CN114905523A - Five-axis welding robot - Google Patents
Five-axis welding robot Download PDFInfo
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- CN114905523A CN114905523A CN202210375140.1A CN202210375140A CN114905523A CN 114905523 A CN114905523 A CN 114905523A CN 202210375140 A CN202210375140 A CN 202210375140A CN 114905523 A CN114905523 A CN 114905523A
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- 238000003466 welding Methods 0.000 title claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 159
- 239000010687 lubricating oil Substances 0.000 claims abstract description 30
- 230000001050 lubricating effect Effects 0.000 claims abstract description 15
- 230000006835 compression Effects 0.000 claims abstract description 14
- 238000007906 compression Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000003860 storage Methods 0.000 claims description 26
- 238000009434 installation Methods 0.000 claims description 20
- 238000009826 distribution Methods 0.000 claims description 4
- 239000012535 impurity Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects 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
- 238000010422 painting Methods 0.000 description 1
- 238000007751 thermal spraying Methods 0.000 description 1
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Classifications
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- 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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- 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
- B23K37/0247—Driving means
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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
- B25J19/0062—Lubrication means
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
Abstract
The invention relates to the field of welding robots, in particular to a five-axis welding robot, which comprises a base, a driving mechanism, a connecting mechanism, a welding gun, a positioning mechanism, a lubricating mechanism, a limiting mechanism and a compression mechanism, wherein the base is provided with a positioning hole; when the driving mechanism and the connecting mechanism are spliced, the positioning mechanisms are mutually clamped, and when the driving mechanism drives the connecting mechanism to rotate, the positioning mechanisms synchronously rotate along with the connecting mechanism, and simultaneously, the positioning mechanisms enable the positions of all shafts of the connecting mechanism to deviate in the rotating process, so that the welding deviation is avoided; when the driving mechanism operates, the driving mechanism drives the positioning mechanism to rotate inside the lubricating mechanism, so that lubricating oil inside the lubricating mechanism is continuously smeared on the side wall of the positioning mechanism, the resistance of the positioning mechanism in the rotating process is reduced, the limiting mechanism drives the compression mechanism to continuously move back and forth when operating, the compression mechanism drives the lubricating oil to continuously move inside the compression mechanism and the positioning mechanism, and the flowability of the lubricating oil is increased.
Description
Technical Field
The invention relates to the field of welding robots, in particular to a five-axis welding robot.
Background
The welding robot is an industrial robot that engages in welding, including cutting and painting. 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 that a welding clamp or a welding (cutting) gun is arranged on a tail shaft flange of an industrial robot, so that the welding robot can carry out welding, cutting or thermal spraying.
When workpieces are welded, welding deviation sometimes occurs, when welding deviation frequently occurs, workers need to check zero positions of all shafts of the robot and re-calibrate and correct the zero positions, and labor capacity of the workers is large.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a five-axis welding robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: a five-axis welding robot comprises a base, a driving mechanism, a connecting mechanism, a welding gun, a positioning mechanism, a lubricating mechanism, a limiting mechanism and a compression mechanism, wherein the connecting mechanism used for adjusting a welding position is installed at the top end of the base, and the welding gun is installed at the top end of the connecting mechanism; the driving mechanism for driving the connecting mechanism to rotate is arranged in the connecting mechanism, the positioning mechanism for preventing the position of the rotating shaft of the robot from deviating is arranged at the joint of the driving mechanism and the connecting mechanism, and the lubricating mechanism for reducing the running resistance of the driving mechanism is arranged on the side wall of the driving mechanism; the bottom end of the driving mechanism is installed with a limiting mechanism which is used for preventing the connecting mechanism from shaking in the welding process, and the top end of the limiting mechanism is connected with a compression mechanism which is used for driving lubricating oil to move continuously in the driving mechanism.
Preferably, the connecting mechanism comprises a first mechanical arm, a supporting column, a second mechanical arm and a fixed seat, the side wall of the base is rotatably connected with the first mechanical arm, and the side wall and the bottom end of the supporting column are respectively rotatably connected with the second mechanical arm and the first mechanical arm; the top end of the second mechanical arm is rotatably connected with the fixed seat, and one end of the fixed seat is provided with the welding gun.
Preferably, the driving mechanism comprises a variable frequency motor, a fixed shaft, a clamping plate, a fixed sleeve, a fixed column, a limiting block and a screw rod, the variable frequency motor and the fixed sleeve are respectively installed inside the base, at the top end of the first mechanical arm, inside the supporting column and at one end of the second mechanical arm, the fixed shaft is installed at one end of the variable frequency motor, and the fixed shaft penetrates through the first mechanical arm, the supporting column, the second mechanical arm and the fixed seat; the fixed columns are respectively installed on the side walls of the first mechanical arm, the supporting column, the second mechanical arm and the fixed seat; the side wall of the fixed shaft is clamped with the clamping plate, and the clamping plate is in threaded connection with the screw rod; the side walls of the clamping plates are symmetrically provided with the limiting blocks, and the limiting blocks are clamped with the hexagonal fixing columns.
Preferably, the positioning mechanism comprises a first fixed disk, a connecting plate, a second fixed disk, a connecting shaft and a clamping plate, the connecting shaft is rotatably connected inside the fixed sleeve, the fixed shaft is fixedly connected inside the connecting shaft, and the second fixed disk is mounted at one end of the connecting shaft; the first mechanical arm, the support column, the second mechanical arm and the lateral wall of fixing base are fixed connection respectively first fixed disk, the one end installation of first fixed disk is annular distribution the connecting plate, the lateral wall installation of second fixed disk is annular distribution the cardboard, the cardboard block the connecting plate.
Preferably, the lubricating mechanism comprises a storage box, a connecting pipe, a communicating pipe, a clamping groove, a ball and a fixing ring, the storage box is mounted on the side wall of the fixing sleeve, and the connecting pipe is mounted at one end of the storage box; the clamping groove is formed in the fixed sleeve, and two ends of the communicating pipe are respectively connected with the clamping groove and the connecting pipe; one end of the clamping groove is fixedly connected with the ball, and the ball is connected with the side wall of the connecting shaft in a sliding manner; the side wall of the connecting shaft is provided with the fixing ring, and the fixing ring is rotatably connected with the inner part of the fixing sleeve.
Preferably, the limiting mechanism comprises a support, a hydraulic cylinder, a sliding rod, a connecting sleeve and a brake pad, the support is installed on the side wall of the fixing sleeve, and the hydraulic cylinder is installed at one end of the support; one end of the hydraulic cylinder is connected with the sliding rod; the connecting sleeve is arranged on the side wall of the fixed sleeve, and the inside of the connecting sleeve is connected with the sliding rod in a sliding manner; the lateral wall installation of slide bar the brake block, just the brake block conflict lateral wall is curved the lateral wall of second fixed disk.
Preferably, the compression mechanism comprises a storage tube, a fixed tube, a piston, a pull rod and an installation tube, the pull rod is installed on the side wall of the brake pad, the piston is installed on the side wall of the pull rod, and the piston is connected with the inside of the fixed tube in a sliding manner; the top of memotron is connected perpendicularly the fixed pipe, the top symmetry installation of memotron the installation pipe, the one end of installation pipe is contradicted the lateral wall of connecting axle.
The invention has the beneficial effects that:
(1) according to the five-axis welding robot, when the driving mechanism and the connecting mechanism are spliced, the positioning mechanisms are mutually clamped, when the driving mechanism drives the connecting mechanism to rotate, the positioning mechanisms synchronously rotate along with the connecting mechanism, and meanwhile, the positioning mechanisms enable the positions of all shafts of the connecting mechanism to deviate in the rotating process, so that the welding deviation is avoided.
(2) According to the five-axis welding robot, when the driving mechanism operates, the driving mechanism drives the positioning mechanism to rotate in the lubricating mechanism, so that lubricating oil in the lubricating mechanism is continuously smeared on the side wall of the positioning mechanism, the resistance of the positioning mechanism in the rotating process is reduced, when the limiting mechanism operates to fix the connecting mechanism, the limiting mechanism drives the compression mechanism to continuously move back and forth, the compression mechanism moves to drive the lubricating oil to continuously move in the compression mechanism and the positioning mechanism, the flowability of the lubricating oil is increased, and the friction force generated when the positioning mechanism rotates is further reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of a five-axis welding robot according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a second robot arm shown in FIG. 1;
FIG. 3 is a schematic view of the drive mechanism shown in FIG. 1;
FIG. 4 is an enlarged view of the structure at A shown in FIG. 3;
FIG. 5 is an enlarged view of the structure shown at B in FIG. 3;
FIG. 6 is a schematic structural view of the second fixing plate shown in FIG. 3;
fig. 7 is a side view of the first robot structure shown in fig. 1.
In the figure: 1. the welding machine comprises a base, 2, a driving mechanism, 21, a variable frequency motor, 22, a fixed shaft, 23, a clamping plate, 24, a fixed sleeve, 25, a fixed column, 26, a limiting block, 27, a screw rod, 3, a connecting mechanism, 31, a first mechanical arm, 32, a supporting column, 33, a second mechanical arm, 34, a fixed seat, 4, a welding gun, 5, a positioning mechanism, 51, a first fixed disk, 52, a connecting plate, 53, a second fixed disk, 54, a connecting shaft, 55, a clamping plate, 6, a lubricating mechanism, 61, a storage box, 62, a connecting pipe, 63, a communicating pipe, 64, a clamping groove, 65, a ball, 66, a fixed ring, 7, a limiting mechanism, 71, a support, 72, a hydraulic cylinder, 73, a sliding rod, 74, a connecting sleeve, 75, a brake pad, 8, a compression mechanism, 81, a storage pipe, 82, a fixed pipe, 83, a piston, 84, a pull rod, 85 and a mounting pipe.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-7, the five-axis welding robot of the present invention includes a base 1, a driving mechanism 2, a connecting mechanism 3, a welding gun 4, a positioning mechanism 5, a lubricating mechanism 6, a limiting mechanism 7 and a compressing mechanism 8, wherein the connecting mechanism 3 for adjusting a welding position is installed at a top end of the base 1, and the welding gun 4 is installed at a top end of the connecting mechanism 3; the driving mechanism 2 for driving the connecting mechanism 3 to rotate is arranged in the connecting mechanism 3, the positioning mechanism 5 for preventing the position of the rotating shaft of the robot from deviating is arranged at the joint of the driving mechanism 2 and the connecting mechanism 3, and the lubricating mechanism 6 for reducing the operation resistance of the driving mechanism 2 is arranged on the side wall of the driving mechanism 2; the bottom end of the driving mechanism 2 is provided with a limiting mechanism 7 for preventing the connecting mechanism 3 from shaking in the welding process, and the top end of the limiting mechanism 7 is connected with a compression mechanism 8 which is used for driving lubricating oil to continuously move in the driving mechanism 2.
The connecting mechanism 3 comprises a first mechanical arm 31, a support column 32, a second mechanical arm 33 and a fixed seat 34, the side wall of the base 1 is rotatably connected with the first mechanical arm 31, and the side wall and the bottom end of the support column 32 are respectively rotatably connected with the second mechanical arm 33 and the first mechanical arm 31; the top end of the second mechanical arm 33 is rotatably connected to the fixed seat 34, one end of the fixed seat 34 is provided with the welding gun 4, so that the first mechanical arm 31, the support column 32, the second mechanical arm 33 and the fixed seat 34 can rotate conveniently, the welding gun 4 is driven to move, and the welding gun 4 is driven to move to a proper position.
The driving mechanism 2 comprises a variable frequency motor 21, a fixed shaft 22, a clamping plate 23, a fixed sleeve 24, a fixed column 25, a limited block 26 and a screw 27, the variable frequency motor 21 and the fixed sleeve 24 are respectively installed inside the base 1, at the top end of the first mechanical arm 31, inside the supporting column 32 and at one end of the second mechanical arm 33, the fixed shaft 22 is installed at one end of the variable frequency motor 21, and the fixed shaft 22 penetrates through the first mechanical arm 31, the supporting column 32, the second mechanical arm 33 and the fixed seat 34; the fixed column 25 is respectively installed on the side walls of the first mechanical arm 31, the support column 32, the second mechanical arm 33 and the fixed seat 34; the side wall of the fixed shaft 22 is clamped with the clamping plate 23, and the clamping plate 23 is in threaded connection with the screw 27; the limiting blocks 26 are symmetrically mounted on the side walls of the clamping plate 23, the limiting blocks 26 are fastened with the hexagonal fixing columns 25, when the first mechanical arm 31 needs to be connected with the base 1, the first mechanical arm 31 is moved to a proper position, the fixing shaft 22 penetrates through the first mechanical arm 31, the clamping plate 23 and the limiting blocks 26 are respectively clamped between the fixing shaft 22 and the fixing columns 25, and the clamping plate 23 is fixed by using the screw 27, so that one end of the fixing shaft 22 is fixed inside the first mechanical arm 31; when the variable frequency motor 21 operates to drive the fixed shaft 22 to rotate, the fixed shaft 22 drives the first mechanical arm 31 to rotate.
The positioning mechanism 5 comprises a first fixed disc 51, a connecting plate 52, a second fixed disc 53, a connecting shaft 54 and a clamping plate 55, the connecting shaft 54 is rotatably connected inside the fixed sleeve 24, the fixed shaft 22 is fixedly connected inside the connecting shaft 54, and the second fixed disc 53 is installed at one end of the connecting shaft 54; the side walls of the first mechanical arm 31, the supporting column 32, the second mechanical arm 33 and the fixed seat 34 are respectively fixedly connected with the first fixed disk 51, the connecting plates 52 distributed annularly are installed at one end of the first fixed disk 51, the clamping plates 55 distributed annularly are installed on the side walls of the second fixed disk 53, the clamping plates 55 are clamped with the connecting plates 52, when the first mechanical arm 31 is connected with the fixed shaft 22, the first mechanical arm 31 drives the first fixed disk 51 and the connecting plate 52 to move towards the second fixed disk 53, so that the connecting plate 52 moves into the clamping plate 55, the clamping plate 55 fixes and supports the connecting plate 52, the first fixed disk 51 and the first mechanical arm 31, so as to fix the fixed shaft 22 and the first mechanical arm 33 together; and when the fixed shaft 22 drives the connecting mechanism 3 to rotate, the first fixed disk 51, the clamping plate 55, the connecting plate 52 and the second fixed disk 53 rotate synchronously along with the connecting mechanism 3, and the clamping plate 55 is clamped and fixed with the connecting plate 52, so that the connecting plate 52, the second fixed disk 53 and the connecting mechanism 3 are prevented from offsetting in the rotating process, the fixed shaft 22 and the connecting mechanism 3 are prevented from offsetting, and the welding deviation situation is avoided.
The lubricating mechanism 6 comprises a storage box 61, a connecting pipe 62, a communicating pipe 63, a clamping groove 64, a ball 65 and a fixing ring 66, wherein the storage box 61 is installed on the side wall of the fixing sleeve 24, and the connecting pipe 62 is installed at one end of the storage box 61; the clamping groove 64 is arranged in the fixed sleeve 24, and two ends of the communicating pipe 63 are respectively connected with the clamping groove 64 and the connecting pipe 62; one end of the clamping groove 64 is fixedly connected with the ball 65, and the ball 65 is slidably connected with the side wall of the connecting shaft 54; the fixing ring 66 is mounted on the side wall of the connecting shaft 54, and the fixing ring 66 is rotatably connected with the inside of the fixing sleeve 24, so as to conveniently add the lubricating oil into the storage box 61, the lubricating oil in the storage box 61 enters the inside of the clamping groove 64 through the connecting pipe 62 and the communicating pipe 63, the balls 65 block the lubricating oil from flowing out from the inside of the clamping groove 64, when the fixing shaft 22 drives the first fixing disc 51 and the connecting shaft 54 to rotate, the connecting shaft 54 rotates on the side wall of the balls 65, and the balls 65 roll in the inside of the clamping groove 64, so that the balls 65 rotate to coat the lubricating oil on the side wall of the connecting shaft 54, thereby reducing the friction force of the connecting shaft 54 on the side wall rotation of the fixing sleeve 24, and when the connecting shaft 54 drives the solidifying ring 66 to rotate in the inside of the fixing sleeve 24, the fixed ring 66 blocks the outflow of the lubricating oil from between the connecting shaft 54 and the fixed sleeve 24.
The limiting mechanism 7 comprises a bracket 71, a hydraulic cylinder 72, a sliding rod 73, a connecting sleeve 74 and a brake pad 75, the bracket 71 is installed on the side wall of the fixed sleeve 24, and the hydraulic cylinder 72 is installed at one end of the bracket 71; one end of the hydraulic cylinder 72 is connected with the sliding rod 73; the side wall of the fixed sleeve 24 is provided with the connecting sleeve 74, and the inside of the connecting sleeve 74 is connected with the sliding rod 73 in a sliding manner; the installation of slide bar 73's lateral wall brake block 75, just the conflict lateral wall of brake block 75 is curved the lateral wall of second fixed disk 53, in order to fix when needs coupling mechanism 3 is the time, open pneumatic cylinder 72, the motion of pneumatic cylinder 72 promotes slide bar 73 is in the inside of adapter sleeve 74 rotates, makes slide bar 73 promotes brake block 75 hugs closely gradually the lateral wall of second fixed disk 53, thus will second fixed disk 53 first fixed disk 51 with coupling mechanism 3 is fixed, prevents coupling mechanism 3 rotates.
The compression mechanism 8 comprises a storage tube 81, a fixed tube 82, a piston 83, a pull rod 84 and an installation tube 85, the pull rod 84 is installed on the side wall of the brake pad 75, the piston 83 is installed on the side wall of the pull rod 84, and the piston 83 is connected with the inside of the fixed tube 82 in a sliding manner; the top end of the storage tube 81 is vertically connected with the fixed tube 82, the top end of the storage tube 81 is symmetrically provided with the installation tube 85, one end of the installation tube 85 is abutted against the side wall of the connecting shaft 54, in order to enable the sliding rod 73 to drive the brake pad 75 to move, the sliding rod 73 drives the pull rod 84 and the piston 83 to continuously move back and forth in the fixed tube 82, the piston 83 continuously moves back and forth in the fixed tube 82 to generate suction force and thrust force, when the fixed tube 82 generates suction force, the lubricating oil on the side wall of the connecting shaft 54 continuously enters the storage tube 81 through the installation tube 85, the lubricating oil is stored in the storage tube 81, and along with the continuous use of the lubricating oil, the lubricating oil contains partial impurities, so that the lubricating oil impurities are deposited at the bottom end of the storage tube 81, and when the thrust force is generated in the fixed tube 82, part of the lubricating oil re-enters the side wall of the connecting shaft 54 through the mounting tube 85, increasing the fluidity of the lubricating oil between the connecting shaft 54 and the fixing sleeve 24.
When the first mechanical arm 31 needs to be connected with the base 1, the first mechanical arm 31 is moved to a suitable position, the fixed shaft 22 penetrates through the first mechanical arm 31, the first mechanical arm 31 drives the first fixed disk 51 and the connecting plate 52 to move towards the second fixed disk 53, the connecting plate 52 moves into the clamping plate 55, the clamping plate 55 fixes and supports the connecting plate 52, the first fixed disk 51 and the first mechanical arm 31, the clamping plate 23 and the limiting block 26 respectively clamp the fixed shaft 22 and the fixed column 25, and the screw 27 fixes the clamping plate 23, so that one end of the fixed shaft 22 is fixed inside the first mechanical arm 31; similarly, the supporting column 32, the second mechanical arm 33 and the fixing shaft 34 are sequentially connected to the fixing shaft 22. When the welding gun 4 needs to be rotated to a proper position by an external power supply of the device, the hydraulic cylinder 72 is opened to move to drive the brake pad 75 and the second fixed disk 53 to be separated, the variable frequency motor 21 starts to operate to drive the fixed shaft 22 to rotate, and when the fixed shaft 22 drives the connecting mechanism 3 to rotate, the first fixed disk 51, the clamping plate 55, the connecting plate 52 and the second fixed disk 53 rotate synchronously along with the connecting mechanism 3, and the clamping plate 55 is clamped and fixed with the connecting plate 52 to prevent the positions of the connecting plate 52, the second fixed disk 53 and the connecting mechanism 3 from being deviated in the rotating process, so that the fixed shaft 22 and the connecting mechanism 3 are not deviated in position, and the welding deviation situation is avoided. When the fixed shaft 22 drives the first fixed disk 51 and the connecting shaft 54 to rotate, the connecting shaft 54 rotates on the side wall of the ball 65, and simultaneously the ball 65 rolls in the clamping groove 64, so that the ball 65 rotates to coat lubricating oil on the side wall of the connecting shaft 54, and friction force of the connecting shaft 54 rotating on the side wall of the fixed sleeve 24 is reduced, and when the connecting shaft 54 drives the curing ring 66 to rotate in the fixed sleeve 24, the fixing ring 66 blocks the lubricating oil from flowing out between the connecting shaft 54 and the fixed sleeve 24. When the welding gun 4 reaches a designated position, the hydraulic cylinder 72 is opened, the hydraulic cylinder 72 moves to push the sliding rod 73 to rotate in the connecting sleeve 74, so that the sliding rod 73 pushes the brake pad 75 to be gradually attached to the side wall of the second fixed disk 53, and the second fixed disk 53, the first fixed disk 51 and the connecting mechanism 3 are fixed, thereby preventing the connecting mechanism 3 from rotating and facilitating the operation of the welding gun 4. When the sliding rod 73 drives the brake pad 75 to move continuously, the sliding rod 73 drives the pull rod 84 and the piston 83 to move back and forth continuously in the fixed tube 82, the piston 83 moves back and forth continuously in the fixed tube 82 to generate suction force and thrust force, when the fixed tube 82 generates suction force, the lubricating oil on the side wall of the connecting shaft 54 continuously enters the storage tube 81 through the installation tube 85, the lubricating oil is stored in the storage tube 81, and along with the continuous use of the lubricating oil, the lubricating oil contains partial impurities, so that the lubricating oil impurities are deposited at the bottom end of the storage tube 81, and when the fixed tube 82 generates thrust force, the partial lubricating oil enters the side wall of the connecting shaft 54 again through the installation tube 85, so that the fluidity of the lubricating oil between the connecting shaft 54 and the fixed sleeve 24 is increased, facilitating rotation of the connecting shaft 54.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A five-axis welding robot is characterized in that: the welding device comprises a base (1), a driving mechanism (2), a connecting mechanism (3), a welding gun (4), a positioning mechanism (5), a lubricating mechanism (6), a limiting mechanism (7) and a compressing mechanism (8), wherein the connecting mechanism (3) for adjusting the welding position is installed at the top end of the base (1), and the welding gun (4) is installed at the top end of the connecting mechanism (3); the driving mechanism (2) for driving the connecting mechanism (3) to rotate is arranged in the connecting mechanism (3), the positioning mechanism (5) for preventing the position of the rotating shaft of the robot from deviating is arranged at the joint of the driving mechanism (2) and the connecting mechanism (3), and the lubricating mechanism (6) for reducing the operation resistance of the driving mechanism (2) is arranged on the side wall of the driving mechanism (2); the bottom end of the driving mechanism (2) is installed to prevent the connecting mechanism (3) from shaking in the welding process, the limiting mechanism (7) is connected to the top end of the limiting mechanism (7) and used for driving lubricating oil to move continuously in the driving mechanism (2), and the compressing mechanism (8) is arranged on the top end of the limiting mechanism (7).
2. The five-axis welding robot according to claim 1, characterized in that: the connecting mechanism (3) comprises a first mechanical arm (31), a supporting column (32), a second mechanical arm (33) and a fixed seat (34), the side wall of the base (1) is rotatably connected with the first mechanical arm (31), and the side wall and the bottom end of the supporting column (32) are respectively rotatably connected with the second mechanical arm (33) and the first mechanical arm (31); the top end of the second mechanical arm (33) is rotatably connected with the fixed seat (34), and one end of the fixed seat (34) is provided with the welding gun (4).
3. The five-axis welding robot according to claim 2, characterized in that: the driving mechanism (2) comprises a variable frequency motor (21), a fixed shaft (22), a clamping plate (23), a fixed sleeve (24), a fixed column (25), a limiting block (26) and a screw (27), the variable frequency motor (21) and the fixed sleeve (24) are respectively installed inside the base (1), at the top end of the first mechanical arm (31), inside the supporting column (32) and at one end of the second mechanical arm (33), the fixed shaft (22) is installed at one end of the variable frequency motor (21), and the fixed shaft (22) penetrates through the first mechanical arm (31), the supporting column (32), the second mechanical arm (33) and the fixed seat (34); the fixed columns (25) are respectively installed on the side walls of the first mechanical arm (31), the supporting column (32), the second mechanical arm (33) and the fixed seat (34); the side wall of the fixed shaft (22) is clamped with the clamping plate (23), and the clamping plate (23) is in threaded connection with the screw rod (27); the side walls of the clamping plates (23) are symmetrically provided with the limiting blocks (26), and the limiting blocks (26) are clamped with the hexagonal fixing columns (25).
4. The five-axis welding robot according to claim 3, characterized in that: the positioning mechanism (5) comprises a first fixed disc (51), a connecting plate (52), a second fixed disc (53), a connecting shaft (54) and a clamping plate (55), the connecting shaft (54) is rotatably connected inside the fixed sleeve (24), the connecting shaft (22) is fixedly connected inside the connecting shaft (54), and the second fixed disc (53) is installed at one end of the connecting shaft (54); first arm (31), support column (32), second arm (33) and the lateral wall of fixing base (34) is fixed connection respectively first fixed disk (51), the one end installation of first fixed disk (51) is the annular distribution connecting plate (52), the lateral wall installation of second fixed disk (53) is the annular distribution cardboard (55), cardboard (55) block connecting plate (52).
5. The five-axis welding robot according to claim 4, characterized in that: the lubricating mechanism (6) comprises a storage box (61), a connecting pipe (62), a communicating pipe (63), a clamping groove (64), a ball (65) and a fixing ring (66), the storage box (61) is installed on the side wall of the fixing sleeve (24), and the connecting pipe (62) is installed at one end of the storage box (61); the clamping groove (64) is formed in the fixed sleeve (24), and two ends of the communicating pipe (63) are respectively connected with the clamping groove (64) and the connecting pipe (62); one end of the clamping groove (64) is fixedly connected with the ball (65), and the ball (65) is connected with the side wall of the connecting shaft (54) in a sliding manner; the side wall of the connecting shaft (54) is provided with the fixing ring (66), and the fixing ring (66) is rotatably connected with the inside of the fixing sleeve (24).
6. The five-axis welding robot according to claim 5, characterized in that: the limiting mechanism (7) comprises a support (71), a hydraulic cylinder (72), a sliding rod (73), a connecting sleeve (74) and a brake pad (75), the support (71) is installed on the side wall of the fixing sleeve (24), and the hydraulic cylinder (72) is installed at one end of the support (71); one end of the hydraulic cylinder (72) is connected with the sliding rod (73); the connecting sleeve (74) is installed on the side wall of the fixed sleeve (24), and the inside of the connecting sleeve (74) is connected with the sliding rod (73) in a sliding manner; the lateral wall installation of slide bar (73) brake block (75), just brake block (75) conflict lateral wall is curved the lateral wall of second fixed disk (53).
7. The five-axis welding robot according to claim 6, characterized in that the compression mechanism (8) comprises a storage tube (81), a fixed tube (82), a piston (83), a pull rod (84) and a mounting tube (85), the pull rod (84) is mounted on the side wall of the brake pad (75), the piston (83) is mounted on the side wall of the pull rod (84), and the piston (83) is slidably connected with the inside of the fixed tube (82); the top of storage tube (81) is connected perpendicularly fixed pipe (82), the top symmetry installation of storage tube (81) installation pipe (85), the one end of installation pipe (85) is contradicted the lateral wall of connecting axle (54).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210375140.1A CN114905523A (en) | 2022-04-11 | 2022-04-11 | Five-axis welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210375140.1A CN114905523A (en) | 2022-04-11 | 2022-04-11 | Five-axis welding robot |
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| CN114905523A true CN114905523A (en) | 2022-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210375140.1A Pending CN114905523A (en) | 2022-04-11 | 2022-04-11 | Five-axis welding robot |
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| US20120034022A1 (en) * | 2010-08-05 | 2012-02-09 | Hon Hai Precision Industry Co., Ltd. | Robotic arm assembly |
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| CN111923086A (en) * | 2020-07-10 | 2020-11-13 | 杭州桥福科技有限公司 | Lubricating protection device for large robot manipulator |
| CN112659183A (en) * | 2020-12-16 | 2021-04-16 | 湖南三易精工科技有限公司 | Automatic assembling device for robot machining |
| CN113459167A (en) * | 2021-07-29 | 2021-10-01 | 尚大(苏州)智能制造研究院有限公司 | Numerical control robot arm with circulating lubrication and bending protection functions |
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2022
- 2022-04-11 CN CN202210375140.1A patent/CN114905523A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120034022A1 (en) * | 2010-08-05 | 2012-02-09 | Hon Hai Precision Industry Co., Ltd. | Robotic arm assembly |
| US20180031109A1 (en) * | 2016-07-28 | 2018-02-01 | Seiko Epson Corporation | Robot, gear device, and manufacturing method for gear device |
| CN108907410A (en) * | 2018-08-07 | 2018-11-30 | 南通振康机械有限公司 | A kind of stable robot wire feed system |
| CN111923086A (en) * | 2020-07-10 | 2020-11-13 | 杭州桥福科技有限公司 | Lubricating protection device for large robot manipulator |
| CN112659183A (en) * | 2020-12-16 | 2021-04-16 | 湖南三易精工科技有限公司 | Automatic assembling device for robot machining |
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