CN110961836A - Welding automation machinery hand - Google Patents

Welding automation machinery hand Download PDF

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Publication number
CN110961836A
CN110961836A CN201911351201.5A CN201911351201A CN110961836A CN 110961836 A CN110961836 A CN 110961836A CN 201911351201 A CN201911351201 A CN 201911351201A CN 110961836 A CN110961836 A CN 110961836A
Authority
CN
China
Prior art keywords
rotating shaft
cylindrical gear
motor
base
welding automation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911351201.5A
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Chinese (zh)
Inventor
王晓军
刘向红
钟森鸣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Polytechnic Normal University
Original Assignee
Guangdong Polytechnic Normal University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangdong Polytechnic Normal University filed Critical Guangdong Polytechnic Normal University
Priority to CN201911351201.5A priority Critical patent/CN110961836A/en
Publication of CN110961836A publication Critical patent/CN110961836A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a welding automation manipulator, which comprises a base, wherein a turntable is arranged above the base, a rotating mechanism which is matched with the turntable in a rotating way is arranged on the base, a lifting mechanism is arranged on the turntable, the lifting mechanism is connected with a lifting plate, an electric cylinder is arranged at the bottom of the lifting plate, a telescopic rod of the electric cylinder is connected with an installation plate, a clamping gripper is arranged at the bottom of the installation plate, and the clamping gripper comprises: the clamping device comprises a third motor, a second cylindrical gear, a third rotating shaft, a fourth rotating shaft, a third cylindrical gear, a fourth cylindrical gear, a clamping block and a transfer plate, wherein the second cylindrical gear is installed on an output shaft of the third motor, the third rotating shaft is installed on the right side of the third motor, the third cylindrical gear is installed on the third rotating shaft, the fourth rotating shaft is installed on the right side of the third rotating shaft, the fourth cylindrical gear is installed on the fourth rotating shaft, and the clamping block is installed on each of the third rotating shaft and the fourth rotating shaft. The position of the clamping gripper is convenient to adjust, and the workpiece is convenient to clamp.

Description

Welding automation machinery hand
Technical Field
The invention relates to the field of manipulators, in particular to an automatic welding manipulator.
Background
The manipulator can imitate some action functions of human hand and arm, and is an automatic operation device for grabbing, carrying objects or operating tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
Along with the development of society, welding machines hand's application is wider and wider, and the current welding machines hand is inconvenient to the clamp of work piece is got, and position adjustment is inconvenient, therefore, to above present situation, urgent need develop one kind to the convenient welding automation mechanical hand of the position adjustment of the clamp tongs of getting of work piece to overcome not enough in the current practical application, satisfy current demand.
Disclosure of Invention
The present invention is directed to a welding automation manipulator to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a welding automation machinery hand, includes the base, the carousel is installed to the base top, the carousel rotates through second pivot and bearing and is connected with the base, install on the base with carousel normal running fit's slewing mechanism, install elevating system on the carousel, elevating system links to each other with the lifter plate, electric jar is installed to the bottom of lifter plate, the telescopic link of electric jar links to each other with the mounting panel, the tight tongs of clamp is installed to the bottom of mounting panel, the tight tongs of clamp includes: third motor, second cylindrical gear, third pivot, fourth pivot, third cylindrical gear, fourth cylindrical gear, press from both sides tight piece and keysets, install the second cylindrical gear on the output shaft of third motor, the right side of third motor is installed the third pivot on the keysets, install the third cylindrical gear with second cylindrical gear matched with in the third pivot, the fourth pivot is installed on the keysets on the right side of third pivot, install the fourth cylindrical gear with third cylindrical gear matched with in the fourth pivot, all install a tight piece of clamp in third pivot and the fourth pivot, the base links to each other with ground through a plurality of leveling mechanism.
As a further scheme of the invention: the leveling mechanism includes: the large bolt penetrates through the base to be connected with the floor plate, the small bolt is installed in the large bolt, and the floor plate is welded on the ground.
As a further scheme of the invention: the mounting plate is connected with the mounting plate in a rolling manner through a plurality of rollers.
As a further scheme of the invention: the lifting mechanism comprises: mounting bracket, second motor, ball, synchronizing wheel and hold-in range, the second motor is installed on the top of mounting bracket, a ball is installed to the left and right sides symmetry of second motor, all install a synchronizing wheel on second motor and two balls, it is three the synchronizing wheel passes through the hold-in range and rotates the connection.
As a further scheme of the invention: the rotating mechanism includes: the automatic transmission mechanism comprises a first motor, a first bevel gear, a second bevel gear, a first rotating shaft and a first cylindrical gear, wherein the first bevel gear is installed on an output shaft of the first motor, the second bevel gear in running fit with the first bevel gear is installed on the first rotating shaft at the upper side of the first bevel gear, and the first cylindrical gear in running fit with a turntable is installed at the top end of the first rotating shaft.
As a further scheme of the invention: six auxiliary supporting wheels are installed at the bottom of the rotary table.
As a further scheme of the invention: six auxiliary stay wheels are circular equipartition in the bottom of carousel.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic welding manipulator, the second cylindrical gear is driven to rotate through the third motor, the third cylindrical gear and the fourth cylindrical gear are driven to rotate through the rotation of the second cylindrical gear, the two clamping blocks are driven to rotate through the rotation of the third cylindrical gear and the fourth cylindrical gear, and a workpiece is clamped through the two clamping blocks, so that the workpiece can be clamped conveniently; the first cylindrical gear is driven to rotate through the first motor, the rotary table is driven to rotate through the rotation of the first cylindrical gear, the lifting mechanism is driven to rotate through the rotation of the rotary table, and the clamping tongs are driven to rotate through the rotation of the lifting mechanism, so that the direction of the clamping tongs is favorably adjusted; the second motor drives the ball screw to rotate, the lifting plate is driven to move up and down through the rotation of the ball screw, and the clamping tongs are driven to move up and down through the up and down movement of the lifting plate, so that the height of the clamping tongs is favorably increased; the electric cylinder drives the mounting plate to move left and right, and the mounting plate drives the clamping tongs to move left and right, so that the horizontal position of the clamping tongs is favorably controlled; through the use of the leveling mechanism, the whole device is favorably leveled, and the position precision is improved. In conclusion, the position of the clamping gripper is convenient to adjust, and the workpiece is convenient to clamp.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a cross-sectional view at a in the front view of the present invention.
FIG. 3 is a view from the B-B direction in the front view of the present invention.
Fig. 4 is a schematic perspective view of the clamping grip of the present invention.
In the figure: 1-base, 2-leveling mechanism, 201-big bolt, 202-small bolt, 203-baseboard, 3-rotating mechanism, 301-first motor, 302-first bevel gear, 303-second bevel gear, 304-first rotating shaft, 305-first cylindrical gear, 4-rotating disk, 5-second rotating shaft, 6-auxiliary supporting wheel, 7-lifting mechanism, 701-mounting rack, 702-second motor, 703-ball screw, 704-synchronizing wheel, 705-synchronizing belt, 8-lifting plate, 9-electric cylinder, 10-mounting plate, 11-roller, 12-clamping gripper, 121-third motor, 122-second cylindrical gear, 123-third rotating shaft, 124-fourth rotating shaft, 125-third cylindrical gear, 126-fourth cylindrical gear, 127-clamping block, 128-adapter plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1 to 4, in an embodiment of the present invention, a welding automation manipulator includes a base 1, a turntable 4 is installed above the base 1, the turntable 4 is rotatably connected to the base 1 through a second rotating shaft 5 and a bearing, six auxiliary support wheels 6 are installed at the bottom of the turntable 4, the six auxiliary support wheels 6 are uniformly distributed at the bottom of the turntable 4 in a circular shape, a rotating mechanism 3 rotationally matched with the turntable 4 is installed on the base 1, and the rotating mechanism 3 includes: the lifting device comprises a first motor 301, a first bevel gear 302, a second bevel gear 303, a first rotating shaft 304 and a first cylindrical gear 305, wherein the first bevel gear 302 is installed on an output shaft of the first motor 301, the second bevel gear 303 which is rotatably matched with the first rotating shaft 304 is installed on the upper side of the first bevel gear 302, the first cylindrical gear 305 which is rotatably matched with the rotating disc 4 is installed at the top end of the first rotating shaft 304, a lifting mechanism 7 is installed on the rotating disc 4, and the lifting mechanism 7 comprises: mounting bracket 701, second motor 702, ball 703, synchronizing wheel 704 and hold-in range 705, second motor 702 is installed on the top of mounting bracket 701, one ball 703 is installed to the left and right sides symmetry of second motor 702, all install a synchronizing wheel 704 on second motor 702 and two ball 703, it is three synchronizing wheel 704 rotates through hold-in range 705 to be connected, elevating system 7 links to each other with lifter plate 8, electric cylinder 9 is installed to lifter plate 8's bottom, electric cylinder 9's telescopic link links to each other with mounting panel 10, mounting panel 10 is through a plurality of gyro wheels 11 and mounting panel 10 roll connection, clamping tongs 12 is installed to mounting panel 10's bottom, clamping tongs 12 includes: the base comprises a third motor 121, a second cylindrical gear 122, a third rotating shaft 123, a fourth rotating shaft 124, a third cylindrical gear 125, a fourth cylindrical gear 126, a clamping block 127 and an adapter plate 128, wherein the second cylindrical gear 122 is installed on an output shaft of the third motor 121, the third rotating shaft 123 is installed on the adapter plate 128 on the right side of the third motor 121, the third cylindrical gear 125 matched with the second cylindrical gear 122 is installed on the third rotating shaft 123, the fourth rotating shaft 124 is installed on the adapter plate 128 on the right side of the third rotating shaft 123, the fourth cylindrical gear 126 matched with the third cylindrical gear 125 is installed on the fourth rotating shaft 124, the clamping block 127 is installed on each of the third rotating shaft 123 and the fourth rotating shaft 124, and the base 1 is connected with the ground through a plurality of leveling mechanisms 2.
Example 2
Referring to fig. 1-2, in an embodiment of the present invention, the leveling mechanism 2 includes: the large bolt 201 penetrates through the base 1 to be connected with the floor plate 203, the small bolt 202 is installed in the large bolt 201, and the floor plate 203 is welded on the ground.
According to the automatic welding manipulator, the third motor 121 drives the second cylindrical gear 122 to rotate, the second cylindrical gear 122 drives the third cylindrical gear 125 and the fourth cylindrical gear 126 to rotate, the third cylindrical gear 125 and the fourth cylindrical gear 126 drive the two clamping blocks 127 to rotate, and the two clamping blocks 127 clamp a workpiece, so that the workpiece can be clamped conveniently; the first motor 301 is used for driving the first cylindrical gear 305 to rotate, the first cylindrical gear 305 is used for driving the rotary table 4 to rotate, the rotary table 4 is used for driving the lifting mechanism 7 to rotate, and the lifting mechanism 7 is used for driving the clamping gripper 12 to rotate, so that the direction of the clamping gripper 12 can be adjusted; the second motor 702 drives the ball screw 703 to rotate, the ball screw 703 rotates to drive the lifting plate 8 to move up and down, and the lifting plate 8 moves up and down to drive the clamping hand 12 to move up and down, so that the height of the clamping hand 12 is increased; the electric cylinder 9 drives the mounting plate 10 to move left and right, and the mounting plate 10 drives the clamping hand 12 to move left and right, so that the horizontal position of the clamping hand 12 is facilitated; by using the leveling mechanism 2, the whole device is favorably leveled, and the position precision is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. The utility model provides a welding automation machinery hand, includes base (1), its characterized in that, carousel (4) are installed to base (1) top, carousel (4) rotate with base (1) through second pivot (5) and bearing and are connected, install on base (1) with carousel (4) normal running fit's slewing mechanism (3), install elevating system (7) on carousel (4), elevating system (7) link to each other with lifter plate (8), electric jar (9) are installed to the bottom of lifter plate (8), the telescopic link of electric jar (9) links to each other with mounting panel (10), tight tongs (12) are installed to the bottom of mounting panel (10), tight tongs (12) of clamp include: a third motor (121), a second cylindrical gear (122), a third rotating shaft (123), a fourth rotating shaft (124), a third cylindrical gear (125), a fourth cylindrical gear (126), a clamping block (127) and an adapter plate (128), wherein the second cylindrical gear (122) is installed on an output shaft of the third motor (121), the third rotating shaft (123) is installed on the adapter plate (128) on the right side of the third motor (121), the third cylindrical gear (125) matched with the second cylindrical gear (122) is installed on the third rotating shaft (123), the fourth rotating shaft (124) is installed on the adapter plate (128) on the right side of the third rotating shaft (123), the fourth cylindrical gear (126) matched with the third cylindrical gear (125) is installed on the fourth rotating shaft (124), and the clamping block (127) is installed on both the third rotating shaft (123) and the fourth rotating shaft (124), the base (1) is connected with the ground through a plurality of leveling mechanisms (2).
2. The welding automation robot according to claim 1, characterized in that the leveling mechanism (2) comprises: big bolt (201), little bolt (202) and footing board (203), big bolt (201) pass base (1) and link to each other with footing board (203), install little bolt (202) in big bolt (201), footing board (203) welding is subaerial.
3. The welding automation robot of claim 1, characterized in that the mounting plate (10) is in rolling connection with the mounting plate (10) by means of a plurality of rollers (11).
4. The welding automation robot according to claim 1, characterized in that the lifting mechanism (7) comprises: mounting bracket (701), second motor (702), ball (703), synchronizing wheel (704) and hold-in range (705), second motor (702) are installed on the top of mounting bracket (701), ball (703) are installed to the left and right sides symmetry of second motor (702), all install a synchronizing wheel (704) on second motor (702) and two ball (703), it is three synchronizing wheel (704) rotate through hold-in range (705) and are connected.
5. The welding automation robot according to claim 1, characterized in that the turning mechanism (3) comprises: the automatic transmission mechanism comprises a first motor (301), a first bevel gear (302), a second bevel gear (303), a first rotating shaft (304) and a first cylindrical gear (305), wherein the first bevel gear (302) is installed on an output shaft of the first motor (301), the second bevel gear (303) in running fit with the first rotating shaft (304) is installed on the upper side of the first bevel gear (302), and the first cylindrical gear (305) in running fit with a rotating disc (4) is installed at the top end of the first rotating shaft (304).
6. The welding automation robot according to claim 5, characterized in that the bottom of the turntable (4) is fitted with six auxiliary support wheels (6).
7. The welding automation manipulator according to any of the claims 6, characterised in that six auxiliary support wheels (6) are evenly distributed in a circle on the bottom of the rotating disc (4).
CN201911351201.5A 2019-12-24 2019-12-24 Welding automation machinery hand Pending CN110961836A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911351201.5A CN110961836A (en) 2019-12-24 2019-12-24 Welding automation machinery hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911351201.5A CN110961836A (en) 2019-12-24 2019-12-24 Welding automation machinery hand

Publications (1)

Publication Number Publication Date
CN110961836A true CN110961836A (en) 2020-04-07

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CN201911351201.5A Pending CN110961836A (en) 2019-12-24 2019-12-24 Welding automation machinery hand

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111618878A (en) * 2020-06-12 2020-09-04 上海复旦上科多媒体股份有限公司 Multi-degree-of-freedom dancing mechanical arm
CN112125034A (en) * 2020-09-17 2020-12-25 济源市新东方彩印包装有限公司 Full-automatic paper collecting and stacking system and paper collecting and stacking method thereof

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009202332A (en) * 2008-01-28 2009-09-10 Nachi Fujikoshi Corp Hand device of industrial robot
CN106477300A (en) * 2016-11-21 2017-03-08 长沙长泰机器人有限公司 Base plate intermediate station
CN206029896U (en) * 2016-12-15 2017-03-22 赵书畅 Robot
CN206445797U (en) * 2017-01-16 2017-08-29 东莞海倍斯机械科技有限公司 A kind of large-scale horizontal manipulator out of shape
CN207224005U (en) * 2017-05-02 2018-04-13 西安航空职业技术学院 Automate clamp device
CN108839013A (en) * 2018-09-11 2018-11-20 高邮市诚宇自动化科技有限公司 A kind of universal manipulator of industrial automation assembly line
CN208557543U (en) * 2018-06-29 2019-03-01 郑州飞铄电子科技有限公司 A kind of manipulator board holder
CN208629474U (en) * 2018-08-31 2019-03-22 商丘工学院 A kind of mechanical arm claw spacing regulator
CN208773635U (en) * 2018-09-06 2019-04-23 伊瓦特机器人设备制造有限公司 A kind of manipulator swing type mechanical arm
CN109702722A (en) * 2019-01-21 2019-05-03 深圳市拓野机器人自动化有限公司 A kind of multi-robot integrated system of truss robot
CN208945417U (en) * 2018-09-17 2019-06-07 常州后肖宇恒幕墙有限公司 A kind of efficient welding device
CN209665405U (en) * 2019-02-19 2019-11-22 天津常道伟业科技有限公司 A kind of full-automatic rotating telescopic magic hand

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009202332A (en) * 2008-01-28 2009-09-10 Nachi Fujikoshi Corp Hand device of industrial robot
CN106477300A (en) * 2016-11-21 2017-03-08 长沙长泰机器人有限公司 Base plate intermediate station
CN206029896U (en) * 2016-12-15 2017-03-22 赵书畅 Robot
CN206445797U (en) * 2017-01-16 2017-08-29 东莞海倍斯机械科技有限公司 A kind of large-scale horizontal manipulator out of shape
CN207224005U (en) * 2017-05-02 2018-04-13 西安航空职业技术学院 Automate clamp device
CN208557543U (en) * 2018-06-29 2019-03-01 郑州飞铄电子科技有限公司 A kind of manipulator board holder
CN208629474U (en) * 2018-08-31 2019-03-22 商丘工学院 A kind of mechanical arm claw spacing regulator
CN208773635U (en) * 2018-09-06 2019-04-23 伊瓦特机器人设备制造有限公司 A kind of manipulator swing type mechanical arm
CN108839013A (en) * 2018-09-11 2018-11-20 高邮市诚宇自动化科技有限公司 A kind of universal manipulator of industrial automation assembly line
CN208945417U (en) * 2018-09-17 2019-06-07 常州后肖宇恒幕墙有限公司 A kind of efficient welding device
CN109702722A (en) * 2019-01-21 2019-05-03 深圳市拓野机器人自动化有限公司 A kind of multi-robot integrated system of truss robot
CN209665405U (en) * 2019-02-19 2019-11-22 天津常道伟业科技有限公司 A kind of full-automatic rotating telescopic magic hand

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111618878A (en) * 2020-06-12 2020-09-04 上海复旦上科多媒体股份有限公司 Multi-degree-of-freedom dancing mechanical arm
CN112125034A (en) * 2020-09-17 2020-12-25 济源市新东方彩印包装有限公司 Full-automatic paper collecting and stacking system and paper collecting and stacking method thereof

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Application publication date: 20200407

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