CN111375946A - Industrial welding robot - Google Patents
Industrial welding robot Download PDFInfo
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- CN111375946A CN111375946A CN202010241205.4A CN202010241205A CN111375946A CN 111375946 A CN111375946 A CN 111375946A CN 202010241205 A CN202010241205 A CN 202010241205A CN 111375946 A CN111375946 A CN 111375946A
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- 238000003466 welding Methods 0.000 title claims abstract description 99
- 230000007246 mechanism Effects 0.000 claims abstract description 132
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000005457 optimization Methods 0.000 description 7
- 230000036544 posture Effects 0.000 description 6
- 241000252254 Catostomidae Species 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of industrial welding robots, in particular to an industrial welding robot which comprises a welding mechanism, a moving mechanism, an X-axis axial adjusting mechanism, a Y-axis axial adjusting mechanism, a Z-axis axial adjusting mechanism, mechanical arm mechanisms and sucker mechanisms, wherein the welding mechanism is fixedly connected to the moving mechanism, the X-axis axial adjusting mechanism is arranged on the front side of the moving mechanism, the two Y-axis axial adjusting mechanisms are respectively and fixedly connected to the upper ends of two axial moving blocks I, the two Z-axis axial adjusting mechanisms are respectively and fixedly connected to the upper ends of two axial moving blocks II, the two mechanical arm mechanisms are respectively and fixedly connected to the rear ends of two axial moving blocks III, the two sucker mechanisms are respectively and fixedly connected to the rear ends of the two mechanical arm mechanisms, the welding robot increases the effective range of welding operation and enables a welding line to be continuous, the welding quality of the parts is improved, and the welding working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of industrial welding robots, in particular to an industrial welding robot.
Background
The welding robot is an industrial robot engaged in welding. According to the definition that the international organization for standardization (ISO) industrial robot belongs to a standard welding robot, the industrial robot is a multipurpose automatic control manipulator capable of being programmed repeatedly, has three or more programmable axes and is used in the field of industrial welding, the welding robot can not only improve the welding quality, but also save the manual labor force, and the industry has circulated 'one robot replaces ten manual labor forces', but the current industrial welding robot only welds singly, usually places parts on a platform, completes the welding work by controlling the posture of the robot, but in the welding work process, the effective operation range of the industrial welding robot is limited, some parts can not be stably placed on the plane, the welding line is often not in the plane, and the parts need to be turned over in the welding process, therefore, the welding line is easy to break or misplace, the welding quality of parts is reduced, and the welding working efficiency is also reduced.
Disclosure of Invention
The invention aims to provide an industrial welding robot which can suspend and fix parts to be welded, is convenient for the posture adjustment of the parts in the welding process, enlarges the effective range of welding operation, keeps a welding line continuous, improves the welding quality of the parts and improves the welding work efficiency.
The purpose of the invention is realized by the following technical scheme:
an industrial welding robot comprises a welding mechanism, and further comprises a moving mechanism, an X-axis axial adjusting mechanism, a Y-axis axial adjusting mechanism, a Z-axis axial adjusting mechanism, a mechanical arm mechanism and a sucker mechanism, wherein the welding mechanism is fixedly connected to the moving mechanism, the X-axis axial adjusting mechanism is arranged on the front side of the moving mechanism, the X-axis axial adjusting mechanism comprises two axial moving blocks I, the number of the axial moving blocks I is two, the number of the Y-axis axial adjusting mechanism is two, the two Y-axis axial adjusting mechanisms are respectively and fixedly connected to the upper ends of the two axial moving blocks I, the Y-axis axial adjusting mechanism comprises two axial moving blocks II, the number of the axial moving blocks II is two, the number of the Z-axis axial adjusting mechanisms is two, and the two Z-axis axial adjusting mechanisms are respectively and fixedly connected to the upper ends of the two axial moving blocks II, the Z-axis axial adjusting mechanism comprises axial moving blocks III, the number of the mechanical arm mechanisms is two, the two mechanical arm mechanisms are respectively and fixedly connected to the rear ends of the two axial moving blocks III, the number of the sucker mechanisms is two, and the two sucker mechanisms are respectively and fixedly connected to the rear ends of the two mechanical arm mechanisms.
As further optimization of the technical scheme, the industrial welding robot comprises a mechanical arm I, a tail end fixing frame, a welding gun and a base I, wherein the welding gun is fixedly connected to the tail end fixing frame of the mechanical arm I, and the base I of the mechanical arm I is fixedly connected to the upper end of a moving mechanism.
As a further optimization of the technical scheme, the industrial welding robot comprises a support frame, a threaded rod I, a motor I, a moving frame and a threaded hole I, wherein the threaded rod I is rotatably connected in the support frame, an output shaft of the motor I is fixedly connected with the threaded rod I, the moving frame is slidably connected in the support frame, the threaded hole I is formed in the moving frame, the moving frame and the threaded rod I are in transmission connection through the threaded matching of the threaded hole I and the threaded rod I, and the base I is fixedly connected to the upper end of the moving frame.
As a further optimization of the technical scheme, the industrial welding robot further comprises an adjusting support frame I, a threaded rod II, a motor II, a slide rail I and a threaded hole II, the adjusting support frame I is divided into two cavities, the threaded rods II are arranged in two numbers and are respectively and rotatably connected in the two cavities, the two motors II are respectively and fixedly connected with the left end and the right end of the adjusting support frame I, output shafts of the two motors II are respectively and fixedly connected with the two threaded rods II, the axial moving block I is provided with a threaded hole II, the axial moving block I is in transmission connection with the threaded rod II through the thread matching of the threaded hole II and the threaded rod II, the sliding rails I are four, and the four sliding rails I are oppositely arranged at the front end and the rear end in the two cavities respectively.
As a further optimization of the technical scheme, the Y-axis axial adjusting mechanism of the industrial welding robot further comprises an adjusting support frame ii, a threaded rod iii, a motor iii and a threaded hole iii, wherein the threaded rod iii is rotatably connected in the adjusting support frame ii, the motor iii is fixedly connected to the front end of the adjusting support frame ii, an output shaft of the motor iii is fixedly connected with the threaded rod iii, the threaded hole iii is formed in the axial moving block ii, the axial moving block ii and the threaded rod iii are in threaded fit transmission connection through the threaded rod iii and the threaded hole iii, the two adjusting support frames ii are respectively and fixedly connected to the upper ends of the two axial moving blocks i, and two ends of the two adjusting support frames ii are respectively and slidably connected in the four sliding rails i.
As a further optimization of the technical scheme, the industrial welding robot further comprises an adjusting support frame III, a threaded rod IV, two motors IV, two fixing grooves, threaded holes IV, two sliding blocks and two sliding rails II, wherein the threaded rod IV is rotatably connected in the adjusting support frame III, the motors IV are fixedly connected at the upper end of the adjusting support frame III, the output shafts of the motors IV are fixedly connected with the threaded rod IV, the two sliding rails II are arranged on the left end and the right end of the adjusting support frame III respectively, the threaded holes IV are arranged on the axial moving block III, the axial moving block III is in transmission connection with the threaded rod IV through the threaded holes IV and the threaded rods IV in a matching manner, the two sliding blocks are fixedly connected at the left end and the right end of the axial moving block III respectively, and the two sliding blocks are slidably connected in the two sliding rails II respectively, the rear end of the axial moving block III is provided with a fixed groove, and the two adjusting support frames III are respectively and fixedly connected to the upper ends of the two axial moving blocks II.
As a further optimization of the technical scheme, the industrial welding robot comprises a mechanical arm mechanism V, a mechanical arm II, a base II and a tail end fixer, wherein an output shaft of the motor V is fixedly connected with the base II of the mechanical arm II, the two sucker mechanisms are respectively and fixedly connected to the tail end fixer of the mechanical arm II, and the two motors V are respectively and fixedly connected to the two fixing grooves.
As a further optimization of the technical scheme, the sucking disc mechanism of the industrial welding robot comprises two V-shaped frames and two fixed sucking discs, the two fixed sucking discs are respectively and fixedly connected to two ends of the rear side of the V-shaped frames, and the middle parts of the front ends of the two V-shaped frames are respectively and fixedly connected to two tail end fixers.
The industrial welding robot has the beneficial effects that: can adsorb two welded parts fixedly through two sucking disc mechanisms 7, two sucking disc mechanisms are respectively through two arm mechanisms, two Z axle axial adjustment mechanism, two Y axle axial adjustment mechanism and two positions and the gesture of X axle axial adjustment mechanism adjustment under unsettled state, make the welding line keep in succession, improve the welding quality of part, improve welded work efficiency, can adjust advancing or retreating of welding mechanism through moving mechanism, cooperate the effective range of the increase welding operation of the very big degree of above-mentioned mechanism simultaneously, improve the smooth and easy degree of welding process of part.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the overall structure of an industrial welding robot according to the present invention;
FIG. 2 is a schematic structural view of the welding mechanism of the present invention;
FIG. 3 is a schematic view of the moving mechanism of the present invention;
FIG. 4 is a schematic structural view I of the X-axis axial adjustment mechanism of the present invention;
FIG. 5 is a schematic structural view II of the X-axis axial adjustment mechanism of the present invention;
FIG. 6 is a schematic structural view I of the Y-axis axial adjustment mechanism of the present invention;
FIG. 7 is a schematic structural view II of the Y-axis axial adjustment mechanism of the present invention;
FIG. 8 is a schematic structural view of the Z-axis axial adjustment mechanism of the present invention;
FIG. 9 is a schematic structural view II of the Z-axis axial adjustment mechanism of the present invention;
FIG. 10 is a schematic view III of the Z-axis axial adjustment mechanism of the present invention;
fig. 11 is a schematic structural view of the robot arm mechanism of the present invention.
In the figure: a welding mechanism 1; a mechanical arm I1-1; a tail end fixing frame 1-2; 1-3 of a welding gun; 1-4 parts of a base; a moving mechanism 2; a support frame 2-1; 2-2 parts of a threaded rod; 2-3 of a motor; 2-4 of a movable frame; 2-5 threaded holes; an X-axis axial adjusting mechanism 3; adjusting a support frame I3-1; a threaded rod II 3-2; a motor II 3-3; axial moving blocks I3-4; 3-5 parts of a sliding rail I; screw holes II 3-6; a Y-axis axial adjusting mechanism 4; adjusting a support frame II 4-1; 4-2 parts of a threaded rod III; 4-3 of a motor; an axial moving block II 4-4; 4-5 of a threaded hole; a Z-axis axial adjusting mechanism 5; adjusting a support frame III 5-1; 5-2 parts of a threaded rod IV; 5-3 of a motor IV; an axial moving block III 5-4; 5-5 of a fixed groove; 5-6 of a threaded hole IV; 5-7 of a sliding block; 5-8 parts of a sliding rail II; a robot arm mechanism 6; the motor V6-1; a mechanical arm II 6-2; 6-3 of a base; a terminal holder 6-4; a suction cup mechanism 7; a V-shaped frame 7-1; and (7) fixing the sucker 7-2.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
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.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected or detachably connected; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 11, and an industrial welding robot includes a welding mechanism 1, and further includes a moving mechanism 2, an X-axis axial adjusting mechanism 3, a Y-axis axial adjusting mechanism 4, a Z-axis axial adjusting mechanism 5, a robot arm mechanism 6, and a sucker mechanism 7, where the welding mechanism 1 is fixedly connected to the moving mechanism 2, the X-axis axial adjusting mechanism 3 is disposed at the front side of the moving mechanism 2, the X-axis axial adjusting mechanism 3 includes two axial moving blocks i 3-4, the axial moving blocks i 3-4 are provided with two axial adjusting mechanisms 4, the two Y-axis axial adjusting mechanisms 4 are respectively fixedly connected to the upper ends of the two axial moving blocks i 3-4, the Y-axis axial adjusting mechanism 4 includes axial moving blocks ii 4-4, the two axial moving blocks II 4-4 are arranged, the two Z-axis axial adjusting mechanisms 5 are respectively and fixedly connected to the upper ends of the two axial moving blocks II 4-4, each Z-axis axial adjusting mechanism 5 comprises an axial moving block III 5-4, the two mechanical arm mechanisms 6 are arranged, the two mechanical arm mechanisms 6 are respectively and fixedly connected to the rear ends of the two axial moving blocks III 5-4, the two sucker mechanisms 7 are arranged, and the two sucker mechanisms 7 are respectively and fixedly connected to the rear ends of the two mechanical arm mechanisms 6.
The device is also provided with a power distribution cabinet, a controller and a data control system.
The second embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 11, and the embodiment will be further described, wherein the welding mechanism 1 includes a robot arm i 1-1, an end holder 1-2, a welding gun 1-3, and a base i 1-4, the welding gun 1-3 is fixedly connected to the end holder 1-2 of the robot arm i 1-1, and the base i 1-4 of the robot arm i 1-1 is fixedly connected to the upper end of the moving mechanism 2.
The mechanical arm I1-1 and the mechanical arm II 6-2 can use a five-degree-of-freedom or six-degree-of-freedom joint mechanical arm which is common in the market.
The third concrete implementation mode:
this embodiment will be described with reference to fig. 1 to 11, and a second embodiment will be further described with reference to this embodiment, the moving mechanism 2 comprises a support frame 2-1, a threaded rod I2-2, a motor I2-3, a moving frame 2-4 and a threaded hole I2-5, the threaded rod I2-2 is rotatably connected in the support frame 2-1, an output shaft of the motor I2-3 is fixedly connected with the threaded rod I2-2, the movable frame 2-4 is connected in the support frame 2-1 in a sliding way, a threaded hole I2-5 is arranged on the movable frame 2-4, remove frame 2-4 and threaded rod I2-2 and be connected through screw-thread fit transmission of screw hole I2-5 and threaded rod I2-2, base I1-4 fixed connection is in the upper end of removing frame 2-4.
The motor I2-3 is started through the controller, the output shaft of the motor I2-3 drives the threaded rod I2-2 to rotate, the movable frame 2-4 and the threaded rod I2-2 are connected through the thread matching transmission of the threaded hole I2-5 and the threaded rod I2-2, the movable frame 2-4 is enabled to move forwards or backwards along the support frame 2-1, the base I1-4 can be driven to move through the movable frame 2-4, the effective range of welding operation is greatly enlarged, and the smoothness of the welding process of parts is improved.
The fourth concrete implementation mode:
the embodiment is described below with reference to fig. 1-11, and is further described, wherein the X-axis axial adjustment mechanism 3 further includes an adjustment support frame i 3-1, two threaded rods ii 3-2, two motors ii 3-3, two sliding rails i 3-5, and threaded holes ii 3-6, the adjustment support frame i 3-1 is divided into two chambers, the threaded rods ii 3-2 are provided, the two threaded rods ii 3-2 are respectively rotatably connected in the two chambers, the two motors ii 3-3 are provided, the two motors ii 3-3 are respectively fixedly connected at the left and right ends of the adjustment support frame i 3-1, output shafts of the two motors ii 3-3 are respectively fixedly connected with the two threaded rods ii 3-2, the axial moving block i 3-4 is provided with threaded holes ii 3-6, the axial moving block I3-4 is in transmission connection with the threaded rod II 3-2 through the threaded holes II 3-6 and the threaded rod II 3-2 in a threaded matching mode, four sliding rails I3-5 are arranged, and the four sliding rails I3-5 are arranged at the front end and the rear end of the two cavities in a pairwise opposite mode.
When a batch of part welding work needs to be carried out, the two motors II 3-3 are started through the controller, output shafts of the two motors II 3-3 respectively drive the two threaded rods II 3-2 to rotate, the two axial moving blocks I3-4 and the two threaded rods II 3-2 are respectively in transmission connection through the thread matching of the two threaded holes II 3-6 and the two threaded rods II 3-2, the two axial moving blocks I3-4 can respectively move left and right, and meanwhile the two axial moving blocks I3-4 can respectively drive the two adjusting support frames II 4-1 to move left and right.
The fifth concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 11, and the embodiment will be further described with reference to one or four, where the Y-axis axial adjustment mechanism 4 further includes an adjustment support frame ii 4-1, a threaded rod iii 4-2, an electric motor iii 4-3, and a threaded hole iii 4-5, the threaded rod iii 4-2 is rotatably connected in the adjustment support frame ii 4-1, the electric motor iii 4-3 is fixedly connected to the front end of the adjustment support frame ii 4-1, an output shaft of the electric motor iii 4-3 is fixedly connected to the threaded rod iii 4-2, the axial moving block ii 4-4 is provided with a threaded hole iii 4-5, the axial moving block ii 4-4 is in threaded fit transmission connection with the threaded rod iii 4-2 through the threaded rod iii 4-2 and the threaded hole iii 4-5, the two adjusting support frames II 4-1 are fixedly connected to the upper ends of the two axial moving blocks I3-4 respectively, and two ends of the two adjusting support frames II 4-1 are connected into the four sliding rails I3-5 in a sliding mode respectively.
The two motors III 4-3 are started through the controller, output shafts of the two motors III 4-3 respectively drive the two threaded rods III 4-2 to rotate, the two axial moving blocks II 4-4 are respectively in transmission connection with the two threaded rods III 4-2 through the thread matching of the two threaded rods III 4-2 and the two threaded holes III 4-5, the two axial moving blocks II 4-4 can respectively move forwards or backwards, and the two axial moving blocks II 4-4 can respectively drive the two adjusting support frames III 5-1 to move forwards or backwards.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1 to 11, and the embodiment further describes the first embodiment, the Z-axis axial adjusting mechanism 5 further includes an adjusting support frame iii 5-1, a threaded rod iv 5-2, a motor iv 5-3, a fixing groove 5-5, a threaded hole iv 5-6, a sliding block 5-7 and a sliding rail ii 5-8, the threaded rod iv 5-2 is rotatably connected in the adjusting support frame iii 5-1, the motor iv 5-3 is fixedly connected to the upper end of the adjusting support frame iii 5-1, an output shaft of the motor iv 5-3 is fixedly connected to the threaded rod iv 5-2, two sliding rails ii 5-8 are provided, the two sliding rails ii 5-8 are respectively provided at the left and right ends of the adjusting support frame iii 5-1, the axial moving block III 5-4 is provided with threaded holes IV 5-6, the axial moving block III 5-4 is in transmission connection with the threaded rod IV 5-2 through threaded matching of the threaded holes IV 5-6 and the threaded rod IV 5-2, the number of the sliding blocks 5-7 is two, the two sliding blocks 5-7 are fixedly connected to the left end and the right end of the axial moving block III 5-4 respectively, the two sliding blocks 5-7 are in sliding connection with the two sliding rails II 5-8 respectively, the rear end of the axial moving block III 5-4 is provided with fixing grooves 5-5, and the two adjusting support frames III 5-1 are fixedly connected to the upper ends of the two axial moving blocks II 4-4 respectively.
Two electric motors IV 5-3 are started through a controller, output shafts of the two electric motors IV 5-3 respectively drive two threaded rods IV 5-2 to rotate, two axial moving blocks III 5-4 and the two threaded rods IV 5-2 are respectively in transmission connection through the thread matching of two threaded holes IV 5-6 and the two threaded rods IV 5-2, the two axial moving blocks III 5-4 respectively move up and down along the two adjusting support frames III 5-1, and the two axial moving blocks III 5-4 respectively drive the two electric motors V6-1 to move up or down.
The seventh embodiment:
the embodiment is described below with reference to fig. 1 to 11, and the embodiment further describes the first embodiment, where the robot arm mechanism 6 includes a motor v 6-1, a robot arm ii 6-2, a base ii 6-3, and an end holder 6-4, an output shaft of the motor v 6-1 is fixedly connected to the base ii 6-3 of the robot arm ii 6-2, two of the suction cup mechanisms 7 are respectively fixedly connected to the end holder 6-4 of the robot arm ii 6-2, and two of the motors v 6-1 are respectively fixedly connected to two of the fixing slots 5-5.
The two motors V6-1 are started through the controller, the output shafts of the two motors V6-1 respectively drive the two bases II 6-3 to rotate, meanwhile, the two mechanical arms II 6-2 are respectively controlled through control to carry out corresponding posture transformation, the two V-shaped frames 7-1 are respectively driven to move, the two V-shaped frames 7-1 respectively adsorb and fix parts through the four fixed suckers 7-2, and the two parts are moved into the air.
The specific implementation mode is eight:
the present embodiment is described below with reference to fig. 1 to 11, and the seventh embodiment is further described in the present embodiment, where the suction cup mechanism 7 includes two fixed suction cups 7-2 and two V-shaped frames 7-1, the two fixed suction cups 7-2 are respectively and fixedly connected to two ends of the rear side of the V-shaped frame 7-1, and the middle portions of the front ends of the two V-shaped frames 7-1 are respectively and fixedly connected to two end holders 6-4.
The mechanical arm I1-1 is controlled through the controller, the welding of two parts is completed through the welding gun 1-3 fixed on the tail end fixing frame 1-2, the controller is used for respectively controlling corresponding position changes among the two axial moving blocks I3-4, the two axial moving blocks II 4-4, the two axial moving blocks III 5-4 and the two V-shaped frames 7-1 in the welding process, the positions and postures of the two parts in the air are flexibly adjusted, and the position relation between the part welding line and the welding gun 1-3 is matched, so that the welding line is kept continuous, the welding quality of the parts is improved, and the welding working efficiency is improved.
The invention relates to an industrial welding robot, which has the working principle that:
when a batch of part welding work needs to be carried out, the two motors II 3-3 are started through the controller, output shafts of the two motors II 3-3 respectively drive the two threaded rods II 3-2 to rotate, the two axial moving blocks I3-4 and the two threaded rods II 3-2 are respectively in transmission connection through the thread matching of the two threaded holes II 3-6 and the two threaded rods II 3-2, the two axial moving blocks I3-4 can respectively move left and right, and meanwhile the two axial moving blocks I3-4 can respectively drive the two adjusting support frames II 4-1 to move left and right.
The two motors III 4-3 are started through the controller, output shafts of the two motors III 4-3 respectively drive the two threaded rods III 4-2 to rotate, the two axial moving blocks II 4-4 are respectively in transmission connection with the two threaded rods III 4-2 through the thread matching of the two threaded rods III 4-2 and the two threaded holes III 4-5, the two axial moving blocks II 4-4 can respectively move forwards or backwards, and the two axial moving blocks II 4-4 can respectively drive the two adjusting support frames III 5-1 to move forwards or backwards.
Two electric motors IV 5-3 are started through a controller, output shafts of the two electric motors IV 5-3 respectively drive two threaded rods IV 5-2 to rotate, two axial moving blocks III 5-4 and the two threaded rods IV 5-2 are respectively in transmission connection through the thread matching of two threaded holes IV 5-6 and the two threaded rods IV 5-2, the two axial moving blocks III 5-4 respectively move up and down along the two adjusting support frames III 5-1, and the two axial moving blocks III 5-4 respectively drive the two electric motors V6-1 to move up or down.
The two motors V6-1 are started through the controller, the output shafts of the two motors V6-1 respectively drive the two bases II 6-3 to rotate, meanwhile, the two mechanical arms II 6-2 are respectively controlled through control to carry out corresponding posture transformation, the two V-shaped frames 7-1 are respectively driven to move, the two V-shaped frames 7-1 respectively adsorb and fix parts through the four fixed suckers 7-2, and the two parts are moved into the air.
After the operation is finished, the mechanical arm I1-1 is controlled through the controller, the welding of two parts is finished through the welding gun 1-3 fixed on the tail end fixing frame 1-2, the two axial moving blocks I3-4, the two axial moving blocks II 4-4, the two axial moving blocks III 5-4 and the two V-shaped frames 7-1 are controlled through the controller respectively in the welding process, the position and the posture of the two parts in the air are flexibly adjusted, and the position relation between the part welding line and the welding gun 1-3 is matched, so that the welding line is kept continuous, the welding quality of the parts is improved, and the welding working efficiency is improved.
The motor I2-3 is started through the controller, the output shaft of the motor I2-3 drives the threaded rod I2-2 to rotate, the movable frame 2-4 and the threaded rod I2-2 are connected through the thread matching transmission of the threaded hole I2-5 and the threaded rod I2-2, the movable frame 2-4 is enabled to move forwards or backwards along the support frame 2-1, the base I1-4 can be driven to move through the movable frame 2-4, the effective range of welding operation is greatly enlarged, and the smoothness of the welding process of parts is improved.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (8)
1. An industrial welding robot, includes welding mechanism (1), its characterized in that: the industrial welding robot further comprises a moving mechanism (2), an X-axis axial adjusting mechanism (3), a Y-axis axial adjusting mechanism (4), a Z-axis axial adjusting mechanism (5), a mechanical arm mechanism (6) and a sucker mechanism (7), wherein the welding mechanism (1) is fixedly connected to the moving mechanism (2), the X-axis axial adjusting mechanism (3) is arranged on the front side of the moving mechanism (2), the X-axis axial adjusting mechanism (3) comprises axial moving blocks I (3-4), the number of the axial moving blocks I (3-4) is two, the number of the Y-axis axial adjusting mechanisms (4) is two, the two Y-axis axial adjusting mechanisms (4) are respectively and fixedly connected to the upper ends of the two axial moving blocks I (3-4), and the Y-axis axial adjusting mechanism (4) comprises axial moving blocks II (4-4), the two axial moving blocks II (4-4) are arranged, the two Z-axis axial adjusting mechanisms (5) are respectively and fixedly connected to the upper ends of the two axial moving blocks II (4-4), each Z-axis axial adjusting mechanism (5) comprises an axial moving block III (5-4), the two mechanical arm mechanisms (6) are arranged, the two mechanical arm mechanisms (6) are respectively and fixedly connected to the rear ends of the two axial moving blocks III (5-4), the two sucker mechanisms (7) are arranged, and the two sucker mechanisms (7) are respectively and fixedly connected to the rear ends of the two mechanical arm mechanisms (6).
2. The industrial welding robot of claim 1, wherein: welding mechanism (1) includes arm I (1-1), terminal mount (1-2), welding gun (1-3) and base I (1-4), welding gun (1-3) fixed connection is on terminal mount (1-2) of arm I (1-1), base I (1-4) fixed connection of arm I (1-1) is in the upper end of moving mechanism (2).
3. The industrial welding robot of claim 2, wherein: the moving mechanism (2) comprises a support frame (2-1), a threaded rod I (2-2), a motor I (2-3), a moving frame (2-4) and a threaded hole I (2-5), the threaded rod I (2-2) is rotatably connected in the support frame (2-1), the output shaft of the motor I (2-3) is fixedly connected with the threaded rod I (2-2), the movable frame (2-4) is connected in the support frame (2-1) in a sliding way, a threaded hole I (2-5) is arranged on the movable frame (2-4), remove frame (2-4) and threaded rod I (2-2) and be connected through the screw-thread fit transmission of screw hole I (2-5) and threaded rod I (2-2), base I (1-4) fixed connection is in the upper end of removing frame (2-4).
4. The industrial welding robot of claim 1, wherein: the X-axis axial adjusting mechanism (3) further comprises an adjusting support frame I (3-1), a threaded rod II (3-2), a motor II (3-3), a sliding rail I (3-5) and a threaded hole II (3-6), the adjusting support frame I (3-1) is divided into two chambers, the threaded rod II (3-2) is provided with two, the two threaded rods II (3-2) are respectively and rotatably connected into the two chambers, the motor II (3-3) is provided with two motors II (3-3) which are respectively and fixedly connected to the left end and the right end of the adjusting support frame I (3-1), output shafts of the two motors II (3-3) are respectively and fixedly connected with the two threaded rods II (3-2), and the axial moving block I (3-4) is provided with the threaded hole II (3-6), the axial moving block I (3-4) is in transmission connection with the threaded rod II (3-2) through the threaded holes II (3-6) and the threaded rod II (3-2) in a threaded matching mode, four sliding rails I (3-5) are arranged, and the four sliding rails I (3-5) are arranged at the front end and the rear end of the two cavities in a pairwise opposite mode.
5. The industrial welding robot according to claim 1 or 4, wherein: the Y-axis axial adjusting mechanism (4) further comprises an adjusting support frame II (4-1), a threaded rod III (4-2), a motor III (4-3) and a threaded hole III (4-5), the threaded rod III (4-2) is rotatably connected in the adjusting support frame II (4-1), the motor III (4-3) is fixedly connected to the front end of the adjusting support frame II (4-1), an output shaft of the motor III (4-3) is fixedly connected with the threaded rod III (4-2), the axial moving block II (4-4) is provided with the threaded hole III (4-5), the axial moving block II (4-4) is in transmission connection with the threaded rod III (4-2) through the threaded matching of the threaded rod III (4-2) and the threaded hole (4-5), the two adjusting support frames II (4-1) are respectively and fixedly connected to the upper ends of the two axial moving blocks I (3-4), and the two ends of the two adjusting support frames II (4-1) are respectively connected into the four sliding rails I (3-5) in a sliding mode.
6. The industrial welding robot of claim 1, wherein: the Z-axis axial adjusting mechanism (5) further comprises an adjusting support frame III (5-1), a threaded rod IV (5-2), a motor IV (5-3), a fixed groove (5-5), a threaded hole IV (5-6), a sliding block (5-7) and a sliding rail II (5-8), the threaded rod IV (5-2) is rotatably connected in the adjusting support frame III (5-1), the motor IV (5-3) is fixedly connected to the upper end of the adjusting support frame III (5-1), an output shaft of the motor IV (5-3) is fixedly connected with the threaded rod IV (5-2), the number of the sliding rails II (5-8) is two, the two sliding rails II (5-8) are respectively arranged at the left end and the right end of the adjusting support frame III (5-1), the threaded hole IV (5-6) is arranged on the axial moving block III (5-4), the axial moving block III (5-4) is in transmission connection with the threaded rod IV (5-2) through threaded matching of the threaded hole IV (5-6) and the threaded rod IV (5-2), the number of the two sliding blocks (5-7) is two, the two sliding blocks (5-7) are respectively and fixedly connected to the left end and the right end of the axial moving block III (5-4), the two sliding blocks (5-7) are respectively and slidably connected into the two sliding rails II (5-8), a fixing groove (5-5) is formed in the rear end of the axial moving block III (5-4), and the two adjusting support frames III (5-1) are respectively and fixedly connected to the upper ends of the two axial moving blocks II (4-4).
7. The industrial welding robot of claim 1, wherein: the mechanical arm mechanism (6) comprises a motor V (6-1), a mechanical arm II (6-2), a base II (6-3) and a tail end fixer (6-4), an output shaft of the motor V (6-1) is fixedly connected with the base II (6-3) of the mechanical arm II (6-2), the two sucker mechanisms (7) are fixedly connected to the tail end fixer (6-4) of the mechanical arm II (6-2) respectively, and the two motors V (6-1) are fixedly connected to two fixing grooves (5-5) respectively.
8. The industrial welding robot of claim 7, wherein: the sucking disc mechanism (7) comprises a V-shaped frame (7-1) and two fixed sucking discs (7-2), the two fixed sucking discs (7-2) are respectively and fixedly connected to the two ends of the rear side of the V-shaped frame (7-1), and the middle parts of the front ends of the two V-shaped frames (7-1) are respectively and fixedly connected to two terminal fixers (6-4).
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| CN114406556A (en) * | 2022-01-14 | 2022-04-29 | 武汉霍尼特机器人科技有限公司 | Robot welding platform applied to automobile white car welding production line |
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| CN111375946B (en) | 2021-08-03 |
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Effective date of registration: 20210713 Address after: Room 1023, block B, Zhongyi international, Changchun Economic and Technological Development Zone, Jilin Province, 130000 Applicant after: Changchun Yixin Automatic Control System Co.,Ltd. Address before: 352000 room b902, building 6, Jinding Guanhu, 802 tangxing Road, Fu'an City, Ningde City, Fujian Province Applicant before: Chen Shengquan |
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