CN113210959A - Crawling type welding robot - Google Patents
Crawling type welding robot Download PDFInfo
- Publication number
- CN113210959A CN113210959A CN202110551346.0A CN202110551346A CN113210959A CN 113210959 A CN113210959 A CN 113210959A CN 202110551346 A CN202110551346 A CN 202110551346A CN 113210959 A CN113210959 A CN 113210959A
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- CN
- China
- Prior art keywords
- connecting rod
- hinged
- free end
- frame body
- welding robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000003466 welding Methods 0.000 title claims abstract description 22
- 230000009193 crawling Effects 0.000 title claims abstract description 10
- 239000000463 material Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000000149 penetrating effect Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000009776 industrial production Methods 0.000 abstract description 2
- 238000005520 cutting process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a crawling type welding robot. The device comprises a horizontal platform, sliding grooves are arranged on two sides of the horizontal platform, sliding blocks are connected in each sliding groove in a sliding manner, vertical rods are movably inserted into the sliding blocks, supporting legs are connected to the lower ends of the vertical rods, a frame body is arranged in the middle of the horizontal platform, a rotating shaft is arranged between two lug plate sections of the frame body, a short connecting rod is hinged to the free end of the rotating shaft penetrating through each lug plate section, a long connecting rod is hinged to the free end of the short connecting rod, the upper end of the long connecting rod is hinged to the upper end of the vertical rod, a sleeve body is hinged to the outer surface of the frame body above the short connecting rod, the long connecting rod is movably inserted into the sleeve body, and a robot body is further arranged on the horizontal platform, the device can freely move when working in a workshop, can perform turning operation through traction, breaks the limitation of the motion of the transmission linear guide rail, the moving range of the welding robot is wider, and the device is suitable for industrial production and has strong practicability.
Description
Technical Field
The invention belongs to the technical field of robot welding, and particularly relates to a crawling type welding robot.
Background
The welding robot is an industrial robot that engages in welding, including cutting and painting. An industrial robot is a versatile, reprogrammable, automatically controlled Manipulator (Manipulator) with three or more programmable axes for use in the field of industrial automation, according to the international organization for standardization (ISO) which is a definition of standard welding robots. 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 exactly that the welding tongs or welding (cutting) rifle are adorned to the last axle flange at industrial robot, makes it to weld, cutting or hot spraying, and current welding robot all carries out linear motion on the slide rail, and the motion route is single and can't freely remove in the workshop, has certain limitation.
Disclosure of Invention
The invention aims to solve the technical problem that the existing welding robots all perform linear motion on sliding rails, the motion route is single, and the robots cannot freely move in a workshop.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a crawling type welding robot comprises a suspended horizontal table, sliding grooves are formed in two sides of the horizontal table, sliding blocks are connected in the sliding grooves in a sliding mode, vertical rods are movably inserted into the sliding blocks in an inserting mode, supporting legs are connected to the lower ends of the vertical rods, a portal frame-shaped frame body is arranged in the middle of the horizontal table, a rotating shaft is arranged between two lug plate sections of the frame body, a short connecting rod is hinged to the free end of the rotating shaft penetrating through each lug plate section, a long connecting rod is hinged to the free end of the short connecting rod facing downwards in an inclined mode, the upper end of the long connecting rod is hinged to the upper end of the vertical rods, a sleeve body is hinged to the outer surface of the frame body above the short connecting rod, the long connecting rod is movably inserted into the sleeve body, a driving motor is arranged on the horizontal table, a large bevel gear is sleeved on the free end of an output shaft of the driving motor, a small bevel gear is sleeved on the rotating shaft in the frame body, the large bevel gear is meshed with the small bevel gear, and a robot body is also arranged on the horizontal table.
When the horizontal table works, an operator starts the driving motor to enable an output shaft of the driving motor to rotate to drive the large bevel gear and the small bevel gear to rotate, the small bevel gear drives the rotating shaft to rotate, the rotating shaft simultaneously drives the short connecting rod to rotate, and meanwhile, the long connecting rod rotates along with the rotation of the short connecting rod, so that the vertical rods slide up and down in the sliding blocks, the sliding blocks slide left and right in the sliding grooves, the whole horizontal table moves in a stepping mode, and the vertical rods on the two sides of the horizontal table move in a staggered mode to work in a crawling mode.
Compared with the prior art, the invention has the beneficial effects that: the device can be freely moved when working in a workshop, can be turned by traction, breaks the limitation of motion of a transmission linear guide rail, has wider moving range of the welding robot, is suitable for industrial production, and has strong practicability.
The horizontal platform both ends all are connected with the direction connecting plate, each seted up the connecting hole on the direction connecting plate. The guide connecting plate can be connected with a peripheral traction part or connected with a guide connecting plate of another group of horizontal tables to move the robot bodies.
And limiting contact heads are arranged at two ends of the sliding groove and made of rubber materials.
The robot body is including the drive seat of being connected with the base, be connected with vertical first rocking arm on the drive seat, first rocking arm free end is connected with L type support, the horizontal segment and the first rocking arm of L type support are connected, and the vertical section of L type support is connected with the second rocking arm, the second rocking arm free end is connected with welder.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
In the figure: 1 horizontal platform, 2 spouts, 3 sliders, 4 montants, 5 supporting legs, 6 support bodies, 7 short connecting rods, 8 long connecting rods, 9 cover bodies, 10 driving motors, 11 large bevel gears, 12 small bevel gears, 13 robot bodies, 14 guide connecting plates and 15 spacing butt contacts.
Detailed Description
The technical solution of the present application will be further described and explained with reference to the accompanying drawings and embodiments.
As shown in figure 1, the crawling type welding robot comprises a suspended horizontal platform 1, sliding grooves 2 are formed in two sides of the horizontal platform 1, sliding blocks 3 are connected in each sliding groove 2 in a sliding mode, vertical rods 4 are movably inserted in the sliding blocks 3, supporting feet 5 are connected to the lower ends of the vertical rods 4, a portal frame-shaped frame body 6 is arranged in the middle of the horizontal platform 1, a rotating shaft is arranged between two lug plate sections of the frame body 6, a short connecting rod 7 is hinged to the free end of the rotating shaft penetrating through each lug plate section, a long connecting rod 8 is hinged to the free end of the short connecting rod 7 inclining downwards, the upper end of the long connecting rod 8 is hinged to the upper end of the vertical rod 4, a sleeve body 9 is hinged to the outer surface of the frame body 6 above the short connecting rod 7, the long connecting rod 8 is movably inserted in the sleeve body 9, a driving motor 10 is arranged on the horizontal platform 1, a large bevel gear 11 is sleeved on the free end of an output shaft of the driving motor 10, a small bevel gear 12 is sleeved on the rotating shaft in the frame body 6, the big bevel gear 11 is meshed with the small bevel gear 12, and the horizontal table 1 is also provided with a robot body 13. The two ends of the horizontal table 1 are both connected with guide connecting plates 14, and each guide connecting plate 14 is provided with a connecting hole. The guide connection plate 14 is provided to be connected to an external traction member or to a guide connection plate 14 of another set of the horizontal table 1, and is configured to move the plurality of sets of the robot bodies 13. And the two ends of the sliding chute 2 are provided with limiting contact terminals 15, and the limiting contact terminals 15 are made of rubber materials. The robot body 13 is connected with a vertical first rotating arm on the driving seat including a driving seat connected with the base, the free end of the first rotating arm is connected with an L-shaped support, the horizontal section of the L-shaped support is connected with the first rotating arm, the vertical section of the L-shaped support is connected with a second rotating arm, and the free end of the second rotating arm is connected with a welding gun.
The during operation, operating personnel starts driving motor 10, make driving motor 10 output shaft rotate, drive big bevel gear 11 and bevel pinion 12 and rotate, bevel pinion 12 drives the pivot and rotates, pivot pivoted drives short connecting rod 7 simultaneously and rotates, long connecting rod 8 rotates along with short connecting rod 7's rotation simultaneously, thereby make montant 4 slide from top to bottom in slider 3, slider 3 horizontal slip in spout 2, thereby make whole horizontal stand 1 be step motion, the montant 4 that is located 1 both sides of horizontal stand is the staggered movement, be crawl formula work.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (4)
1. A creeping type welding robot, characterized in that: comprises a suspended horizontal platform, sliding grooves are arranged on two sides of the horizontal platform, sliding blocks are connected in the sliding grooves in a sliding manner, a vertical rod is movably inserted on the sliding block, the lower end of the vertical rod is connected with a supporting foot, the middle part of the horizontal table is provided with a portal frame-shaped frame body, a rotating shaft is arranged between the two lug plate sections of the frame body, the free end of the rotating shaft passing through each lug plate section is hinged with a short connecting rod, the free end of the short connecting rod which inclines downwards is hinged with a long connecting rod, the upper end of the long connecting rod is hinged with the upper end of the vertical rod, a sleeve body is hinged on the outer surface of the frame body above the short connecting rod, the long connecting rod is movably inserted in the sleeve body, the horizontal table is arranged on the driving motor, the free end of the output shaft of the driving motor is sleeved with the large bevel gear, the rotating shaft in the frame body is sleeved with the small bevel gear, the large bevel gear is meshed with the small bevel gear, and the horizontal table is further provided with a robot body.
2. The crawling welding robot according to claim 1, wherein: the horizontal platform both ends all are connected with the direction connecting plate, each seted up the connecting hole on the direction connecting plate.
3. The crawling welding robot according to claim 2, wherein: and limiting contact heads are arranged at two ends of the sliding groove and made of rubber materials.
4. A crawling welding robot as claimed in any one of claims 1 to 3, wherein: the robot body is including the drive seat of being connected with the base, be connected with vertical first rocking arm on the drive seat, first rocking arm free end is connected with L type support, the horizontal segment and the first rocking arm of L type support are connected, and the vertical section of L type support is connected with the second rocking arm, the second rocking arm free end is connected with welder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110551346.0A CN113210959A (en) | 2021-05-20 | 2021-05-20 | Crawling type welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110551346.0A CN113210959A (en) | 2021-05-20 | 2021-05-20 | Crawling type welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113210959A true CN113210959A (en) | 2021-08-06 |
Family
ID=77093248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110551346.0A Pending CN113210959A (en) | 2021-05-20 | 2021-05-20 | Crawling type welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113210959A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080038716A (en) * | 2006-10-31 | 2008-05-07 | 삼성중공업 주식회사 | Moving apparatus for robot |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN111015635A (en) * | 2020-01-08 | 2020-04-17 | 郑州轻工业大学 | Walking and fetching composite function execution device for walking robot |
| CN112123353A (en) * | 2020-10-16 | 2020-12-25 | 苏州鸿渺智能科技有限公司 | Industrial robot for detection and maintenance |
-
2021
- 2021-05-20 CN CN202110551346.0A patent/CN113210959A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080038716A (en) * | 2006-10-31 | 2008-05-07 | 삼성중공업 주식회사 | Moving apparatus for robot |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN111015635A (en) * | 2020-01-08 | 2020-04-17 | 郑州轻工业大学 | Walking and fetching composite function execution device for walking robot |
| CN112123353A (en) * | 2020-10-16 | 2020-12-25 | 苏州鸿渺智能科技有限公司 | Industrial robot for detection and maintenance |
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