CN110227899A - Robot and its welder - Google Patents
Robot and its welder Download PDFInfo
- Publication number
- CN110227899A CN110227899A CN201910599850.0A CN201910599850A CN110227899A CN 110227899 A CN110227899 A CN 110227899A CN 201910599850 A CN201910599850 A CN 201910599850A CN 110227899 A CN110227899 A CN 110227899A
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- Prior art keywords
- track
- driving
- positioning
- welder
- locating piece
- Prior art date
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- 238000003466 welding Methods 0.000 claims abstract description 79
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 230000003028 elevating effect Effects 0.000 claims description 16
- 230000001788 irregular Effects 0.000 claims description 7
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of robot and its welders, including main body and welding mechanism, driving track and positioning track are provided in the main body, the driving track is parallel with the positioning track, the welding mechanism includes actuator, locating piece and plumb joint, the actuator sliding is connected to the driving track, and the locating piece sliding is connected to the positioning track；When actuator operation, for the welding mechanism simultaneously along driving track and positioning track sliding, welder provided in an embodiment of the present invention can carry out steadily weld job in intended trajectory.
Description
Technical field
The present invention relates to welding technology field more particularly to a kind of robots and its welder.
Background technique
Welding is that two or more of the same race or dissimilar material passes through the combination and diffusion connection between atom or molecule
Integral technical process.Welding product is light-weight, can mitigate self weight for transport facility, saves energy.Weldering
The good airproof performance connect is suitable for manufacturing all kinds of containers.Develop joint processing technology, combines welding with forging, casting, can make
At large-scale, economical rationality cast-weld construction and forge welding structure, economic benefit is very high, and welding has become one kind in modern industry can not
The processing technology for lacking, and becoming more and more important.
Currently used welding technique has: the various automatic welds such as manual electric arc welding, gas shielded arc welding, Lincoln weld
Method.Such welding method welding efficiency is high, and welding quality is good, but the problem is that: it is only applicable to plane stage by stage
It manufactures on assembly line, and to when workpiece is curved surface, welding in irregular shape, being curved surface variation, manual side can only be used
Method is welded.
Summary of the invention
The present invention provides a kind of robot and its welder, for carrying out weld job.
One aspect of the present invention provides a kind of welder, including main body and welding mechanism, is provided with driving in the main body
Track and positioning track, the driving track is parallel with the positioning track, the welding mechanism include actuator, locating piece and
Plumb joint, the actuator sliding are connected to the driving track, and the locating piece sliding is connected to the positioning track；Work as institute
When stating actuator operation, the welding mechanism is simultaneously along driving track and positioning track sliding.
In a kind of embodiment, the actuator is driving motor, and the driving track is rack-track, the drive
Dynamic motor is connected with gear, and the gear is engaged with the rack-track；When driving motor rotation, the gear is along institute
State rack-track sliding.
In a kind of embodiment, the welding mechanism further includes the first mounting plate, and the locating piece is installed in described
On first mounting plate, the locating piece is locating piece, and the locating slot for locating piece insertion is offered on the positioning track,
The locating slot limits the locating piece and is axially disengaging the positioning track.
In a kind of embodiment, the locating slot is the arc guide barrel that positioning track is arranged concentrically, the locating piece
For the arc block being arranged concentrically with arc guide barrel.
In a kind of embodiment, the positioning track includes the first track and the second track, first track position
Above the driving track, second track is located at below the driving track, first track and second rail
Road is parallel.
In a kind of embodiment, the driving track and the positioning track are linear, irregular shape and arc
One of or several combination in shape.
In a kind of embodiment, the plumb joint is removably connected on first mounting plate by fixture, institute
Stating fixture includes fixed block and movable block, and one end of the fixed block and the movable block is hinged, and the other end passes through locking member and connects
It connects, the plumb joint is held on the middle part of the fixture.
In a kind of embodiment, the main body includes the second mounting plate and elevating mechanism, the driving track and institute
It states positioning track and is assembled on second mounting plate, the elevating mechanism is connect with second mounting plate, the elevator
Structure is used to control the lifting of second mounting plate.
Another aspect of the present invention provides a kind of robot, including ontology and as described in any one of above-mentioned embodiment
Welder, the welder are fixedly arranged on the ontology.
It further include driving mechanism in a kind of embodiment, the driving mechanism is mobile for controlling ontology, and described
Body is located at the welder front end and is installed with preceding camera, is installed with rear camera positioned at the welder rear end.
A kind of robot and its welder provided by the invention make bonding machine by driving track and positioning track cooperation
Structure can stablize movement in driving track and positioning track in the welding process, thus realize the purpose for stablizing welding, cooperation
Elevating mechanism, suitable for welding one of or several combined weld seam formed linear, irregular shape and arc.Into one
Step, the welder by be installed in robot, cooperate robot, can be suitable for it is stable wider weld,
Form one of or several combined weld seam in linear, irregular shape and arc.
Detailed description of the invention
Fig. 1 shows the structural schematic diagram of welder of the embodiment of the present invention；
Fig. 2 shows the structural schematic diagrams one of robot of the embodiment of the present invention；
Fig. 3 shows the structural schematic diagram two of robot of the embodiment of the present invention.
Appended drawing reference is as follows: 1, main body；11, track is driven；111, engaging tooth；12, positioning track；121, locating slot；13,
Second mounting plate；14, elevating mechanism；2, welding mechanism；21, actuator；22, locating piece；23, plumb joint；24, the first installation
Plate；25, fixture；251, fixed block；252, movable block；253, locking member；254, clamping groove；31, wire reel；32, feeding roller；
41, ontology；42, control cabinet；431, driving wheel；432, auxiliary wheel；433, damping device；441, preceding camera；442, rear camera shooting
Head.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 shows the structural schematic diagram of welder of the embodiment of the present invention.
Referring to Fig. 1, on the one hand the embodiment of the present invention provides a kind of welder, including main body 1 and welding mechanism 2, main body 1
On be provided with driving track 11 and positioning track 12, driving track 11 is parallel with positioning track 12, and welding mechanism 2 includes actuator
21, locating piece 22 and plumb joint 23, the sliding of actuator 21 are connected to driving track 11, and the sliding of locating piece 22 is connected to positioning track
12；When actuator 21 is run, welding mechanism 2 slides along driving track 11 and positioning track 12 simultaneously.
Welder provided by the embodiment of the present invention is for carrying out weld job.It include master in the welder
Body 1 and welding mechanism 2.Main body 1 is used to connect for welding mechanism 2, the driving track 11 and positioning track 12 being installed in main body 1
Be respectively used to slide for welding mechanism 2, drive in track 11 and positioning track 12 can by being clamped or being bolted in main body 1,
It need to only keep opposing stationary between driving track 11 and positioning track 12.Enable welding mechanism 2 according to driving track 11
It is slid with the track of positioning track 12, to realize the purpose welded while mobile according to the track of driving track 11.Its
In, it drives track 11 and positioning track 12 to be arranged in parallel, makes to provide the sliding trajectory of welding mechanism 2 by driving track 11 and by fixed
The sliding trajectory that position track 12 provides welding mechanism 2 is able to maintain unanimously.When driving track 11 and positioning track 12 are arc
When track, radian can be any value in 0~360 °.Under a kind of embodiment, when driving track 11 and positioning track 12
When being 360 °, track 11 and positioning track 12 concentric circles each other are driven.Compared to only driving track 11 or only positioning track
12 slipping mechanism sets parallel to each other for driving track 11 and positioning track 12, what welding mechanism 2 slid on the body 1
When, sliding path can be more stable, and the plumb joint 23 of welding mechanism 2 can be vertical with sliding path holding always.Weldering
For connection mechanism 2 in addition to sliding on driving track 11 and positioning track 12, its own will not be due to gravity or other non-artificial external force
Factor generates offset, to keep the slipping of welding mechanism 2 more stable, welding mechanism 2 can so be made to carry out stablizing weldering
It connects.
In embodiments of the present invention, main body 1 includes the second mounting plate 13 and elevating mechanism 14, drives track 11 and positioning rail
Road 12 is assembled on the second mounting plate 13, and elevating mechanism 14 is connect with the second mounting plate 13, and elevating mechanism 14 is for controlling second
The lifting of mounting plate 13.
For the moving range in the welding process of further expansion welding mechanism 2, the main body 1 of the embodiment of the present invention includes the
Two mounting plates 13 and elevating mechanism 14, wherein the second mounting plate 13 is installed for driving track 11 and positioning track 12, for
Connecting welding mechanism 2, elevating mechanism 14 are connect with the second mounting plate 13, to can control the second mounting plate by controlling lifting
13 lifting can change the position of plumb joint 23 by the lifting of the second mounting plate 13, so that the second plumb joint 23 be made to rise
It can be welded in the track stroke of 14 range of descending mechanism and driving track 11, improve the welding surface of welder
Product.
The embodiment of the present invention to actuator 21 and does not drive the concrete type of track 11 to be defined, when actuator 21 can be with
For motor, cylinder or oil cylinder or other be capable of providing the driving device of kinetic energy, driving can lead between track 11 and actuator 21
Crossing connecting rod connection can also be connected by gear, and need to only meet actuator 21 can make entire welding mechanism 2 along driving track 11
It is slid.
Specifically, in embodiments of the present invention, actuator 21 is driving motor, driving track 11 is rack-track, driving
Motor is connected with gear, the engagement of wheel and rack track；When driving motor rotation, gear is slided along rack-track.Work as driving
Part 21 is selected as driving motor, and when driving track 11 is selected as rack-track, the motor casing of driving motor is fixedly arranged on welding mechanism 2
The first mounting plate 24 on, the end of motor shaft is installed with gear, and gear with rack-track for engaging, and the embodiment of the present invention is not
The installation direction of driving motor is limited, when the direction of the wheel and rack track on motor shaft is inconsistent, can be passed through
Bevel gear alters course, and when that can not engage between the wheel and rack track on motor shaft there are distance, can pass through transmission
Gear is driven.In embodiments of the present invention, the engaging tooth 111 on rack-track is towards the second track, the electricity of driving motor
Arbor is arranged along the radial direction of driving track 11, passes through bevel gear between fixed gear and driving track 11 on motor shaft
It alters course and passes through transmission gear and engaged with the engaging tooth 111 on rack-track.When driving motor rotation, motor shaft drive passes through
Gear, bevel gear band nutating gear rotate, so that transmission gear be made to be rotated on rack-track, and then drive entire weldering
Connection mechanism 2 is slided along positioning track 12.
For avoid welding mechanism 2 with the rotation of actuator 21 synchronous rotation.In embodiments of the present invention, welding mechanism
2 further include the first mounting plate 24, and locating piece 22 is installed on the first mounting plate 24, and locating piece 22 is locating piece, positioning track 12
On offer for locating piece 22 be embedded in locating slot 121, locating slot 121 limit locating piece be axially disengaging positioning track 12.
When welding mechanism 2 is rotated along driving track 11, limitation is reached by the cooperation of locating piece and locating slot 121
The purpose of 2 rotation of welding mechanism.Wherein, locating slot 121 is U-lag, is opened on positioning track 12, and the slot of locating slot 121
Mouth is towards engaging tooth 111, and locating piece is L-shaped, and one end is fixedly arranged on the first mounting plate 24, and the other end is embedded in locating slot 121,
Locating piece is limited by locating slot 121 and is axially disengaging positioning track 12, so that welding mechanism 2 and main body 1 be made to form stable cunning
Move connection.
In embodiments of the present invention, locating slot 121 is the arc guide barrel that is arranged concentrically of positioning track 12, and locating piece is and arc
The arc block that shape guide groove is arranged concentrically.Since welding mechanism 2 needs to slide along positioning track 12, and locating piece is installed in locating slot
On 121, therefore in 2 slipping of welding mechanism, locating piece is as synchronization-sliding is in locating slot 121, therefore locating slot 121
It need to be set as the slot being arranged concentrically with positioning track 12.And in order to keep locating piece and being bonded for locating slot 121 more stable,
Locating piece is set as the arc block being arranged concentrically with arc guide barrel.To sum up, positioning track 12, driving track 11, arc guide barrel and
Arc block is arranged concentrically and in parallel to each other or coincidence.So set, welding mechanism 2 can be made to slide on the body 1 more
Stablize.Locating piece only needs locating piece to meet the requirement in insertion locating slot 121, locating piece can be in addition to being set as arc block
Cylindrical, rectangle, taper or other arbitrary shapes.
In order to keep the locating effect of positioning track 12 more preferable, in embodiments of the present invention, positioning track 12 includes the first rail
Road and the second track, the first track are located at driving track 11 top, and the second track is located at 11 lower section of driving track, the first track and
Second parallel track.I.e. its all butt welding machine structure 2 above and below driving track 11 carries out position-limiting action, makes welding mechanism
2 slide on the body 1 it is more stable.
In embodiments of the present invention, it drives track 11 and positioning track 12 is in linear, irregular shape and arc
One of or several combinations.
It should be noted that driving track 11 provided by the embodiment of the present invention is not merely suitable for arc track, drive
Dynamic rail road 11 can also be the other arbitrary shapes such as linear, irregular shape, wave, can be according to welding position in welding process
Demand to driving track 11 shape be adjusted.Similarly, positioning track 12 is synchronized with the adjustment of driving track 11
Adjustment.To make welder provided by the embodiment of the present invention with welding effect purposes in larger scope.It needs to illustrate
, when the both ends of positioning track 12 are not connected to, positioning track 12 is provided with limited block at both ends to close locating slot
121 both ends avoid welding mechanism 2 from deviating from from main body 1.
In embodiments of the present invention, plumb joint 23 is removably connected on the first mounting plate 24 by fixture 25, fixture 25
Including fixed block 251 and movable block 252, one end of fixed block 251 and movable block 252 is hinged, and the other end is connected by locking member 253
It connects, plumb joint 23 is held on the middle part of fixture 25.
In the embodiment of the present invention, any position of welding mechanism 2 can be installed in as needed for the plumb joint 23 of welding.
In a specific embodiment, plumb joint 23 is connected on the first mounting plate 24 by fixture 25.Wherein, the fixed block of fixture 25
251 and first mounting plate 24 be integrally formed, and be located at the lower section of the first mounting plate 24, movable block 252 is hinged on fixed block 251
One end enables movable block 252 to be rotated around fixed block 251, and the other end of movable block 252 is connected with locking member 253, fixed
It is provided with the locked groove cooperated with locking member 253 on block 251, by the cooperation of locking member 253 and fixed block 251, realizes movable block
252 are fixed on the purpose on fixed block 251.It is respectively arranged with half slot on movable block 252 and fixed block 251, when movable block 252 is solid
It is scheduled on fixed block 251, two halves slot is spliced to form mutually the clamping groove 254 being clamped for plumb joint 23, to realize plumb joint 23
The purpose being installed on the first mounting plate 24.Wherein, in embodiments of the present invention, locking member 253 is locking nut, fixed block
251 are fixed with the bolt towards locking nut, by locking nut be bolted, realization will be movably fixed to fixed block 251
On purpose.When plumb joint 23 damages or when need replacing other model plumb joints 23, pass through locking nut and bolt
Cooperation is, it can be achieved that plumb joint 23 is detachably connected.
Fig. 2 shows the structural schematic diagrams one of robot of the embodiment of the present invention；Fig. 3 shows robot of the embodiment of the present invention
Structural schematic diagram two.
Referring to figs. 2 and 3, welder further includes having feed mechanism, and feed mechanism includes wire reel 31 and wire feeder,
Wherein, be arranged with welding wire on wire reel 31, feeding mechanism is two feeding rollers 32 adjacent to each other, welding wire by two feeding rollers 32 it
Between gap be straightened and protrude into plumb joint 23, provide welding raw material for plumb joint 23.
Welder provided by the embodiment of the present invention can be applied to a variety of mechanical equipments, make using welder of the present invention
Mechanical equipment have welding function.The embodiment of the present invention also provides a kind of robot, including ontology 41 and as above-mentioned implementable
The welder of any one of mode.By the way that welder to be installed on ontology 41, welder is fixedly arranged on the ontology 41
On.Make robot that there is welding function.And the robot is when carrying out weld job, it can be steady in the position for needing to weld
Fixed operation, improves welding effect.
Specifically, robot provided by the embodiment of the present invention includes ontology 41, control cabinet 42, driving mechanism and welding dress
It sets.
Wherein, driving mechanism is used to provide power for robot, allows the robot to move.Driving mechanism include motor,
The driving wheel 431 and auxiliary wheel 432 being connected to motor, driving wheel 431 and auxiliary wheel 432 can choose universal wheel.Ontology 41
It is installed in 432 top of driving wheel 431 and auxiliary wheel, is rotated by motor and driving wheel 431 is driven to rotate, to realize ontology 41
It is mobile.Control cabinet 42 is installed on ontology 41, for receiving and controlling weld task.Welder is installed by elevating mechanism 14
In 41 front of ontology, and between two driving wheels 431, it to be used for weld job.Elevating mechanism 14 can be selected as cylinder, cylinder body
It is fixedly arranged on ontology 41, cylinder axis is connected in the second mounting plate 13, realizes the displacement of 13 opposing body 41 of the second mounting plate.Into one
Step, according to welding demand, elevating mechanism 14 and the relative position of ontology 41 can be adjusted during installation.Feeding mechanism can
With direct fixed welder, can also be fixedly arranged on ontology 41.For the performance for improving robot, damping can also be installed thereon
Device 433 reduces the vibration that robot waits when moving by damping device 433, to make the welder of welding mechanism 2 more
Add stabilization.
Meanwhile in order to allow the robot to independently judge welding situation, in embodiments of the present invention, driving mechanism is for controlling
Ontology 41 processed is mobile, and ontology 41 is located at welder front end and is installed with preceding camera 441, after being installed with positioned at welder rear end
Camera 442.
Wherein, preceding camera 441 is for finding welding position, and for rear camera 442 for judging welding situation, robot is logical
The horizontal and vertical displacement in the realization welding process of ontology 41 is crossed, then passes through the elevating mechanism 14 of welder in the welding process
Realize upper and lower displacement, and by driving track 11 to realize the displacement of setting track in the welding process.So, it can be achieved that robot
Large range displacement in the welding process.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of welder, which is characterized in that including main body (1) and welding mechanism (2), be provided with drive on the main body (1)
Dynamic rail road (11) and positioning track (12), the driving track (11) is parallel with the positioning track (12), the welding mechanism
It (2) include actuator (21), locating piece (22) and plumb joint (23), actuator (21) sliding is connected to the driving track
(11), locating piece (22) sliding is connected to the positioning track (12)；When the actuator (21) operation, the welding
Mechanism (2) is simultaneously along driving track (11) and positioning track (12) sliding.
2. welder according to claim 1, which is characterized in that the actuator (21) is driving motor, the drive
Dynamic rail road (11) is rack-track, and the driving motor is connected with gear, and the gear is engaged with the rack-track；When described
When driving motor rotates, the gear is slided along the rack-track.
3. welder according to claim 1, which is characterized in that the welding mechanism (2) further includes the first mounting plate
(24), the locating piece (22) is installed on first mounting plate (24), and the locating piece (22) is locating piece, the positioning
The locating slot (121) for the locating piece (22) insertion is offered on track (12), the locating slot (121) limits the positioning
Block is axially disengaging the positioning track (12).
4. welder according to claim 3, which is characterized in that the locating slot (121) is that positioning track (12) are same
The arc guide barrel of heart setting, the locating piece is the arc block being arranged concentrically with arc guide barrel.
5. welder according to claim 1, which is characterized in that the positioning track (12) includes the first track and the
Two tracks, first track are located above the driving track (11), and second track is located at the driving track (11)
Lower section, first track and second parallel track.
6. welder according to claim 1, which is characterized in that the driving track (11) and the positioning track
It (12) is one of or several combination in linear, irregular shape and arc.
7. welder according to claim 6, which is characterized in that the plumb joint (23) is detachable by fixture (25)
It is connected on first mounting plate (24), the fixture (25) includes fixed block (251) and movable block (252), the fixation
One end of block (251) and the movable block (252) is hinged, and the other end is connected by locking member (253), plumb joint (23) folder
It is held in the middle part of the fixture (25).
8. welder according to claim 1, which is characterized in that the main body (1) include the second mounting plate (13) and
Elevating mechanism (14), the driving track (11) and the positioning track (12) are assembled on second mounting plate (13), institute
It states elevating mechanism (14) to connect with second mounting plate (13), the elevating mechanism (14) is for controlling second mounting plate
(13) lifting.
9. a kind of robot, which is characterized in that including ontology (41) and such as the described in any item welders of claim 1-8,
The welder is fixedly arranged on the ontology (41).
10. robot according to claim 9, which is characterized in that further include driving mechanism, the driving mechanism is for controlling
Ontology (41) processed is mobile, and the ontology (41) is located at the welder front end and is installed with preceding camera (441), is located at the weldering
Connection device rear end is installed with rear camera (441).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599850.0A CN110227899A (en) | 2019-07-04 | 2019-07-04 | Robot and its welder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599850.0A CN110227899A (en) | 2019-07-04 | 2019-07-04 | Robot and its welder |
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| CN110227899A true CN110227899A (en) | 2019-09-13 |
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| CN201910599850.0A Pending CN110227899A (en) | 2019-07-04 | 2019-07-04 | Robot and its welder |
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| US20130119033A1 (en) * | 2011-11-11 | 2013-05-16 | Lincoln Global, Inc. | Mobile welding system and method |
| CN204308452U (en) * | 2014-11-20 | 2015-05-06 | 九江银星造船股份有限公司 | A kind of marine piping automatic circular seam welding device |
| CN104816113A (en) * | 2015-04-21 | 2015-08-05 | 郑州职业技术学院 | Three-freedom-level welding robot and control system thereof |
| CN207326260U (en) * | 2017-09-27 | 2018-05-08 | 三峡大学 | Long-pending large-scale water conservancy equipment is melted based on electric arc and repairs platform online |
| CN108311837A (en) * | 2018-04-20 | 2018-07-24 | 潘世健 | A kind of welder being conveniently adjusted soldering angle |
| CN208496149U (en) * | 2018-05-22 | 2019-02-15 | 惠安县威科电子科技有限公司 | A kind of welding equipment of flare tower pedestal |
| CN210908645U (en) * | 2019-07-04 | 2020-07-03 | 北京史河科技有限公司 | Robot and welding device thereof |
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