CN118321813B - Series-parallel welding robot for narrow space operation - Google Patents
Series-parallel welding robot for narrow space operation Download PDFInfo
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- CN118321813B CN118321813B CN202410728789.6A CN202410728789A CN118321813B CN 118321813 B CN118321813 B CN 118321813B CN 202410728789 A CN202410728789 A CN 202410728789A CN 118321813 B CN118321813 B CN 118321813B
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- 238000003466 welding Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 4
- 210000001503 joint Anatomy 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- 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)
- Manipulator (AREA)
Abstract
The invention discloses a serial-parallel welding robot for narrow space operation, which is characterized by comprising a base, a vertical rod and a mechanical arm assembly with multiple degrees of freedom, wherein the base is provided with a vertical rod rotation driving mechanism, so that the vertical rod can rotate around a Z axis, and a parallel extension mechanism is arranged between the mechanical arm assembly and the vertical rod, so that the mechanical arm assembly can move along the Z direction for a long distance and along the Y direction for a short distance; the parallel extending mechanism has the advantages that as the parallel extending mechanism is arranged between the mechanical arm assembly and the vertical rod, the parallel extending mechanism not only prevents the coupling phenomenon of the serial mechanical arms in the welding process, ensures the movement and control precision of the mechanical arms, improves the welding quality of the robot, but also improves the integral rigidity of the welding robot.
Description
Technical Field
The invention relates to the technical field of automatic welding robots, in particular to a serial-parallel welding robot for narrow space operation.
Background
Welding has evolved into one of the important processes in the manufacturing industry, playing an important role in industrial production. With the rapid development of automated production lines and robotics, welding robots are widely used. However, for welding operation of narrow components (such as a long and deep narrow box body), the whole volume of the existing welding robot is large and heavy, the welding operation of the mechanical arm on the door-shaped welding seam in the narrow box body is limited, the welding is difficult, and some welding mechanical arms cannot enter the narrow components for operation, so that the existing welding robot is difficult to meet the welding production requirement on the inside of the narrow components, and the welding of the internal structures of many narrow components still adopts a manual welding mode at present. The welding operation site is usually bad in conditions, so that not only are high-temperature, high-humidity and other environmental factors exist, but also dust, noise and other hazards exist, and the health of workers is seriously threatened. Particularly, when welding work is performed on a low-position structure inside a narrow part, a worker needs to maintain a half squat posture for a long time, which not only reduces the quality of the welding work, but also greatly increases the labor burden of the worker. In view of the above-described circumstances, it is particularly important to develop a welding robot arm suitable for use in a narrow space operation.
Disclosure of Invention
The invention aims to solve the technical problem of providing a serial-parallel welding robot for narrow space operation, which can replace manual welding operation for the interior of a narrow part and improves welding quality and welding efficiency.
The technical scheme adopted for solving the technical problems is as follows: a series-parallel welding robot for narrow space operation, includes base, pole setting and has multi freedom's arm module, the base on be provided with pole setting rotary drive mechanism for the pole setting can rotate around the Z axle, the arm module with the pole setting between be provided with parallelly connected extending mechanism, make the arm module can follow Z to long distance removal and follow Y to short distance removal.
Further, the parallel extending mechanism comprises a first sliding plate, a second sliding plate, a parallel mounting plate, a supporting mounting plate, an extending platform plate, a supporting rod and two groups of connecting rod groups which are arranged in parallel up and down, wherein each connecting rod group comprises two connecting rods which are distributed along the X direction at intervals and are arranged in parallel, one end of each connecting rod is hinged with the parallel mounting plate, the other end of each connecting rod is hinged with the extending platform plate, the connecting rods are enabled to rotate around the X axis relatively between the connecting rods and the parallel mounting plate, the connecting rods and the extending platform plate, the mechanical arm assembly is fixed on the extending platform plate, supporting plates are fixedly arranged on two connecting rods of one group of connecting rod groups, one end of each supporting rod is hinged with each supporting plate, the other end of each supporting rod is hinged with the supporting plate, each supporting rod is relatively rotated around the X axis, the parallel mounting plate is fixed with the first sliding plate, each supporting rod is fixed with the second sliding plate relatively, and the first vertical rod and the second vertical rod are arranged vertically and are matched with the first sliding plate and the second sliding plate vertically, and the parallel mechanism is arranged on the first sliding plate and the second sliding plate are independently, and the parallel mechanism can be controlled to move, and the parallel mechanism and the sliding mechanism and the position of the first sliding plate and the sliding plate are arranged vertically are controlled.
Further, the first slide board moving driving mechanism comprises a first motor, a first lead screw and a first nut block, wherein the first motor is fixed on the vertical rod, the first lead screw is rotationally connected with the vertical rod, a driving shaft of the first motor is coaxially fixed with the first lead screw, the first nut block is in threaded connection with the first lead screw, and the first nut block is fixed with the first slide board to drive the first slide board to move up and down.
Further, the second slide board moving driving mechanism comprises a second motor, a second screw rod and a second nut block, wherein the second motor is fixed on the vertical rod, the second screw rod is rotationally connected with the vertical rod and parallel to the first screw rod, a driving shaft of the second motor is coaxially fixed with the second screw rod, the second nut block is in threaded connection with the second screw rod, and the second nut block is fixed with the second slide board to drive the second slide board to move up and down.
Further, the lower extreme of pole setting fixedly be provided with the stopper, the up end of stopper be provided with elastic cushion pad.
Further, the mechanical arm assembly has five degrees of freedom.
Further, the mechanical arm assembly comprises a first connecting arm and a second connecting arm, the rear end of the first connecting arm is fixed with the extending platform plate, a first rotary joint is fixedly arranged at the front end of the first connecting arm, a linear module is fixedly arranged in the second connecting arm, a sliding table connecting plate on the linear module is fixed with the first rotary joint, the second connecting arm can rotate around a Z axis and can move along a Y direction, a second rotary joint is fixedly arranged at the front end of the second connecting arm, a tail end joint is fixedly connected to the second rotary joint, the tail end joint can rotate around the Y axis, and the tail end joint has two degrees of freedom.
Further, the terminal joint comprises a first joint seat, a second joint seat, a third motor and a fourth motor, wherein the first joint seat is fixed with the second rotary joint, the third motor is fixed in the first joint seat, the second joint seat is rotationally connected to the first joint seat and rotates around the X axis relative to the first joint seat, the third motor drives the second joint seat to rotate around the X axis through a belt pulley assembly, the fourth motor is fixed in the second joint seat, and a driving shaft of the fourth motor drives a welding gun to rotate around the Y axis through a speed reducer.
Further, the pole setting rotary driving mechanism comprises a fifth motor, a driving gear and a driven gear, the lower end of the pole setting is fixedly provided with a pole setting seat, the fifth motor is fixed on the pole setting seat, a driving shaft of the fifth motor is coaxially fixed with the driving gear, the driven gear is fixed with the base, the pole setting seat is coaxially and rotatably connected with the driven gear, and the driving gear is meshed with the driven gear.
Further, the lower end of the base is provided with a universal wheel.
Compared with the prior art, the invention has the advantages that:
(1) Because the parallel extending mechanism is arranged between the mechanical arm assembly and the upright rod, the mechanical arm assembly can move along the Z direction for a long distance and move along the Y direction for a short distance, the mechanism not only prevents the coupling phenomenon of the serial mechanical arm in the welding process, ensures the movement and control precision of the mechanical arm, improves the welding quality of the robot, but also improves the integral rigidity of the welding robot;
(2) The welding robot provided by the invention has the advantages that two rotational degrees of freedom around the Z axis are designed, the contact surfaces of the mechanical arm assembly and the inside of the narrow part are kept parallel, multi-angle rotational welding can be performed, and the flexibility and the adaptability of welding operation are improved;
(3) Because the mechanical arm assembly has both rotational freedom and translational freedom, the mechanical arm assembly can easily enter the inside of a narrow part (such as a long and deep box body) and accurately weld difficult-to-weld parts such as a door-shaped welding line in a limited space.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the present invention;
FIG. 3 is a schematic diagram showing the connection state of the first connecting arm and the second connecting arm according to the present invention;
FIG. 4 is a schematic view showing the internal structure of the first connecting arm of the present invention;
FIG. 5 is a schematic view showing the internal structure of a second connecting arm according to the present invention;
FIG. 6 is a schematic view of the external structure of the end joint of the present invention;
Fig. 7 is a top view, in semi-section, of an end joint of the present invention.
Detailed Description
The invention is described in further detail below with reference to the embodiments of the drawings.
As shown in the figure, the serial-parallel welding robot for narrow space operation comprises a base 1, a vertical rod 2 and a mechanical arm assembly 3 with five degrees of freedom, wherein the lower end of the base 1 is provided with a universal wheel 4, the base 1 is provided with a vertical rod rotation driving mechanism, so that the vertical rod 2 can rotate around a Z axis, the vertical rod rotation driving mechanism comprises a fifth motor 5, a driving gear 51 and a driven gear 52, the lower end of the vertical rod 2 is fixedly provided with a vertical rod seat 21, the fifth motor 5 is fixed on the vertical rod seat 21, a driving shaft of the fifth motor 5 is coaxially fixed with the driving gear 51, the driven gear 52 is fixed with the base 1, the vertical rod seat 21 is coaxially and rotatably connected with the driven gear 52, The driving gear 51 is meshed with the driven gear 52, and the fifth motor 5 drives the driving gear 51 to rotate around the driven gear 52, so as to drive the upright rod 2 to rotate around the Z axis; A parallel extending mechanism is arranged between the mechanical arm assembly 3 and the vertical rod 2, so that the mechanical arm assembly 3 can move along the Z direction for a long distance and along the Y direction for a short distance, the parallel extending mechanism comprises a first sliding plate 6, a second sliding plate 7, a parallel mounting plate 8, a support mounting plate 9, an extending platform plate 10, a supporting rod 11 and two groups of connecting rod groups which are arranged up and down in parallel, each group of connecting rod groups comprises two connecting rods 12 which are distributed at intervals along the X direction and are arranged in parallel, one end of each connecting rod 12 is hinged with the parallel mounting plate 8, the other end of each connecting rod 12 is hinged with the extending platform plate 10, the connecting rods 12 and the parallel mounting plate 8 and the extending platform plate 10 are rotated relatively around the X axis, A parallelogram mechanism is formed among the four connecting rods 12, the parallel mounting plate 8 and the extension platform plate 10, so that the parallel mounting plate 8 and the extension platform plate 10 are always parallel during movement; Wherein, the two connecting rods 12 of one group of connecting rod groups are fixedly provided with a supporting plate 13, one end of a supporting rod 11 is hinged with the supporting plate 13, the other end is hinged with a supporting mounting plate 9, so that the supporting rod 11 and the supporting plate 13, the supporting rod 11 and the supporting mounting plate 9 are rotated around an X axis relatively, the parallel mounting plate 8 is fixed with the first sliding plate 6, the supporting mounting plate 9 is fixed with the second sliding plate 7, the first sliding plate 6 and the second sliding plate 7 are arranged up and down and are matched with the vertical rod 2 in a sliding way (namely Z direction), in particular, the guide rails are arranged on the vertical rod 2, the sliding blocks are respectively fixed on the first sliding plate 6 and the second sliding plate 7, and the sliding blocks are matched with the guide rails in a sliding way up and down, The triangular stable structure is formed among the supporting rod 11, the connecting rod 12 and the vertical rod 2, so that the parallel extending mechanism is ensured to have stronger rigidity; The vertical rod 2 is provided with a first sliding plate moving driving mechanism and a second sliding plate moving driving mechanism, the first sliding plate moving driving mechanism comprises a first motor 14, a first lead screw 15 and a first nut block 16, the first motor 14 is fixed on the vertical rod 2, the first lead screw 15 is rotationally connected with the vertical rod 2, a driving shaft of the first motor 14 is coaxially fixed with the first lead screw 15 through a coupler, the first nut block 16 is in threaded connection with the first lead screw 15, and the first nut block 16 is fixed with the first sliding plate 6 so as to drive the first sliding plate 6 to move up and down; the second slide plate moving driving mechanism comprises a second motor 17, a second screw rod 18 and a second nut block (not shown in the figure), wherein the second motor 17 is fixed on the vertical rod 2, the second screw rod 18 is rotationally connected with the vertical rod 2 and is parallel to the first screw rod 15, a driving shaft of the second motor 17 is coaxially fixed with the second screw rod 18 through a coupler, the second nut block is in threaded connection with the second screw rod 18, and the second nut block is fixed with the second slide plate 7 so as to drive the second slide plate 7 to move up and down; when the first sliding plate 6 and the second sliding plate 7 move synchronously in the same direction, the parallel extending mechanism and the mechanical arm assembly 3 can integrally realize long-distance movement in the Z direction, when the first sliding plate 6 and the second sliding plate 7 move oppositely, the parallel extending mechanism can be controlled to realize short-distance extension in the Y direction, when the first sliding plate 6 and the second sliding plate 7 are far away from each other, the parallel extending mechanism is controlled to realize short-distance shortening in the Y direction, and the parallel extending mechanism stretches and stretches in the short-distance in the Y direction, so that the mechanical arm assembly 3 can be helped to accurately realize short-distance feeding movement when being welded in a narrow part, and the influence on control precision caused by a coupling phenomenon of movement generated by calling a composite joint in the mechanical arm assembly is effectively avoided; a limiting block 22 is fixedly arranged on the upright rod seat 21, and an elastic buffer cushion is arranged on the upper end surface of the limiting block 22 so as to prevent the second sliding plate 7 from colliding with the upright rod seat 21;
The mechanical arm assembly 3 comprises a first connecting arm 31 and a second connecting arm 32, wherein the rear end of the first connecting arm 31 is fixed with the extension platform plate 10, a first rotary joint 33 is fixedly arranged at the front end of the first connecting arm 31, a linear module 34 is fixedly arranged in the second connecting arm 32, a sliding table connecting plate 341 on the linear module 34 is fixed with the first rotary joint 33, so that the second connecting arm 32 can rotate around a Z axis and can move along a Y axis, a second rotary joint 35 is fixedly arranged at the front end of the second connecting arm 32, a tail end joint 36 is fixedly connected on the second rotary joint 35, so that the tail end joint 36 can rotate around the Y axis, the tail end joint 36 has two degrees of freedom, the tail end joint 36 comprises a first joint seat 361, a second joint seat 362, a third motor 363 and a fourth motor 364, the first joint seat 361 is fixed with the second rotary joint 35, the third motor 363 is fixed in the first joint seat 361, the second joint seat 362 is fixed with a connecting shaft and is rotationally connected to the first joint seat 361 through the connecting shaft, the second joint seat 362 rotates around the X axis relative to the first joint seat 361, the third motor 363 drives the second joint seat 362 to rotate around the X axis through a belt pulley assembly, the belt pulley assembly comprises two belt pulleys 37 and a belt 38, the two belt pulleys 37 are respectively fixed with a driving shaft of the third motor 363 and the connecting shaft on the second joint seat 362, the fourth motor 364 is fixed in the second joint seat 362, and a driving shaft of the fourth motor 364 drives a welding gun (not shown in the drawing) to rotate around the Y axis through a speed reducer.
In the above embodiment, the first rotary joint 33 and the second rotary joint 35 are integrated joint modules, and the first motor 14, the second motor 17, the third motor 363, the fourth motor 364 and the fifth motor 5 are servo motors. In addition, the universal wheel 4 can adopt the existing universal wheel with the self-locking function.
The protection scope of the present invention includes, but is not limited to, the above embodiments, the protection scope of which is subject to the claims, and any substitutions, modifications, and improvements made by those skilled in the art are within the protection scope of the present invention.
Claims (7)
1. A serial-parallel welding robot for narrow space operation comprises a base, a vertical rod and a mechanical arm assembly with multiple degrees of freedom, wherein the base is provided with a vertical rod rotation driving mechanism, so that the vertical rod can rotate around a Z axis, and a parallel extending mechanism is arranged between the mechanical arm assembly and the vertical rod, so that the mechanical arm assembly can move along the Z direction for a long distance and along the Y direction for a short distance; the method is characterized in that: the parallel extending mechanism comprises a first sliding plate, a second sliding plate, a parallel mounting plate, a support mounting plate, an extending platform plate, a supporting rod and two groups of connecting rod groups which are arranged up and down in parallel, wherein each connecting rod group comprises two connecting rods which are distributed at intervals along the X direction and are arranged in parallel, one end of each connecting rod is hinged with the parallel mounting plate, the other end of each connecting rod is hinged with the extending platform plate, the connecting rods and the parallel mounting plate are enabled to rotate around the X axis relatively, the mechanical arm assembly is fixed on the extending platform plate, a supporting plate is fixedly arranged on two connecting rods of one group of connecting rod groups, one end of each supporting rod is hinged with the supporting plate, the other end of each supporting rod is hinged with the supporting plate, the supporting rod and the supporting mounting plate are enabled to rotate around the X axis relatively, the parallel mounting plate is fixed with the first sliding plate, the supporting mounting plate is fixed with the second sliding plate relatively, the first vertical rods and the second vertical rods are arranged up and down, and the first vertical rods and the second sliding plate are matched with the first sliding plate and the second vertical rod are arranged up and down, and the sliding mechanism is arranged;
The mechanical arm assembly has five degrees of freedom, the mechanical arm assembly include first linking arm and second linking arm, the rear end of first linking arm with extend the platform board mutually fixed, the front end internal fixation of first linking arm be provided with first revolute joint, the second linking arm internal fixation be provided with sharp module, sharp module on the slip table connecting plate with first revolute joint mutually fixed for the second linking arm can rotate around the Z axle and can follow Y and remove, the front end of second linking arm fixedly be provided with second revolute joint, second revolute joint on fixedly connected with terminal joint make terminal joint can rotate around the Y axle, terminal joint have two degrees of freedom.
2. A series-parallel welding robot for confined space operations as set forth in claim 1 wherein: the first sliding plate moving driving mechanism comprises a first motor, a first lead screw and a first nut block, wherein the first motor is fixed on the vertical rod, the first lead screw is rotationally connected with the vertical rod, a driving shaft of the first motor is coaxially fixed with the first lead screw, the first nut block is in threaded connection with the first lead screw, and the first nut block is fixed with the first sliding plate to drive the first sliding plate to move up and down.
3. A series-parallel welding robot for confined space operations as claimed in claim 2, wherein: the second slide board moving driving mechanism comprises a second motor, a second screw rod and a second nut block, wherein the second motor is fixed on the vertical rod, the second screw rod is rotationally connected with the vertical rod and parallel to the first screw rod, a driving shaft of the second motor is coaxially fixed with the second screw rod, the second nut block is in threaded connection with the second screw rod, and the second nut block is fixed with the second slide board to drive the second slide board to move up and down.
4. A series-parallel welding robot for confined space operations as set forth in claim 1 wherein: the lower extreme of pole setting fixedly be provided with the stopper, the up end of stopper be provided with elastic cushion pad.
5. A series-parallel welding robot for confined space operations as set forth in claim 1 wherein: the tail end joint comprises a first joint seat, a second joint seat, a third motor and a fourth motor, wherein the first joint seat is fixed with the second rotary joint, the third motor is fixed in the first joint seat, the second joint seat is rotationally connected to the first joint seat and rotates around an X axis relative to the first joint seat, the third motor drives the second joint seat to rotate around the X axis through a belt pulley assembly, the fourth motor is fixed in the second joint seat, and a driving shaft of the fourth motor drives a welding gun to rotate around a Y axis through a speed reducer.
6. A series-parallel welding robot for confined space operations as set forth in claim 1 wherein: the vertical rod rotation driving mechanism comprises a fifth motor, a driving gear and a driven gear, wherein a vertical rod seat is fixedly arranged at the lower end of the vertical rod, the fifth motor is fixed on the vertical rod seat, a driving shaft of the fifth motor is coaxially fixed with the driving gear, the driven gear is fixed with the base, the vertical rod seat is coaxially connected with the driven gear in a rotating manner, and the driving gear is meshed with the driven gear.
7. A series-parallel welding robot for confined space operations as set forth in claim 1 wherein: the lower end of the base is provided with a universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410728789.6A CN118321813B (en) | 2024-06-06 | 2024-06-06 | Series-parallel welding robot for narrow space operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410728789.6A CN118321813B (en) | 2024-06-06 | 2024-06-06 | Series-parallel welding robot for narrow space operation |
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| Publication Number | Publication Date |
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| CN118321813A CN118321813A (en) | 2024-07-12 |
| CN118321813B true CN118321813B (en) | 2024-09-06 |
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| CN202410728789.6A Active CN118321813B (en) | 2024-06-06 | 2024-06-06 | Series-parallel welding robot for narrow space operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118700114A (en) * | 2024-08-27 | 2024-09-27 | 国创移动能源创新中心(江苏)有限公司 | Robotic arm, automatic charging device, and control method of automatic charging device |
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| CN104209946A (en) * | 2013-06-03 | 2014-12-17 | 常州大学 | Parallel-connection movement surface-mount robot mechanism |
| CN104999205A (en) * | 2015-07-17 | 2015-10-28 | 广州鑫南数控科技有限公司 | Industrial automatic welding robot |
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| JP2004195592A (en) * | 2002-12-18 | 2004-07-15 | Sanyo Mach Works Ltd | Arm type robot |
| KR101084724B1 (en) * | 2008-12-29 | 2011-11-22 | 전남대학교산학협력단 | 5 degree of freedom haptic device combining parallel and serial structure for remote robotic surgery |
| AU2009202312A1 (en) * | 2009-06-11 | 2011-01-06 | Profile Cutting Systems Pty Ltd | A Cutting Head |
| CN102886777B (en) * | 2012-10-25 | 2015-05-06 | 浙江理工大学 | Two-degree-of-freedom parallel mechanism with large horizontal displacement |
| CN204451196U (en) * | 2014-12-31 | 2015-07-08 | 东莞理工学院 | A plastic laser hybrid welding system |
| CN105081633B (en) * | 2015-07-22 | 2017-05-03 | 北京中电华强焊接工程技术有限公司 | Five-degree-of-freedom welding cutting robot |
| CN106826798B (en) * | 2017-04-06 | 2019-03-08 | 江南大学 | Dual-drive crank-slider parallel mechanism palm manipulator with finger displacement and indexing |
| CN107234384B (en) * | 2017-07-13 | 2018-09-25 | 柳州福能机器人开发有限公司 | Lifting motor drive-type electroplating equipment wielding machine arm |
| CN217667347U (en) * | 2021-04-23 | 2022-10-28 | 中铁十四局集团有限公司 | Intelligent transfer device |
| CN220612771U (en) * | 2023-05-06 | 2024-03-19 | 湖南奔星智能装备有限公司 | Mechanical arm support for automatic welding |
| CN220127932U (en) * | 2023-06-21 | 2023-12-05 | 常州傲钰精机有限公司 | Welding manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104209946A (en) * | 2013-06-03 | 2014-12-17 | 常州大学 | Parallel-connection movement surface-mount robot mechanism |
| CN104999205A (en) * | 2015-07-17 | 2015-10-28 | 广州鑫南数控科技有限公司 | Industrial automatic welding robot |
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