tape threading groove (6), the inboard fixed surface of cylindricality spring groove (19) is connected with buffer spring (16), just buffer spring (16) cup joint in the outside of connecting minor axis (17).
2. The automated welding robot of claim 1, wherein: lubricating mechanism includes second swivelling joint spare (25), first swivelling joint spare (21) and arm swivelling joint link (20), second swivelling joint spare (25) and first swivelling joint spare (21) are located the inboard of arm and are located the joint junction of arm, the equal fixedly connected with rotation center connecting axle (22) in both sides of arm swivelling joint link (20), arm swivelling joint link (20) are through rotation center connecting axle (22) and second swivelling joint spare (25) and first swivelling joint spare (21) swing joint.
3. The automated welding robot of claim 2, wherein: the one end external fixed surface of rotation center connecting axle (22) has cup jointed fixedly and has drawn oily disc (23), the top of first swivelling joint spare (21) is located fixedly and draws oily disc (23) fixedly connected with lubricating oil storage bucket (12), the top fixedly connected with oil storage bucket hood (28) of lubricating oil storage bucket (12).
4. The automated welding robot of claim 3, wherein: the bottom swing joint of lubricating oil storage bucket (12) has oil storage bucket bottom (29), a pair of fin (26) of the bilateral symmetry fixedly connected with of oil storage bucket bottom (29), a pair of rectangle plectrum (24) of the top symmetry fixedly connected with of fixed oil disc (23) of drawing, just rectangle plectrum (24) and fin (26) one-to-one.
5. The automated welding robot of claim 4, wherein: the inside top surface of first swivelling joint spare (21) is located a pair of rectangle cursor slide (31) of bilateral symmetry fixedly connected with of oil storage barrel bottom (29), a pair of rectangle spout (30) have been seted up to the surface bilateral symmetry of oil storage barrel bottom (29), just the tip phase-match of rectangle spout (30) and rectangle cursor slide (31).
6. The automated welding robot of claim 4, wherein: the top surface of the inner side of the first rotating connecting piece (21) is fixedly connected with a return spring (32) on one side of the wing piece (26), and one end of the return spring (32) is fixedly connected with the wing piece (26).
7. The automated welding robot of claim 3, wherein: and lubricating oil flowing grooves (27) are formed in one sides of the outer surfaces of the rotating center connecting shaft (22) and the fixed oil guiding disc (23), and the lubricating oil flowing grooves (27) and the bottom opening of the lubricating oil storage barrel (12) are positioned on the same vertical line.
8. The automated welding robot of claim 1, wherein: the two arc-shaped buffering abutting pieces (18) are respectively positioned on two sides of the air cylinder air belt (5), and the outer surfaces of the arc-shaped buffering abutting pieces (18) are attached to the outer surface of the air cylinder air belt (5).
9. The automated welding robot of claim 1, wherein: the protection mechanism comprises a welding head protection barrel (35), the welding head protection barrel (35) is movably sleeved at the end part of the mechanical arm welding head (9), the inner side surface of the welding head protection barrel (35) is fixedly connected with oil immersion sponge (36), and the oil immersion sponge (36) is sleeved and attached to the outer surface of the mechanical arm welding head (9).
10. The automated welding robot of claim 9, wherein: the outer surface one side fixedly connected with of arm bonding tool (9) cyclic annular spacing dish (33), a pair of spacing hole of cylindricality (34) has been seted up on the bottom surface of cyclic annular spacing dish (33), the inside fixedly connected with magnet piece in the spacing hole of cylindricality (34), the top fixedly connected with of bonding tool protection section of thick bamboo (35) is spacing to a pair of metal tip (37), the top and the spacing hole of cylindricality (34) phase-match of metal tip (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910314302.9A CN110125582B (en) | 2019-04-18 | 2019-04-18 | Automatic welding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910314302.9A CN110125582B (en) | 2019-04-18 | 2019-04-18 | Automatic welding mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110125582A CN110125582A (en) | 2019-08-16 |
| CN110125582B true CN110125582B (en) | 2021-06-01 |
Family
ID=67570064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910314302.9A Active CN110125582B (en) | 2019-04-18 | 2019-04-18 | Automatic welding mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125582B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111318828B (en) * | 2020-04-09 | 2021-04-27 | 南通铁建建设构件有限公司 | Automatic welding process and device for high-strength duct piece framework |
| CN112705830A (en) * | 2020-12-18 | 2021-04-27 | 南京蹑波物联网科技有限公司 | Automatic welding robot is used in processing of industrial workshop |
| CN113370264A (en) * | 2021-06-01 | 2021-09-10 | 南京驭逡通信科技有限公司 | Automatic joint lubricating system of industrial robot |
| CN113276168B (en) * | 2021-07-20 | 2021-09-24 | 南通创昊机械有限公司 | Arm following lubricating device for mechanical arm |
| CN117444495B (en) * | 2023-12-26 | 2024-03-12 | 山西建筑工程集团有限公司 | Bridge expansion joint welding fixer with limiting function |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003314569A (en) * | 2002-04-23 | 2003-11-06 | Nsk Ltd | Industrial robot |
| CN202185748U (en) * | 2011-07-07 | 2012-04-11 | 陈小青 | Mechanical arm capable of automatic clamping |
| CN107598975A (en) * | 2017-11-02 | 2018-01-19 | 刘和勇 | A kind of multifunctional mechanical arm |
| CN208342071U (en) * | 2018-04-25 | 2019-01-08 | 南通雾图信息技术有限公司 | A kind of multi-angle welding robot |
| CN108620775B (en) * | 2018-04-27 | 2020-11-20 | 聊城扬帆田一机械有限公司 | Intelligent welding robot arm |
| CN108656155A (en) * | 2018-05-22 | 2018-10-16 | 王伟 | A kind of protection mechanism of industrial machinery arm |
| CN108943011B (en) * | 2018-07-16 | 2021-05-25 | 安徽智森电子科技有限公司 | Angle-adjustable mechanical arm |
| CN109048972A (en) * | 2018-08-30 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot arm transmission connecting mechanism |
| CN109176604A (en) * | 2018-11-22 | 2019-01-11 | 兰州北迅网络科技有限公司 | A kind of numerically-controlled machine tool machinery arm |
-
2019
- 2019-04-18 CN CN201910314302.9A patent/CN110125582B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110125582A (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110125582B (en) | Automatic welding mechanical arm | |
| CN102039240B (en) | Spraying robot mechanism | |
| CN207534805U (en) | A kind of four axis robot of high performance level joint | |
| CN105965482A (en) | Three-degree-of-freedom intelligent window-wiping manipulator based on parallel mechanism | |
| CN202805186U (en) | Six-degree-of-freedom industrial robot | |
| CN204976667U (en) | Industrial robot base structure | |
| CN207564481U (en) | A kind of rotatable robot | |
| CN108080195A (en) | A kind of novel steel tube surfaces externally and internally spray-painting plant | |
| CN102490177A (en) | Four-freedom-degree parallel-connection robot | |
| CN107363814B (en) | Single-input multi-degree-of-freedom parallel metamorphic platform | |
| CN210687600U (en) | Projection equipment is used in management course teaching | |
| CN206254173U (en) | A kind of four-freedom parallel mechanism | |
| CN111805501A (en) | Flexible variable-diameter permanent-magnet adsorption wheat wheel type cylinder climbing robot system | |
| CN112355505A (en) | Welding device for processing tubular steel structure | |
| CN213499286U (en) | High-load type mechanical arm with large operation radius | |
| CN205614702U (en) | High -precision locate mode manipulator | |
| CN206011130U (en) | A kind of hollow wrist structure of spray robot | |
| CN112873261B (en) | Mechanical claw for grabbing ball objects | |
| CN215318671U (en) | Automatic change manipulator and move device that carries | |
| CN212565252U (en) | Slewing bearing oiling device | |
| CN108381586A (en) | A kind of intelligent fire job that requires special skills robot rotary machine hand | |
| CN205184807U (en) | Posture adjustment and maintain the body of sampling head in arm | |
| CN208179510U (en) | Six axis serial-parallel mirror robots | |
| CN207890175U (en) | Folding-type box | |
| CN208234398U (en) | A kind of single-beam crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |