CN111421534A

CN111421534A - Multi-dimensional joint structure for automatic welding robot

Info

Publication number: CN111421534A
Application number: CN202010468273.4A
Authority: CN
Inventors: 李艳红; 孔艳梅; 宋雪臣
Original assignee: Shandong Water Conservancy Vocational College
Current assignee: Shandong Water Conservancy Vocational College
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2020-07-17

Abstract

The invention provides a multidimensional joint structure for an automatic welding robot, which comprises a fixed base, wherein a first rotating seat is fixedly arranged on one side of the top of the fixed base, a first servo motor is fixedly arranged on the top of the first rotating seat, a clamping mechanism is fixedly arranged on the top of the first servo motor, a second rotating seat is fixedly arranged on the other side of the top of the fixed base, a driving motor is fixedly arranged on the top of the second rotating seat, and a first supporting arm is fixedly arranged on the top of the driving motor, the rapid welding of the welding products is facilitated through the mutual matching of the multi-joint structures.

Description

Multi-dimensional joint structure for automatic welding robot

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a multi-dimensional joint structure for an automatic welding robot.

Background

Welding robot is the industrial robot who undertakes the welding, industrial robot is a multipurpose, reprogrammable's automatic control operation machine, joint adjustment mechanism with three or more adjustable, be used for the industrial automation field, in order to adapt to the different welded usage of multidimension degree, the welding of multiarticular robot satisfies the demand of current abundant industrial manufacturing usually, the arm that needs to satisfy different dimensions carries out free conversion, the mechanical joint node that different dimensions need be used to the conversion of different dimensions simultaneously combines together, finally just can accomplish, corresponding action is got to the welding clamp.

Among the prior art, current automatic welding robot can not be handy adjustment arm at the welded in-process adjusts the angle of welding, do not possess welded arm and welding mechanical structure and cooperate when processing the product of different specifications and get the product clamp, the soldered connection can't fix a position the product on the arm simultaneously, weld it, current welding robot adjusts the dimension singleness, the arm can't adjust the joint on the arm according to the position of product, and welded inefficiency, the problem that the above-mentioned appearance is solved with multidimension degree joint structure to an automatic welding robot now urgently needed.

Disclosure of Invention

the invention aims to provide a multi-dimensional joint structure for an automatic welding robot, which comprises a fixed base, wherein a first rotating seat is fixedly installed on one side of the top of the fixed base, a first servo motor is fixedly installed on the top of the first rotating seat, a clamping mechanism is fixedly installed on the top of the first servo motor, a second rotating seat is fixedly installed on the other side of the top of the fixed base, a driving motor is fixedly installed on the top of the second rotating seat, a first supporting arm is fixedly installed on the top of the driving motor, a rotating mechanism is arranged on the top of the first supporting arm, a transmission seat is fixedly installed in the middle of the top of the fixed base, a transmission belt is arranged on the top of the transmission seat, a plurality of rotating rollers are arranged inside the transmission belt, two ends of each rotating roller are respectively in transmission connection with bearings embedded inside grooves on two sides of the transmission seat, one end of each rotating roller is fixedly connected with the output end of a small motor, supporting frames are fixedly installed at two ends of the transmission seat, sliding grooves are formed in the top ends of the two supporting frames, a welding mechanism is connected with an L-side lighting lamp in a sliding.

in order to clamp the clamping mechanism, as a preferable mode of the invention, the clamping mechanism comprises two first connecting plates fixedly connected with the top end of a driving motor, two sides of the top ends of the two first connecting plates are in transmission connection with two sides of the bottom end of a second connecting plate through a stepping motor, the top end of the second connecting plate is movably connected with one end of a third connecting plate through an electric rotating shaft, the other end of the third connecting plate is fixedly connected with an L-shaped fixed seat, a steering shaft is installed at the bottom end of the L-shaped fixed seat, a connecting block is fixedly connected with the bottom end of the steering shaft, a clamping groove is formed in the bottom end of the connecting block, a universal rotating head is arranged inside the clamping groove, and a first fixed shell is fixedly connected with the bottom end of.

in order to facilitate accurate positioning welding of welding equipment, as an optimization of the invention, a camera is fixedly mounted at the top of the first fixing shell, a second servo motor is mounted inside the first fixing shell, a transmission end of the second servo motor is fixedly connected with one side of the second fixing shell, a monitoring probe is fixedly mounted at the side of the second fixing shell, three heat dissipation holes are formed in the outer side of the second fixing shell, cooling fins are mounted inside the three heat dissipation holes, a positioner is fixedly mounted inside the second fixing shell, a P L C controller is fixedly mounted at one side of the positioner, a fixing sleeve ring is fixedly mounted at one end of the second fixing shell, the outer side of the fixing sleeve ring is movably connected with one ends of four manipulators through movable hinges, and an infrared searchlight is fixedly mounted at the middle of one side of the second fixing shell.

In order to facilitate the rotating mechanism to drive the welding equipment to weld, as a preferred mode of the invention, the rotating mechanism comprises a first electric hinge fixedly connected with the top end of the first supporting arm, a second supporting arm is fixedly arranged on one side of the first electric hinge, the top end of the second supporting arm is fixedly connected with a second electric hinge, one side of the second electric hinge is fixedly connected with a third supporting arm, two connecting rods are fixedly connected with two sides of the first electric hinge, one ends of the two connecting rods are fixedly connected with two sides of the third electric hinge, one end of the third supporting arm is fixedly connected with an electric hydraulic cylinder, one end of the electric hydraulic cylinder is fixedly provided with a fixed clamping block, and a mechanical clamp is arranged in the fixed clamping block, and one end of the mechanical clamp is fixedly connected with the inside of the electric hydraulic cylinder through a hydraulic rod.

In order to enable the welding mechanisms to rapidly weld products, the two welding mechanisms preferably comprise sliders connected with the top ends of the sliding grooves in a sliding mode, a supporting seat is fixedly connected to the top ends of the sliders, a sliding rod is fixedly mounted at the top ends of the supporting seats, a fixed support is fixedly mounted on one side of the bottom end of each supporting seat, a first electric telescopic rod is fixedly connected to the top of each fixed support, a position finder is arranged on one side of each first electric telescopic rod, a cross rod is fixedly connected to the telescopic end of each first electric telescopic rod, one end of each cross rod is fixedly connected with one side of each sleeve, a transverse plate is fixedly connected to one side of the top end of each sleeve, a second electric telescopic rod is fixedly connected to the top of each transverse plate, and a welding device is fixedly connected to the telescopic end of each.

in order to facilitate control, as a preferable example of the present invention, the first servo motor, the infrared searchlight, the stepping motor, the electric rotating shaft, the camera, the second servo motor, the positioner, the driving motor, the electric hydraulic cylinder, the small motor, the first electric telescopic rod, the second electric telescopic rod, and the welder are respectively electrically connected to the plc controller.

Compared with the prior art, the invention has the beneficial effects that:

1) through the mutual matching of the arranged first connecting plate and the stepping motor, the clamping mechanism is preliminarily adjusted, products on the conveying belt can be clamped conveniently through the mutual matching of the second connecting plate and the electric rotating shaft, the structure on the clamping mechanism is driven to be adjusted in the vertical and horizontal directions through the rotation of the third connecting plate, the connecting block is driven to rotate conveniently through the use of the steering shaft, the degree of progress is adjusted, the products on the conveying belt are observed through the camera, the mechanical arm is convenient to grab, multi-dimensional adjustment is carried out through the welding robot, the mechanical arm is convenient to adjust joints on the mechanical arm according to the positions of the products, and the welding efficiency is improved;

2) The second stationary housing that the rotation of second servo motor through setting up can be quick to rotate, when getting the welding product clamp, convenient angle of adjustment, at the in-process of getting, machinery rotates and can produce the heat, dispels the heat to the inside of second stationary housing through louvre and fin, welds the welding product through the manipulator on the fixed lantern ring, is convenient for carry out the rapid weld to the welding product through mutually supporting of many joint structures.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a schematic view of the gripping mechanism of the present invention;

FIG. 3 is a schematic view of a second rotating base according to the present invention;

FIG. 4 is a schematic structural diagram of a rotating mechanism according to the present invention;

FIG. 5 is a schematic view of a transmission base according to the present invention;

FIG. 6 is a schematic view of the welding mechanism of the present invention.

in the figure, the device comprises 1 a fixed base, 2 a first rotating seat, 201 a first servo motor, 3 a clamping mechanism, 301 a first connecting plate, 302 an infrared searchlight, 303 a stepping motor, 304 a second connecting plate, 305 an electric rotating shaft, 306 a third connecting plate, 307 an L-shaped fixed seat, 308 a steering shaft, 3081 a connecting block, 309 a universal rotating head, 310 a first fixed shell, 311 a camera, 312 a second servo motor, 313 a second fixed shell, 314 a fixed lantern ring, 315 a heat dissipation hole, 316 a heat dissipation fin, 317 a positioner, 318, a manipulator, 4 a second rotating seat, 401 a driving motor, 402 a first supporting arm, 5 a rotating mechanism, 501 a first electric hinge, 502, a second supporting arm, 503, a second electric hinge, 504, a third supporting arm, 505, a connecting rod, 506, an electric hydraulic rod, 507, a third electric hinge, 508, an electric hydraulic cylinder, 509, a fixed clamping block, 510, a mechanical transmission rod, a sliding rod, 705, a sliding rod holder, a sliding rod, a sliding block, a sliding rod, a sliding block, a sliding rod, a sliding block, a.

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.

Example 1

referring to fig. 1-6, the invention provides a multi-dimensional joint structure for an automatic welding robot, which comprises a fixed base 1, wherein a first rotating seat 2 is fixedly installed on one side of the top of the fixed base 1, a first servo motor 201 is fixedly installed on the top of the first rotating seat 2, a clamping mechanism 3 is fixedly installed on the top of the first servo motor 201, a second rotating seat 4 is fixedly installed on the other side of the top of the fixed base 1, a driving motor 401 is fixedly installed on the top of the second rotating seat 4, a first supporting arm 402 is fixedly installed on the top of the driving motor 401, a rotating mechanism 5 is arranged on the top of the first supporting arm 402, a transmission seat 6 is fixedly installed in the middle of the top of the fixed base 1, a transmission belt 601 is arranged on the top of the transmission seat 6, a plurality of rotating rollers 602 are arranged inside the transmission belt 601, two ends of the rotating rollers 602 are respectively in transmission connection with bearings embedded inside grooves on two sides of the transmission seat 6, one end of one rotating roller 602 is fixedly connected with an output end of a small motor 603, transmission supports are fixedly installed on two ends of the transmission seat 6, a sliding chute 604 for fixing an illuminator 1L 7 is installed inside the sliding chute 604, and.

Press from both sides two first connecting plates 301 that press from both sides mechanism 3 and include the top fixed connection with driving motor 401, the both sides on two first connecting plates 301 top are passed through step motor 303 and are connected with the both sides transmission of second connecting plate 304 bottom, the one end swing joint of electronic pivot 305 with third connecting plate 306 is passed through on the top of second connecting plate 304, the other end fixedly connected with L type fixing base 307 of third connecting plate 306, steering spindle 308 is installed to the bottom of L type fixing base 307, the bottom fixedly connected with connecting block 3081 of steering spindle 308, the draw-in groove has been seted up to connecting block 3081's bottom, the inside of draw-in groove is provided with universal commentaries on classics head 309, the first set casing 310 of bottom fixedly connected with of universal commenta.

during the specific use, before welding, at first, through the rotation of the small-size motor 603 on the P LC controller, drive the conveyer belt 601 on the roller 602, carry the product of welding, through the control of P LC controller, it carries out the adjustment of angle to drive first rotation seat 2 through the rotation of driving motor 401, through mutually supporting of first connecting plate 301 and step motor 303, make to press from both sides and get mechanism 3 and carry out preliminary adjustment, be convenient for press from both sides the product on conveyer belt 601 through mutually supporting of second connecting plate 304 and electric rotating shaft 305 and get, the rotation through third connecting plate 306 drives L type fixing base 307 to press from both sides the structure on getting mechanism 3 and carry out position adjustment on vertical and horizontal direction, use through steering shaft 308 is convenient for drive connecting block 3081 and rotate, carry out 360 degrees of adjustment, observe the product on conveyer belt 601 through camera 311, be convenient for snatching the arm.

the top fixed mounting of first set casing 310 has camera 311, the internally mounted of first set casing 310 has second servo motor 312, the transmission end of second servo motor 312 and one side fixed connection of second set casing 313, the avris fixed mounting of second set casing 313 has monitor, three louvre 315 has been seted up in the outside of second set casing 313, the internally mounted of three louvre 315 has fin 316, the inside fixed mounting of second set casing 313 has locator 317, one side fixed mounting of locator 317 has the P L C controller, the one end fixed mounting of second set casing 313 has fixed lantern ring 314, the outside of fixed lantern ring 314 is through the one end swing joint of activity hinge and four manipulators 318, the middle part fixed mounting of second set casing 313 one side has infrared searchlight 302.

During the specific use, connect first set casing 310 through connecting block 3081, the rotation of first set casing 310 of being convenient for drives steering spindle 308, rotation to second set casing 313 that can be quick through rotation of second servo motor 312 rotates, when getting the welding product, convenient angle of adjustment, the in-process of getting is got, machinery rotates and can produce the heat, dispel the heat to the inside of second set casing 313 through louvre 315 and fin 316, weld the welding product through manipulator 318 on the set collar 314, be convenient for weld the welding product through mutually supporting of multi-joint structure.

Slewing mechanism 5 includes the first electronic hinge 501 of top fixedly connected with first support arm 402, one side fixed mounting of first electronic hinge 501 has second support arm 502, the electronic hinge 503 of top fixedly connected with second of second support arm 502, one side fixedly connected with third support arm 504 of electronic hinge 503, two connecting rods 505 of the both sides fixedly connected with of first electronic hinge 501, the one end of two connecting rods 505 and the both sides fixed connection of third electronic hinge 507, the one end fixedly connected with electric hydraulic cylinder 508 of third support arm 504, the one end fixed mounting of electric hydraulic cylinder 508 has fixed clamp splice 509, the inside of fixed clamp splice 509 is provided with mechanical clamp 510, the inside fixed connection of hydraulic stem 511 and electric hydraulic cylinder 508 is passed through to the one end of mechanical clamp 510.

During the specific use, the rotation through driving motor 401 on slewing mechanism 5 drives first support arm 402 and rotates, adjusts first electronic hinge 501 and drives second support arm 502, through the connecting rod 505 of the drive third support arm 504 one end of second electronic hinge 503, drives electronic hydraulic stem 506 through the flexible mechanical clamp 510 that drives of hydraulic stem 511 through connecting rod 505 of first electronic hinge 501 both sides, is convenient for carry out the quick clamp to the product and gets.

Two welding mechanism 7 include with the top sliding connection's of spout 604 slider 701, slider 701's top fixedly connected with supporting seat 702, the top fixed mounting of supporting seat 702 has slide bar 703, one side fixed mounting of supporting seat 702 bottom has fixing support 704, the first electric telescopic handle 705 of top fixedly connected with of fixing support 704, one side of first electric telescopic handle 705 is provided with the position finder, the spirit end fixedly connected with horizontal pole 706 of first electric telescopic handle 705, the one end of horizontal pole 706 and one side fixed connection of sleeve 707, one side fixedly connected with diaphragm 708 on sleeve 707 top, the top fixedly connected with second electric telescopic handle 709 of diaphragm 708, the flexible end fixedly connected with welder 710 of second electric telescopic handle 709.

during the specific use, through the slip of spout 604 top shoe 701, be convenient for to the first electric telescopic handle 705 of the fixing support 704 pair up that supporting seat 702 one side set up, make the flexible of first electric telescopic handle 705, be convenient for drive horizontal pole 706 and stretch out and draw back, drive sleeve 707 then and slide on slide bar 703, adjust through the flexible diaphragm 708 that drives the top through sleeve 707, control drive welder 710 to welding mechanism 7 and the product of getting on slewing mechanism 5 and weld through P L C controller to second electric telescopic handle 709 one end.

the first servo motor 201, the infrared searchlight 302, the stepping motor 303, the electric rotating shaft 305, the camera 311, the second servo motor 312, the positioner 317, the driving motor 401, the electric hydraulic cylinder 508, the small motor 603, the first electric telescopic rod 705, the second electric telescopic rod 709 and the welder 710 are respectively electrically connected with the plc controller.

during specific use, the equipment on the multi-dimensional joint structure for the automatic welding robot is convenient to control through the PLC controller.

Finally, it should be noted that: 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 changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. the utility model provides an automatic welding robot is with multidimension degree joint structure, includes unable adjustment base (1), its characterized in that, one side fixed mounting at the top of unable adjustment base (1) has first rotation seat (2), the top fixed mounting at the top of first rotation seat (2) has first servo motor (201), the top fixed mounting of first servo motor (201) has the clamp to get mechanism (3), the opposite side fixed mounting at unable adjustment base (1) top has second rotation seat (4), the top fixed mounting of second rotation seat (4) has driving motor (401), the fixed mounting at the top of driving motor (401) has first supporting arm (402), the top of first supporting arm (402) is provided with slewing mechanism (5), the middle part fixed mounting on unable adjustment base (1) top has transmission seat (6), the top of transmission seat (6) is provided with conveyer belt (601), the inside of conveyer belt (601) is provided with a plurality of commentaries on classics roller (602), the both ends of commentaries on classics roller (602) are connected with the transmission seat (6) the inside of recess of transmission seat (6) respectively with the bearing that inlays establishes, wherein the both ends of one fixed mounting bracket (604) are connected with the fixed mounting of two fixed mounting of ED, the fixed mounting of support frame (604), the fixed mounting of the support frame (1) has the fixed mounting of ED) and the fixed mounting of the light (604), the support frame (604);

Press from both sides and get mechanism (3) and include two first connecting plate (301) with the top fixed connection of driving motor (401), two the both sides on first connecting plate (301) top are passed through step motor (303) and are connected with the both sides transmission of second connecting plate (304) bottom, the top of second connecting plate (304) is through the one end swing joint of electronic pivot (305) and third connecting plate (306), the other end fixedly connected with L type fixing base (307) of third connecting plate (306), steering shaft (308) are installed to the bottom of L type fixing base (307), the bottom fixedly connected with connecting block (3081) of steering shaft (308), the draw-in groove has been seted up to the bottom of connecting block (3081), the inside of draw-in groove is provided with universal commentaries on classics head (309), the first set casing (310) of bottom fixedly connected with of universal commentaries on classics head (309).

2. the multi-dimensional joint structure for the automatic welding robot is characterized in that a camera (311) is fixedly mounted at the top of a first fixed shell (310), a second servo motor (312) is mounted inside the first fixed shell (310), a transmission end of the second servo motor (312) is fixedly connected with one side of a second fixed shell (313), a monitoring probe is fixedly mounted on the side of the second fixed shell (313), three heat dissipation holes (315) are formed in the outer side of the second fixed shell (313), heat dissipation fins (316) are mounted inside the three heat dissipation holes (315), a positioner (317) is fixedly mounted inside the second fixed shell (313), a P L C controller is fixedly mounted on one side of the positioner (317), a fixed sleeve ring (314) is fixedly mounted at one end of the second fixed shell (313), the outer side of the fixed sleeve ring (314) is movably connected with one ends of four manipulators (318) through movable hinges, and an infrared searchlight (302) is fixedly mounted in the middle of one side of the second fixed shell (313).

3. The multi-dimensional joint structure for the automatic welding robot according to claim 2, characterized in that: slewing mechanism (5) include with the first electronic hinge (501) of top fixedly connected with of first support arm (402), one side fixed mounting of first electronic hinge (501) has second support arm (502), top fixedly connected with second electronic hinge (503) of second support arm (502), one side fixedly connected with third support arm (504) of second electronic hinge (503), two connecting rods (505) of both sides fixedly connected with of first electronic hinge (501), the one end of two connecting rods (505) and the both sides fixed connection of third electronic hinge (507), the one end fixedly connected with electric hydraulic cylinder (508) of third support arm (504), the one end fixed mounting of electric hydraulic cylinder (508) has fixed clamp splice (509), the inside of fixed splice (509) is provided with mechanical clamp (510), the one end of mechanical clamp (510) is passed through hydraulic stem (511) and electric hydraulic cylinder (508)'s inside fixed connection And (4) connecting.

4. The multi-dimensional joint structure for the automatic welding robot according to claim 3, characterized in that: the two welding mechanisms (7) comprise sliding blocks (701) which are connected with the top ends of the sliding grooves (604) in a sliding way, the top end of the sliding block (701) is fixedly connected with a supporting seat (702), the top end of the supporting seat (702) is fixedly provided with a sliding rod (703), a fixed support (704) is fixedly arranged on one side of the bottom end of the support seat (702), the top of the fixed support (704) is fixedly connected with a first electric telescopic rod (705), a position finder is arranged at one side of the first electric telescopic rod (705), a transverse rod (706) is fixedly connected with the telescopic end of the first electric telescopic rod (705), one end of the cross bar (706) is fixedly connected with one side of the sleeve (707), one side of the top end of the sleeve (707) is fixedly connected with a transverse plate (708), the top of the transverse plate (708) is fixedly connected with a second electric telescopic rod (709), the telescopic end of the second electric telescopic rod (709) is fixedly connected with a welder (710).

5. the multi-dimensional joint structure for the automatic welding robot is characterized in that the first servo motor (201), the infrared searchlight (302), the stepping motor (303), the electric rotating shaft (305), the camera (311), the second servo motor (312), the positioner (317), the driving motor (401), the electric hydraulic cylinder (508), the small motor (603), the first electric telescopic rod (705), the second electric telescopic rod (709) and the welder (710) are respectively and electrically connected with the PLC controller.