CN110814624A - Automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure - Google Patents
Automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure Download PDFInfo
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- CN110814624A CN110814624A CN201911278654.XA CN201911278654A CN110814624A CN 110814624 A CN110814624 A CN 110814624A CN 201911278654 A CN201911278654 A CN 201911278654A CN 110814624 A CN110814624 A CN 110814624A
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- positioning
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- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
Abstract
The invention discloses a large-freedom-degree cambered surface supporting base driving structure of an automatic welding manipulator, which comprises a bottom plate, a first motor, a second motor, an electromagnet, an electrified sliding ring, an electric telescopic rod and a third motor, wherein a universal wheel assembly is fixedly arranged at the bottom edge of the bottom plate, the first motor is fixed in the bottom plate, an outer pipe penetrates through the middle of a positioning ring, a protective support is arranged on the outer wall of the second motor, the electromagnet is fixed at the bottom of the protective support, a sliding pipe is fixed at the edge of the joint of a base and a reinforcing rib, an outer support is arranged on the outer wall of the base, and the third motor is arranged on the outer support. This automatic change welding machines hand big degree of freedom cambered surface supports base drive structure can carry out the high free angle upset motion change of manipulator, improves the practicality that the manipulator centre gripping was used, and the use location of the base of being convenient for simultaneously makes the location of its work more stable and accurate.
Description
Technical Field
The invention relates to the technical field of automatic machinery, in particular to a large-freedom-degree cambered surface supporting base driving structure of an automatic welding manipulator.
Background
The automatic machine is a technical application in modern machines, improves the production efficiency and quality of the industry, realizes the modern scientific production, reduces the consumption of manual production labor force, liberates the hands of workers, improves the economic production increasing speed of the industry, provides new blood for the rapid development of the industry, when the welding process in the mechanical processing is automatically applied, in order to facilitate the proceeding of welding work and the welding alignment between large object components, the welding manipulator is required to be utilized to carry out the auxiliary installation and positioning of the components, thereby facilitating the position movement and change of the components, the positioning is convenient and fast in the welding process, the problem of welding positioning looseness is effectively prevented from occurring, the welding processing efficiency is influenced, in order to facilitate the rotation and movement of the manipulator, the use position of the manipulator needs to be adjusted through the supporting base driving structure, so that the direction and the position can be changed conveniently.
However, the existing automatic welding manipulator supporting base driving structure has the following problems when in use:
1. the large-range adjustment and change of the use angle of the component is inconvenient, the range of the motion angle is small when the component is used in a rotating mode, the range limitation is large when the component is positioned and moved, and the rapid alignment and position adjustment between the components are inconvenient, so that the mechanical welding efficiency of the component is influenced, and the normal operation of mechanical welding work is influenced;
2. when the position of the manipulator is moved integrally, the base of the manipulator is moved for limiting operation in the using process, so that the manipulator is easy to place unstably, the manipulator is caused to clamp and position deviation of a component in long-time work, the stability of welding work in the process of carrying out welding work is influenced, and the welding positioning precision is caused to have deviation.
In order to solve the problems, innovative design is urgently needed on the basis of the original automatic welding manipulator supporting base driving structure.
Disclosure of Invention
The invention aims to provide a driving structure of an automatic welding manipulator cambered surface supporting base with large degree of freedom, in order to solve the problems that the driving structure of the supporting base of the automatic welding manipulator in the prior art is inconvenient to adjust and change the use angle in a large range, so that the range of the motion angle is small when the automatic welding manipulator is used in a rotating way, when the components are positioned and moved, the range limitation is large, the rapid alignment and position adjustment between the components are inconvenient, the mechanical welding efficiency of the components is affected, the normal operation of mechanical welding is affected, when the position of the manipulator is moved integrally, the base of the manipulator is moved to limit in the using process, so that the manipulator is easy to place unstably, the manipulator is caused to clamp and position the component in a deviation manner after long-time work, the stability of the welding work during the process is influenced, and the welding positioning precision is caused to have a deviation problem.
In order to achieve the purpose, the invention provides the following technical scheme: a driving structure of a cambered surface supporting base with large freedom degree for an automatic welding manipulator comprises a bottom plate, a first motor, a second motor, an electromagnet, an electrified sliding ring, an electric telescopic rod and a third motor, wherein a universal wheel component is fixedly installed at the edge of the bottom plate, a positioning support is installed on the lateral side of the bottom plate, a rotating rod is installed between the positioning support and the bottom plate in a penetrating mode through a bearing, a worm wheel is sleeved at the middle of the outer wall of the rotating rod, the first motor is fixed inside the bottom plate, a worm is coaxially connected with the end portion of an output shaft of the first motor, a base is fixedly installed at the top of the bottom plate, a positioning cavity is reserved inside the base, a positioning ring is connected to the center of the top of the base through a reinforcing rib, an outer pipe penetrates through the middle of the positioning ring, a connecting inner rod is installed on an inner bearing, the outer wall of the second motor is provided with a protective support, the bottom of the protective support is fixed with an electromagnet, the edge of the joint of the base and the reinforcing rib is fixed with a sliding pipe, the inside of the sliding pipe is provided with a positioning rod in a penetrating mode, the outer wall of the outer pipe is provided with a positioning groove, the positioning groove is connected with the rod end of the positioning rod, an outer support is installed on the outer wall of the base, the middle of the outer support is connected with an inner ring through an electrified sliding ring, an electric telescopic rod is installed between the inner wall of the inner ring and the outer wall of the outer pipe in a hinged mode, the bottom of the inner ring is fixed with an outer ring, the third motor is installed on the outer support, and the outer wall of the end portion of an output shaft of the third motor is connected with.
Preferably, the positioning supports are symmetrically arranged about the vertical central axis of the bottom plate, the positioning supports are fixedly connected with the rotating rod, and the maximum length between the end parts of the positioning supports and the rotating rod is greater than the height of the universal wheel assembly.
Preferably, the inner wall in location chamber sets up to the arc structure, and the bottom inner wall arc centre of a circle in location chamber is located the central point department of holding ring to the bottom inner wall in location chamber is connected for gliding laminating with the outer wall of protection support.
Preferably, the outer wall of the joint of the outer pipe and the positioning ring is of an inwards concave structure, and the inwards concave outer wall of the outer pipe is in sliding connection with the positioning ring in a clamping manner.
Preferably, the slide pipe and the positioning rod are both arranged in an arc structure, the arc circle centers of the slide pipe and the positioning rod are located at the center of the positioning ring, and the slide pipe and the positioning rod and the slide pipe and the base are connected in a penetrating sliding mode.
Preferably, the arc both ends of locating lever set up respectively to "T" style of calligraphy and ball column structure, and the locating lever is about the equal angle evenly distributed of the vertical central axis of holding ring to locating lever and locating groove one-to-one set up, the block is connected between the two moreover.
Preferably, the top of the outer support is arranged to be in an annular structure, the outer support and the inner ring form a relative rotation structure, the outer support and the inner ring are vertically and coaxially arranged with the positioning ring, and the ball-shaped end parts of the inner ring and the positioning rod are symmetrically arranged relative to the positioning ring.
Preferably, the outer wall of the bottom of the outer ring is provided with a saw-toothed structure which is distributed annularly, and the annular saw-toothed structure of the outer ring is meshed with the gear shaft.
Compared with the prior art, the invention has the beneficial effects that: the automatic welding manipulator cambered surface supporting base driving structure with large degree of freedom can change the high-free-angle overturning motion of the manipulator, improve the practicability of clamping application of the manipulator, facilitate the use and positioning of the base and enable the working positioning of the base to be more stable and accurate;
1. the whole orientation angle of the outer pipe and the mechanical arm is changed only by the telescopic motion of the electric telescopic rod which is hinged, when the inner ring rotates, the mechanical arm is enabled to be staggered to rotate, the whole angle of the mechanical arm is changed, the overturning motion angle of the mechanical arm is freely changed due to the length control change of the electric telescopic rod, the range is large, manual regulation and control are convenient to change and apply, and meanwhile, under the auxiliary installation effect of the positioning rod and the sliding pipe, the angle of the mechanical arm is enabled to be more stable when freely changed, the operation is convenient, and the positioning is accurate;
2. under the meshing connection effect of worm wheel and worm, the opposite worm rotary motion of first motor both ends orientation, intermeshing between the outer wall of worm groove-shaped structure and worm wheel on its outer wall for the relative upset motion of location support that floor bilateral symmetry set up carries out the angle orientation and changes, with the whole jack-up of base, the bottom breaks away from the contact with ground, makes the whole location of placing of base more steady, can not take place the position removal change in the use, the location is accurate and convenient.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic view of the worm and worm gear connection of the present invention;
FIG. 3 is a schematic view of the side view of the positioning rod of the present invention;
FIG. 4 is a schematic diagram of a schematic distribution overhead structure of a positioning rod of the present invention;
FIG. 5 is a schematic view of an installation structure of the electric telescopic rod of the present invention;
FIG. 6 is a schematic diagram of an outer ring structure according to the present invention.
In the figure: 1. a base plate; 2. a universal wheel assembly; 3. positioning and supporting; 4. a rotating rod; 5. a worm gear; 6. a first motor; 7. a worm; 8. a base; 9. a positioning cavity; 10. reinforcing ribs; 11. a positioning ring; 12. an outer tube; 13. connecting the inner rod; 14. a second motor; 15. a protective support; 16. an electromagnet; 17. a slide pipe; 18. positioning a rod; 19. an elastic member; 20. positioning a groove; 21. an outer support; 22. an electrified slip ring; 23. an inner ring; 24. an electric telescopic rod; 25. an outer ring; 26. a third motor; 27. a gear shaft.
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. 1-6, the present invention provides a technical solution: a driving structure of an automatic welding manipulator cambered surface supporting base with large freedom degree comprises a bottom plate 1, a universal wheel assembly 2, a positioning support 3, a rotating rod 4, a worm wheel 5, a first motor 6, a worm 7, a base 8, a positioning cavity 9, a reinforcing rib 10, a positioning ring 11, an outer tube 12, a connecting inner rod 13, a second motor 14, a protective support 15, an electromagnet 16, a sliding tube 17, a positioning rod 18, an elastic piece 19, a positioning groove 20, an outer support 21, an electrified sliding ring 22, an inner ring 23, an electric telescopic rod 24, an outer ring 25, a third motor 26 and a gear shaft 27, wherein the universal wheel assembly 2 is fixedly arranged at the bottom edge of the bottom plate 1, the positioning support 3 is arranged at the side of the bottom plate 1, the rotating rod 4 is arranged between the positioning support 3 and the bottom plate 1 in a penetrating manner through a bearing, the worm wheel 5 is sleeved at the middle part of the outer, a worm 7 is coaxially connected with the end part of an output shaft of a first motor 6, a base 8 is fixedly installed at the top of a bottom plate 1, a positioning cavity 9 is reserved inside the base 8, a positioning ring 11 is connected with the center of the top of the base 8 through a reinforcing rib 10, an outer tube 12 penetrates through the middle part of the positioning ring 11, a connecting inner rod 13 is installed in an inner bearing of the outer tube 12, the lower end of the connecting inner rod 13 is fixed at the end part of an output shaft of a second motor 14, a protective support 15 is installed on the outer wall of the second motor 14, an electromagnet 16 is fixed at the bottom of the protective support 15, a sliding tube 17 is fixed at the edge of the joint of the base 8 and the reinforcing rib 10, a positioning rod 18 is installed inside the sliding tube 17 in a penetrating manner, an elastic part 19 is arranged on the outer wall of the positioning rod 18, a positioning groove 20 is reserved on the outer wall of the outer tube 12, and the middle part of the outer bracket 21 is connected with an inner ring 23 through an electrified slip ring 22, an electric telescopic rod 24 is hinged between the inner wall of the inner ring 23 and the outer wall of the outer tube 12, an outer ring 25 is fixed at the bottom of the inner ring 23, a third motor 26 is arranged on the outer bracket 21, and the outer wall of the end part of an output shaft of the third motor 26 is connected with the outer wall of the outer ring 25 through a gear shaft 27.
The locating support 3 is symmetrically arranged about the vertical central axis of the bottom plate 1, the locating support 3 is fixedly connected with the rotating rod 4, the maximum length between the end part of the locating support 3 and the rotating rod 4 is larger than the height of the universal wheel assembly 2, the locating support 3 is convenient to overturn at an angle, the whole base is jacked up, and the base is more accurate and stable in use and location.
The inner wall of location chamber 9 sets up to the arc structure, and the bottom inner wall arc centre of a circle of location chamber 9 is located the central point department that puts of holding ring 11, and the bottom inner wall of location chamber 9 is connected for gliding laminating with the outer wall of protection support 15, the outer wall of outer tube 12 and the 11 junction of holding ring sets up to interior concave structure, and constitute the sliding connection of block between the indent outer wall of outer tube 12 and the holding ring 11, make things convenient for outer tube 12 to carry out the upset of arbitrary angle around the center of holding ring 11, improve the manipulator rotational freedom, the bottom sprag and the slide work of the protection support 15 of being convenient for simultaneously go on.
The top of the outer support 21 is set to be an annular structure, the outer support 21 and the inner ring 23 form a relative rotation structure, the outer support 21, the inner ring 23 and the positioning ring 11 are vertically and coaxially arranged, the ball-shaped end parts of the inner ring 23 and the positioning rod 18 are symmetrically arranged relative to the positioning ring 11, the outer wall of the bottom of the outer ring 25 is set to be a saw-toothed structure which is distributed annularly, the annular saw-toothed structure of the outer ring 25 is meshed with the gear shaft 27, external power is provided for overturning the outer pipe 12 at the center of the inner part of the positioning ring 11, the angle of the outer pipe is changed, and meanwhile the stability of.
The working principle is as follows: when the automatic welding manipulator is used for supporting the base driving structure through the cambered surface with large degree of freedom, firstly, according to the structure shown in the figure 1-2, the position of the whole base is moved and changed under the action of the universal wheel component 2, so that the whole base is more stable and convenient to move, when the base is used, in order to improve the positioning stability of the base, as shown in the figure 2, the worm 7 is driven to rotate by the working start of the first motor 6, and the worm 7 at the two ends of the first motor 6 are opposite in trend, so that the worm wheel 5 and the rotating rod 4 are driven to rotate in the rotating process, the positioning support 3 is unfolded, the bottom of the positioning support is contacted with the ground, the whole base is jacked, the stability of the base in the using process is improved, and the displacement of the positioning support in the welding process is avoided;
according to the fig. 1 and 3-6, when the manipulator is fixedly connected to the upper end of the connecting inner rod 13, and the setting angle is changed by rotating the manipulator, as shown in fig. 5-6, firstly, when the electric telescopic rod 24 is extended and retracted, the length of the electric telescopic rod 24 is changed to enable the inner wall of the inner ring 23 to be close to the position of the outer tube 12, because the inner ring 23 is fixedly installed, the outer tube 12 is enabled to be shifted and deviated, and meanwhile, the outer ring 25 and the inner ring 23 are driven to rotate by the operation of the third motor 26 and the gear shaft 27, the outer tube 12 can be enabled to perform the turning motion around the central point inside the positioning ring 11, the setting angle is changed, along with the change of the length adjustment of the electric telescopic rod 24, the outer ring 25 and the inner ring 23 are enabled to rotate, the angle of the outer tube 12 is increased towards the changing range, as shown in fig. 1 and 5, since the outer bracket 21 and the inner ring 23 are connected by the energizing slip ring 22, so that the rotation and the sliding of the two do not affect the power-on work of the electric telescopic rod 24, as shown in figure 1 and figures 3-4, when the outer tube 12 and the connecting inner rod 13 are angularly inverted, the positioning rod 18 positions the outer tube 12, the sliding pipe 17 slides when being pressed and extruded, so that the stability of the outer pipe 12 when the angle is freely changed is improved, and the angle is not influenced, as shown in figure 1, when the angle between the outer tube 12 and the manipulator needs to be positioned, the electromagnet 16 at the bottom of the protective support 15 is electrified to generate magnetism to be mutually adsorbed and positioned with the inner wall of the positioning cavity 9, so as to achieve the purpose of fixing the position of the manipulator, the rotation of the inner rod 13 is connected by the operation control of the second motor 14, enabling the robot to perform a rotational movement about its central axis.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides an automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure, includes bottom plate (1), first motor (6), second motor (14), electro-magnet (16), circular telegram sliding ring (22), electric telescopic handle (24) and third motor (26), its characterized in that: the bottom edge of the bottom plate (1) is fixedly provided with an universal wheel assembly (2), the side of the bottom plate (1) is provided with a positioning support (3), a rotating rod (4) is installed between the positioning support (3) and the bottom plate (1) in a penetrating mode through a bearing, a worm wheel (5) is sleeved at the middle of the outer wall of the rotating rod (4), the first motor (6) is fixed inside the bottom plate (1), the end portion of an output shaft of the first motor (6) is coaxially connected with a worm (7), the top of the bottom plate (1) is fixedly provided with a base (8), a positioning cavity (9) is reserved inside the base (8), a positioning ring (11) is connected to the center of the top of the base (8) through a reinforcing rib (10), an outer tube (12) penetrates through the middle of the positioning ring (11), and a connecting inner rod (13) is installed on an inner bearing, the lower end of the connecting inner rod (13) is fixed at the end part of an output shaft of a second motor (14), a protective support (15) is installed on the outer wall of the second motor (14), an electromagnet (16) is fixed at the bottom of the protective support (15), a sliding pipe (17) is fixed at the edge of the joint of the base (8) and the reinforcing rib (10), a positioning rod (18) is installed inside the sliding pipe (17) in a penetrating mode, an elastic piece (19) is arranged on the outer wall of the positioning rod (18), a positioning groove (20) is reserved on the outer wall of the outer pipe (12), the positioning groove (20) is connected with the rod end of the positioning rod (18), an outer support (21) is installed on the outer wall of the base (8), the middle part of the outer support (21) is connected with an inner ring (23) through an electrified sliding ring (22), and an electric telescopic rod (24) is hinged between the inner wall of the inner ring (23), and an outer ring (25) is fixed at the bottom of the inner ring (23), the third motor (26) is installed on the outer bracket (21), and the outer wall of the end part of an output shaft of the third motor (26) is connected with the outer wall of the outer ring (25) through a gear shaft (27).
2. The automatic change welding machines hand large degree of freedom cambered surface support base drive structure of claim 1 characterized in that: the positioning supports (3) are symmetrically arranged about a vertical central axis of the bottom plate (1), the positioning supports (3) are fixedly connected with the rotating rod (4), and the maximum length between the end parts of the positioning supports (3) and the rotating rod (4) is larger than the height of the universal wheel assembly (2).
3. The automatic change welding machines hand large degree of freedom cambered surface support base drive structure of claim 1 characterized in that: the inner wall of the positioning cavity (9) is of an arc-shaped structure, the arc-shaped circle center of the inner wall of the bottom of the positioning cavity (9) is located at the center of the positioning ring (11), and the inner wall of the bottom of the positioning cavity (9) is attached to the outer wall of the protective support (15) in a sliding mode.
4. The automatic change welding machines hand large degree of freedom cambered surface support base drive structure of claim 1 characterized in that: the outer wall of the joint of the outer pipe (12) and the positioning ring (11) is of an inward concave structure, and the inward concave outer wall of the outer pipe (12) is connected with the positioning ring (11) in a clamped sliding mode.
5. The automatic change welding machines hand large degree of freedom cambered surface support base drive structure of claim 1 characterized in that: the sliding pipe (17) and the positioning rod (18) are both arranged to be arc-shaped structures, the arc-shaped circle centers of the sliding pipe (17) and the positioning rod (18) are located at the center of the positioning ring (11), and the sliding pipe (17) and the positioning rod (18) and the sliding pipe (17) and the base (8) are connected in a penetrating sliding mode.
6. The automatic change welding machines hand large degree of freedom cambered surface support base drive structure of claim 1 characterized in that: the arc both ends of locating lever (18) set up respectively to "T" style of calligraphy and ball column structure, and locating lever (18) be about the equal angle evenly distributed of the vertical central axis of holding ring (11) to locating lever (18) and constant head tank (20) one-to-one set up, and the block is connected between the two in addition.
7. The automatic change welding machines hand large degree of freedom cambered surface support base drive structure of claim 1 characterized in that: the top of the outer support (21) is arranged to be of an annular structure, the outer support (21) and the inner ring (23) form a relative rotating structure, the outer support (21) and the inner ring (23) are vertically and coaxially arranged with the positioning ring (11), and the ball-shaped end parts of the inner ring (23) and the positioning rod (18) are symmetrically arranged relative to the positioning ring (11).
8. The automatic change welding machines hand large degree of freedom cambered surface support base drive structure of claim 1 characterized in that: the outer wall of the bottom of the outer ring (25) is in a saw-toothed structure distributed annularly, and the ring saw-toothed structure of the outer ring (25) is meshed with the gear shaft (27).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911278654.XA CN110814624B (en) | 2019-12-13 | 2019-12-13 | Automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure |
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| CN201911278654.XA CN110814624B (en) | 2019-12-13 | 2019-12-13 | Automatic change big degree of freedom cambered surface of welding machines hand and support base drive structure |
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| CN110814624B CN110814624B (en) | 2021-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114700675A (en) * | 2022-05-10 | 2022-07-05 | 吉安诺惠诚莘科技有限公司 | Flexible circuit board welding tool and using method |
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Effective date of registration: 20210526 Address after: Room 211, block C, Xinxing science and technology building, No.1 Guangmao Road, Weihai Comprehensive Bonded Zone, Wendeng District, Weihai City, Shandong Province, 264200 Applicant after: Weihai Dishang Zhonghe electromechanical Co.,Ltd. Address before: 408300 No.42, group 2, Jian'an village, shaping Town, Dianjiang County, Chongqing Applicant before: Chen Ying |
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Address after: 264400 211, block C, Xinxing science and technology building, No. 1, Guangmao Road, Weihai comprehensive free trade zone, Wendeng District, Weihai City, Shandong Province Patentee after: Weihai Zhonghe Electromechanical Technology Co.,Ltd. Address before: Room 211, block C, Xinxing science and technology building, No.1 Guangmao Road, Weihai Comprehensive Bonded Zone, Wendeng District, Weihai City, Shandong Province, 264200 Patentee before: Weihai Dishang Zhonghe electromechanical Co.,Ltd. |