CN110961836A

CN110961836A - Welding automation machinery hand

Info

Publication number: CN110961836A
Application number: CN201911351201.5A
Authority: CN
Inventors: 王晓军; 刘向红; 钟森鸣
Original assignee: Guangdong Polytechnic Normal University
Current assignee: Guangdong Polytechnic Normal University
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-04-07

Abstract

The invention discloses an automatic welding manipulator, which comprises a base, a turntable is installed above the base, a rotating mechanism that is rotatably matched with the turntable is installed on the base, a lifting mechanism is installed on the turntable, the lifting mechanism is connected with a lifting plate, and the bottom of the lifting plate is installed There is an electric cylinder, the telescopic rod of the electric cylinder is connected with the mounting plate, the bottom of the mounting plate is equipped with a clamping gripper, and the clamping gripper includes: the third motor, the second cylindrical gear, the third rotating shaft, the fourth rotating shaft, the third The cylindrical gear, the fourth cylindrical gear, the clamping block and the adapter plate, a second cylindrical gear is installed on the output shaft of the third motor, a third rotating shaft is installed on the right side of the third motor, and a third rotating shaft is installed on the third rotating shaft For the cylindrical gear, a fourth rotating shaft is installed on the right side of the third rotating shaft, a fourth cylindrical gear is installed on the fourth rotating shaft, and a clamping block is installed on both the third rotating shaft and the fourth rotating shaft. The position of the clamping gripper of the invention is convenient to adjust, and the clamping of the workpiece is convenient.

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

1. A welding automatic manipulator, comprising a base (1), characterized in that a turntable (4) is installed above the base (1), and the turntable (4) passes through the second rotating shaft (5) and the bearing and the base ( 1) Rotational connection, the base (1) is provided with a rotating mechanism (3) that is rotatably matched with the turntable (4), the turntable (4) is provided with a lifting mechanism (7), and the lifting mechanism (7) Connected to a lift plate (8), an electric cylinder (9) is installed at the bottom of the lift plate (8), and the telescopic rod of the electric cylinder (9) is connected to a mounting plate (10), and the mounting plate (10) A clamping gripper (12) is installed at the bottom of the motor, and the clamping gripper (12) includes: a third motor (121), a second cylindrical gear (122), a third rotating shaft (123), and a fourth rotating shaft (124) ), the third cylindrical gear (125), the fourth cylindrical gear (126), the clamping block (127) and the adapter plate (128), the output shaft of the third motor (121) is provided with a second cylindrical gear (122), a third rotating shaft (123) is installed on the adapter plate (128) on the right side of the third motor (121), and a second cylindrical gear (122) is installed on the third rotating shaft (123). ) matched with the third cylindrical gear (125), the right side of the third rotating shaft (123) is mounted on the adapter plate (128) with a fourth rotating shaft (124), and the fourth rotating shaft (124) is mounted on the There is a fourth cylindrical gear (126) matched with the third cylindrical gear (125), a clamping block (127) is installed on both the third rotating shaft (123) and the fourth rotating shaft (124), and the base (1) It is connected to the ground through a plurality of leveling mechanisms (2).

2. The automatic welding manipulator according to claim 1, wherein the leveling mechanism (2) comprises: a large bolt (201), a small bolt (202) and a foundation plate (203), the large bolt (203) 201) is connected to the foundation plate (203) through the base (1), small bolts (202) are installed in the large bolts (201), and the foundation plate (203) is welded on the ground.

3. The automatic welding manipulator according to claim 1, wherein the mounting plate (10) is connected to the mounting plate (10) in a rolling manner through a plurality of rollers (11).

4. The automatic welding manipulator according to claim 1, wherein the lifting mechanism (7) comprises: a mounting frame (701), a second motor (702), a ball screw (703), and a synchronizing wheel (704) ) and a timing belt (705), a second motor (702) is installed on the top of the mounting frame (701), and a ball screw (703) is symmetrically installed on the left and right sides of the second motor (702), so A synchronizing wheel (704) is installed on the second motor (702) and the two ball screws (703), and the three synchronizing wheels (704) are rotatably connected by a synchronizing belt (705).

5. The welding automatic manipulator according to claim 1, wherein the rotating mechanism (3) comprises: a first motor (301), a first bevel gear (302), a second bevel gear (303), a first bevel gear (303), a A rotating shaft (304) and a first cylindrical gear (305), a first bevel gear (302) is mounted on the output shaft of the first motor (301), the upper side of the first bevel gear (302) is on the first bevel gear (302) A rotating shaft (304) is mounted with a second bevel gear (303) rotatably matched with it, and the top of the first rotating shaft (304) is mounted with a first cylindrical gear (305) rotatably matched with the turntable (4).

6. The automatic welding manipulator according to claim 5, characterized in that, six auxiliary support wheels (6) are installed on the bottom of the turntable (4).

7 . The automatic welding manipulator according to claim 6 , wherein the six auxiliary support wheels ( 6 ) are uniformly distributed on the bottom of the turntable ( 4 ) in a circular shape. 8 .