CN113001072A - Spatial multi-degree-of-freedom controllable mechanism type fine-adjustment welding robot - Google Patents
Spatial multi-degree-of-freedom controllable mechanism type fine-adjustment welding robot Download PDFInfo
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- CN113001072A CN113001072A CN202110261596.0A CN202110261596A CN113001072A CN 113001072 A CN113001072 A CN 113001072A CN 202110261596 A CN202110261596 A CN 202110261596A CN 113001072 A CN113001072 A CN 113001072A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention relates to the technical field of welding robots, in particular to a spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot which comprises an installation shell, wherein a movable base is placed above the installation shell, four ends of the top of the installation shell are fixedly connected with connecting rods, the top end of each connecting rod penetrates through the side face of the movable base and extends out to be fixedly connected with a baffle, and first springs are sleeved on the connecting rods between the installation shell and the movable base. This device is through adjusting the position of soldered connection on the dead lever to rotate through second gear drive dead lever and rotate, thereby make the regulation welding point that the soldered connection can be accurate, be favorable to improving welded accuracy, guarantee welded effect.
Description
Technical Field
The invention relates to the field of welding robots, in particular to a spatial multi-degree-of-freedom controllable mechanism type fine-adjustment welding robot.
Background
The welding robot is an industrial robot engaged in welding. According to the definition of the international standardization organization industrial robot, which belongs to the standard welding robot, the industrial robot is a multipurpose, reprogrammable automatic control manipulator with three or more programmable axes for the industrial automation field. To accommodate different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, may be used to attach different tools or end effectors. The welding robot is provided with a welding clamp or a welding gun on a tail shaft flange of the industrial robot, so that the welding robot can carry out welding, cutting or thermal spraying.
The welding operation on surface can only be carried out to present welding robot mostly, is difficult to weld bottom the loaded down with trivial details equipment of some bulky and lift procedure, and when the chassis of car need weld, traditional welding robot is difficult to get into the car bottom to be unfavorable for finding actual welding point, cause welding position deviation, influence welding effect.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot comprises an installation shell, wherein a movable base is placed above the installation shell, connecting rods are fixedly connected to four ends of the top of the installation shell, the top end of each connecting rod penetrates through the side face of the movable base and extends out of the movable base to be fixedly connected with a baffle, and a first spring is sleeved on each connecting rod between the installation shell and the movable base;
the utility model discloses an installation casing, including installation casing, threaded connection has the go-between, the top of screw rod is equipped with the lantern ring on the screw rod between activity base and the go-between, the outer wall diameter of the lantern ring is less than the outer wall diameter of go-between, be equipped with sliding part on the lantern ring, the cover is equipped with the second gear on the lantern ring, the bottom fixed mounting of activity base has step motor, fixedly connected with axis of rotation on the step motor output shaft, the one end of axis of rotation runs through the side of activity base and extends away the first gear of fixedly connected with, first gear and second gear mesh mutually, be connected with the soldered connection through adjusting part on the second gear.
Preferably, the sliding part comprises a plurality of balls, an annular groove is formed in the top of the lantern ring, the balls are located in the annular groove, a connecting shaft is inserted into the balls, and two ends of each connecting shaft are fixedly connected to two sides of the annular groove.
Preferably, a plurality of the balls are uniformly distributed around the annular groove, one end of each ball is positioned above the annular groove, and one end of each ball is in contact with the bottom of the connecting ring.
Preferably, the adjusting part comprises a fixing rod, the fixing rod is fixedly connected to the top of one side of the second gear, an arc-shaped groove penetrating through the top of the fixing rod to the bottom is formed in the top of the fixing rod, a sliding block is placed at one end in the arc-shaped groove, a welding head is fixedly connected to the top of the sliding block, a round rod is inserted into the sliding block, two ends of the round rod are respectively and fixedly connected to two ends of the arc-shaped groove, a second spring is sleeved on the round rod between the second gear and the sliding block, and a limiting part is connected to the welding head.
Preferably, the limiting part comprises a fixing ring, the fixing ring is fixedly connected to one side of the welding head, the pull ring is placed above the fixing ring, the bottom of the pull ring is fixedly connected with a limiting rod, one end of the limiting rod extends out of the fixing ring and is fixedly connected with a baffle ring, a third spring is sleeved on the limiting rod between the fixing ring and the baffle ring, and a plurality of limiting blocks are fixedly connected to one side of the fixing rod.
Preferably, the limiting blocks are uniformly distributed, and the limiting blocks and the limiting rods are located on the same side.
Preferably, the bottom of the limiting rod is flush with the bottom of the limiting block, and the bottom of the baffle ring is flush with the top of the limiting block.
Preferably, the bottom fixedly connected with bottom plate of installation casing, the bottom center department fixedly connected with ring of bottom plate, there are a plurality of auxiliary universal wheels the bottom of ring, the top fixed mounting of bottom plate has driving motor, driving motor's output shaft runs through the bottom plate side and extends away the electronic universal wheel of fixedly connected with, electronic universal wheel is located the ring.
Compared with the prior art, the invention has the following beneficial effects:
1. starting step motor, step motor work drives the axis of rotation and rotates, and the axis of rotation drives first gear and rotates, and the first gear of second gear cooperation meshes the rotation, then removes the soldered connection, makes the sliding block of soldered connection bottom slide along the round bar, through adjusting the position of soldered connection on the dead lever, and rotate through second gear drive dead lever, thereby make the regulation welding point that the soldered connection can be accurate, be favorable to improving the welded accuracy, guarantee welded effect.
2. The movable base passes through four connecting rod through connection, makes four ends of movable base can reciprocate along the connecting rod, and the go-between extrudes the lantern ring and moves down when around the screw rod downstream, and lantern ring extrusion movable base moves down to make whole welding robot's high reduction, the convenient car that adapts to different chassis heights.
3. Start driving motor, driving motor drives electronic universal wheel and removes to drive welding robot and remove, the electronic universal wheel of a plurality of supplementary universal wheel cooperations of ringlet bottom is cooperated and is removed, makes things convenient for welding robot to turn to the removal, thereby in the smooth entering vehicle chassis.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side sectional view of the present invention;
FIG. 3 is a schematic bottom view of the present invention;
FIG. 4 is a schematic diagram of a half-section structure of the present invention;
FIG. 5 is a schematic view of the internal structure of the collar of the present invention;
FIG. 6 is an enlarged view of the structure at A in FIG. 2 according to the present invention;
FIG. 7 is an enlarged view of the structure at B in FIG. 4 according to the present invention;
FIG. 8 is an enlarged view of the structure at C in FIG. 5 according to the present invention;
fig. 9 is an enlarged view of the structure at D in fig. 2 according to the present invention.
In the figure: the device comprises a mounting shell 1, a movable base 2, a connecting rod 3, a first spring 4, a baffle 5, a bottom plate 6, a circular ring 7, an electric universal wheel 8, an auxiliary universal wheel 9, a driving motor 10, a first gear 11, a rotating shaft 12, a second gear 13, a connecting ring 14, a screw rod 15, a stepping motor 16, a fixing rod 17, a lantern ring 18, an annular groove 19, a ball 20, a connecting shaft 21, an arc-shaped groove 22, a circular rod 23, a second spring 24, a welding head 25, a fixing ring 26, a pull ring 27, a limiting rod 28, a third spring 29, a baffle ring 30, a limiting block 31 and a sliding block 32.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1-9, controllable mechanism formula fine-tuning welding robot of spatial multi freedom, including installation casing 1, the bottom fixedly connected with bottom plate 6 of installation casing 1, bottom center department fixedly connected with annuliform 7 of bottom plate 6, there are a plurality of supplementary universal wheels 9 bottom of annuliform 7, the top fixed mounting of bottom plate 6 has driving motor 10, driving motor 10's output shaft runs through bottom plate 6 side and extends away the electronic universal wheel 8 of fixedly connected with, electronic universal wheel 8 is located annuliform 7, movable base 2 has been placed to the top of installation casing 1, the equal fixedly connected with connecting rod 3 in four ends in top of installation casing 1, the top of every connecting rod 3 all runs through movable base 2's side and extends away fixedly connected with baffle 5, all overlap on the connecting rod 3 between installation casing 1 and the movable base 2 and be equipped with first spring 4.
The implementation mode is specifically as follows:
when using, through starting driving motor 10, driving motor 10 drives electronic universal wheel 8 and removes, thereby it removes to drive welding robot, a plurality of supplementary universal wheels 9 of ringlet 7 bottom cooperate electronic universal wheel 8 and remove, make things convenient for welding robot to turn to the removal, thereby in the smooth entering vehicle chassis, activity base 2 is through four connecting rods 3 through-connection, make four ends of activity base 2 can reciprocate along connecting rod 3, the baffle 5 at connecting rod 3 top can support the top of activity base 2, prevent that activity base 2 from the top of connecting rod 3 to drop, the first spring 4 that the cover was established on connecting rod 3 is through the elastic action of self, extrude the bottom of activity base 2, make activity base 2 be located the top of connecting rod 3 all the time.
Top center department fixedly connected with screw rod 15 of installation casing 1, the top of screw rod 15 runs through movable base 2's side and extends out threaded connection and has go-between 14, the cover is equipped with lantern ring 18 on the screw rod 15 between movable base 2 and the go-between 14, the outer wall diameter of lantern ring 18 is less than go-between 14's outer wall diameter, be equipped with slider on the lantern ring 18, slider includes a plurality of balls 20, open at the top of lantern ring 18 has ring channel 19, a plurality of balls 20 all are located ring channel 19, connecting axle 21 has all been inserted to every ball 20's inside, the equal fixed connection in the both sides of ring channel 19 in both ends of every connecting axle 21, a plurality of balls 20 surround ring channel 19 evenly distributed, the one end of every ball 20 all is located ring channel 19's top, the one end of ball.
The implementation mode is specifically as follows:
in the use process, through rotating the connecting ring 14, the connecting ring 14 is enabled to rotate on the screw rod 15 in a threaded manner, and moves downwards, the bottom of the connecting ring 14 is in contact with the balls 20 in the lantern ring 18, the balls 20 rotate around the connecting shaft 21, the friction force generated in the rotating process is reduced, the connecting ring 14 extrudes the lantern ring 18 to move downwards when moving downwards around the screw rod 15, the lantern ring 18 extrudes the movable base 2 to move downwards, the height of the whole welding robot is reduced, the welding robot is convenient to adapt to automobiles with different chassis heights, and the bottom of the automobile is smoothly carried out.
The cover is equipped with second gear 13 on the lantern ring 18, the bottom fixed mounting of activity base 2 has step motor 16, fixedly connected with axis of rotation 12 on the step motor 16 output shaft, the one end of axis of rotation 12 runs through the side of activity base 2 and extends away the first gear 11 of fixedly connected with, first gear 11 and the meshing of second gear 13 mutually, be connected with soldered connection 25 through adjusting part on the second gear 13, adjusting part includes dead lever 17, dead lever 17 fixed connection is at the top of second gear 13 one side, open at the top of dead lever 17 has the arc wall 22 that runs through to the bottom, sliding block 32 has been placed to the one end in the arc wall 22, sliding block 32's top fixedly connected with soldered connection 25, it is equipped with circular rod 23 to insert on the sliding block 32, the both ends of circular rod 23 fixed connection respectively in arc wall 22, the cover is equipped with second spring 24 on the circular rod 23 between second gear 13 and the sliding.
The implementation mode is specifically as follows:
by starting the stepping motor 16, the stepping motor 16 works to drive the rotating shaft 12 to rotate, the rotating shaft 12 drives the first gear 11 to rotate, the first gear 11 is meshed with the second gear 13, the second gear 13 is matched with the first gear 11 to rotate in a meshed mode, the outer diameter of the lantern ring 18 is smaller than that of the second gear 13, the second gear 13 is limited by the connecting ring 14 when rotating, so that the second gear 13 cannot fall off from the upper portion of the screw 15, the stepping motor 16 drives the second gear 13 to rotate back and forth in an actual rotating process, so that the connecting line of the welding head 25 connected to the second gear 13 cannot be excessively wound to cause short circuit or damage of the connecting line, the fixing rod 17 is fixedly connected to the top of one side of the second gear 13, the sliding block 32 at the bottom of the welding head 25 can slide along the circular rod 23, the circular rod 23 is fixedly connected in the arc-shaped groove 22 of the fixing rod, so that the welding head 25 moves at both ends above the fixing rod 17, the second spring 24 sleeved on the circular rod 23 supports against the sliding block 32 by the outward extending elastic action thereof, so that the sliding block 32 is located at one end of the arc-shaped groove 22, and the welding head 25 is located at the outer end of the fixing rod 17.
Be connected with stop part on the soldered connection 25, stop part is including solid fixed ring 26, gu fixed ring 26 fixed connection is in one side of soldered connection 25, pull ring 27 has been placed to solid fixed ring 26 top, the bottom fixedly connected with gag lever post 28 of pull ring 27, the one end of gag lever post 28 extends away and fixedly connected with fender ring 30 from solid fixed ring 26, gu the cover is equipped with third spring 29 on the gag lever post 28 between fixed ring 26 and the fender ring 30, a plurality of stoppers 31 of one side fixedly connected with of dead lever 17, stopper 31 is evenly distributed, stopper 31 and gag lever post 28 are located same one side, the bottom of gag lever post 28 and stopper 31's bottom parallel and level mutually, the bottom of fender ring 30 and stopper 31's top are level mutually.
The implementation mode is specifically as follows:
by pulling the pull ring 27 upwards, the pull ring 27 drives the limit rod 28 to move upwards, the limit rod 28 drives the stop ring 30 to move upwards, the distance between the stop ring 30 and the fixing ring 26 is shortened, so that the third spring 29 is compressed and deformed, the bottom end of the limit rod 28 is positioned above the top of the limit block 31, then the welding head 25 is moved, the sliding block 32 at the bottom of the welding head 25 slides along the circular rod 23, when the welding head 25 moves to a proper position, the pull ring 27 is released, the third spring 29 extends outwards under the elastic action of the third spring 29 and presses the stop ring 30 to move downwards, the stop ring 30 drives the limit rod 28 to move downwards, one end of the limit rod 28 is positioned at one side of the corresponding limit block 31, the limit block 31 abuts against the limit rod 28, so that the welding head 25 is fixed at an adjusted position, by adjusting the position of the welding head 25 on the fixing rod 17, and the fixing rod 17 is driven to, therefore, the welding joint 25 can accurately adjust the welding point, which is beneficial to improving the welding accuracy and ensuring the welding effect.
The working principle of the invention is as follows:
referring to the attached drawings 1-9 of the specification, in the using process, the movable base 2 is connected through four connecting rods 3, so that four ends of the movable base 2 can move up and down along the connecting rods 3, the baffle 5 at the top of the connecting rods 3 can abut against the top of the movable base 2 to prevent the movable base 2 from falling off from the upper part of the connecting rods 3, the first spring 4 sleeved on the connecting rods 3 presses the bottom of the movable base 2 through the self elastic action, so that the movable base 2 is always positioned at the top end of the connecting rods 3, the connecting ring 14 rotates on the screw rod 15 through rotating the connecting ring 14 and moves downwards, the bottom of the connecting ring 14 is in contact with the balls 20 in the lantern ring 18, the balls 20 rotate around the connecting shaft 21 to reduce the friction force generated during rotation, the connecting ring 14 presses the lantern ring 18 to move downwards when moving downwards around the screw rod 15, the lantern ring 18 presses the movable base 2 to move downwards, so that the height of the whole welding robot is reduced, and the welding robot can be conveniently adapted to automobiles with different chassis heights.
Through starting driving motor 10, driving motor 10 drives electronic universal wheel 8 and removes to drive welding robot and remove, a plurality of supplementary universal wheels 9 of annuluses 7 bottoms cooperate electronic universal wheel 8 to cooperate and remove, make things convenient for welding robot to turn to the removal, thereby in the smooth entering vehicle chassis.
Starting a stepping motor 16, wherein the stepping motor 16 works to drive a rotating shaft 12 to rotate, the rotating shaft 12 drives a first gear 11 to rotate, the first gear 11 is meshed with a second gear 13, so that the second gear 13 is matched with the first gear 11 to rotate in a meshed mode, the outer diameter of a lantern ring 18 is smaller than that of the second gear 13, the second gear 13 is limited by a connecting ring 14 when rotating, and therefore cannot fall off from the upper side of a screw 15, the stepping motor 16 drives the second gear 13 to rotate back and forth in an actual rotating process, so that a connecting wire of a welding head 25 connected to the second gear 13 cannot be excessively wound to cause short circuit or damage of the connecting wire, a fixing rod 17 is fixedly connected to the top of one side of the second gear 13, a sliding block 32 at the bottom of the welding head 25 can slide along a circular rod 23, and the circular rod 23 is fixedly connected in an arc-shaped groove 22 of the fixing rod, so that the welding head 25 moves at both ends above the fixing rod 17, the second spring 24 sleeved on the circular rod 23 supports against the sliding block 32 by the outward extending elastic action thereof, so that the sliding block 32 is located at one end of the arc-shaped groove 22, and the welding head 25 is located at the outer end of the fixing rod 17.
By pulling the pull ring 27 upwards, the pull ring 27 drives the limit rod 28 to move upwards, the limit rod 28 drives the stop ring 30 to move upwards, the distance between the stop ring 30 and the fixing ring 26 is shortened, so that the third spring 29 is compressed and deformed, the bottom end of the limit rod 28 is positioned above the top of the limit block 31, then the welding head 25 is moved, the sliding block 32 at the bottom of the welding head 25 slides along the circular rod 23, when the welding head 25 moves to a proper position, the pull ring 27 is released, the third spring 29 extends outwards under the elastic action of the third spring 29 and presses the stop ring 30 to move downwards, the stop ring 30 drives the limit rod 28 to move downwards, one end of the limit rod 28 is positioned at one side of the corresponding limit block 31, the limit block 31 abuts against the limit rod 28, so that the welding head 25 is fixed at an adjusted position, by adjusting the position of the welding head 25 on the fixing rod 17, and the fixing rod 17 is driven to, therefore, the welding joint 25 can accurately adjust the welding point, which is beneficial to improving the welding accuracy and ensuring the welding effect.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.
Claims (8)
1. A spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot comprises an installation shell (1) and is characterized in that a movable base (2) is placed above the installation shell (1), four ends of the top of the installation shell (1) are fixedly connected with connecting rods (3), the top end of each connecting rod (3) penetrates through the side face of the movable base (2) and extends out to be fixedly connected with a baffle (5), and a first spring (4) is sleeved on each connecting rod (3) between the installation shell (1) and the movable base (2);
fixedly connected with screw rod (15) is located at the top center of installation casing (1), threaded connection has go-between (14) on the top of screw rod (15) runs through the side of activity base (2) and extends out, the cover is equipped with lantern ring (18) on screw rod (15) between activity base (2) and go-between (14), the outer wall diameter of lantern ring (18) is less than the outer wall diameter of go-between (14), be equipped with sliding part on the lantern ring (18), the cover is equipped with second gear (13) on lantern ring (18), the bottom fixed mounting of activity base (2) has step motor (16), fixedly connected with axis of rotation (12) on step motor (16) output shaft, the one end of axis of rotation (12) runs through the side of activity base (2) and extends out fixedly connected with first gear (11), first gear (11) and second gear (13) mesh mutually, the second gear (13) is connected with a welding head (25) through an adjusting component.
2. The spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot according to claim 2, wherein the sliding component comprises a plurality of balls (20), an annular groove (19) is formed in the top of the lantern ring (18), the balls (20) are located in the annular groove (19), a connecting shaft (21) is inserted into each ball (20), and two ends of each connecting shaft (21) are fixedly connected to two sides in the annular groove (19).
3. The spatial multi-degree-of-freedom controllable mechanism type fine tuning welding robot according to claim 3, characterized in that a plurality of balls (20) are uniformly distributed around the annular groove (19), one end of each ball (20) is located above the annular groove (19), and one end of each ball (20) is in contact with the bottom of the connecting ring (14).
4. The spatial multi-degree-of-freedom controllable mechanism type fine adjustment welding robot is characterized in that the adjusting component comprises a fixing rod (17), the fixing rod (17) is fixedly connected to the top of one side of the second gear (13), an arc-shaped groove (22) penetrating to the bottom is formed in the top of the fixing rod (17), a sliding block (32) is placed at one end in the arc-shaped groove (22), a welding head (25) is fixedly connected to the top of the sliding block (32), a round rod (23) is inserted into the sliding block (32), two ends of the round rod (23) are respectively and fixedly connected to two ends in the arc-shaped groove (22), a second spring (24) is sleeved on the round rod (23) between the second gear (13) and the sliding block (32), and a limiting component is connected to the welding head (25).
5. The spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot as claimed in claim 4, wherein the limiting component comprises a fixing ring (26), the fixing ring (26) is fixedly connected to one side of the welding head (25), a pull ring (27) is placed above the fixing ring (26), a limiting rod (28) is fixedly connected to the bottom of the pull ring (27), one end of the limiting rod (28) extends out of the fixing ring (26) and is fixedly connected with a baffle ring (30), a third spring (29) is sleeved on the limiting rod (28) between the fixing ring (26) and the baffle ring (30), and a plurality of limiting blocks (31) are fixedly connected to one side of the fixing rod (17).
6. The spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot as claimed in claim 5, wherein the limiting blocks (31) are uniformly distributed, and the limiting blocks (31) and the limiting rods (28) are located on the same side.
7. The spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot as claimed in claim 6, wherein the bottom of the limiting rod (28) is flush with the bottom of the limiting block (31), and the bottom of the baffle ring (30) is flush with the top of the limiting block (31).
8. The spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot is characterized in that a bottom plate (6) is fixedly connected to the bottom of the installation shell (1), a circular ring (7) is fixedly connected to the center of the bottom plate (6), a plurality of auxiliary universal wheels (9) are arranged at the bottom of the circular ring (7), a driving motor (10) is fixedly installed at the top of the bottom plate (6), an output shaft of the driving motor (10) penetrates through the side face of the bottom plate (6) and extends out of the fixedly connected electric universal wheels (8), and the electric universal wheels (8) are located in the circular ring (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261596.0A CN113001072B (en) | 2021-03-10 | 2021-03-10 | Spatial multi-freedom-degree controllable mechanism type micro-adjustment welding robot |
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| CN202110261596.0A CN113001072B (en) | 2021-03-10 | 2021-03-10 | Spatial multi-freedom-degree controllable mechanism type micro-adjustment welding robot |
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| CN113001072B CN113001072B (en) | 2023-09-08 |
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| CN116175014A (en) * | 2022-12-29 | 2023-05-30 | 苏州威奥得焊材科技有限公司 | Pipeline welding device |
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| US20090026187A1 (en) * | 2007-07-27 | 2009-01-29 | Blake Hobson | Stud Welding Tool Adjustment Mechanisms |
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| CN113001072B (en) | 2023-09-08 |
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