CN201371332Y

CN201371332Y - Welding manipulator

Info

Publication number: CN201371332Y
Application number: CN200820137821U
Authority: CN
Inventors: 倪鹏; 叶渭忠; 李彬彬
Original assignee: Wenling Fengyun Robot Co Ltd
Current assignee: Wenling Fengyun Robot Co Ltd
Priority date: 2008-10-22
Filing date: 2008-10-22
Publication date: 2009-12-30
Anticipated expiration: 2018-10-22

Abstract

The utility model relates to a welding manipulator, belonging to the technical filed of the welding manipulator or the automatic welding. A pedestal is provided with a vertical shaft; the vertical shaft is provided with a large swing arm which can rotate around the vertical shaft; a small swing arm is hinged at the outer end of the large swing arm; the outer end part of the small swing arm is provided with an upright shaft and an outer sleeve shaft; a welding gun head is hinged at the lower end of the upright shaft; the large swing arm, the small swing arm and the upright shaft are driven by motors to rotate, and the upright shaft and the outer sleeve shaft are driven by the motors to ascend and descend; the rotation angle signals of the large swing arm, the small swing arm and the upright shaft and the displacement signals of the upright shaft and the outer sleeve shaft are collected or measured by a coder; the welding gun head is driven to swing by the motors, and the swing angle signals of the welding gun head are collected or measured by the coder; and the angle signals and the displacement signals which are collected or measured by the coder control the rotation of the motors by a controller so as to drive the large swing arm, the small swing arm, the upright shaft, the outer sleeve shaft and the welding gun heat to operate. The welding manipulator has high automation degree and reliable welding quality and can be widely used in the fields of the ship manufacturing, the automobile, the machinery, the chemical industry, the metallurgy, the building and the like as automatic welding equipment.

Description

Welding manipulator

Technical field

The utility model belongs to manipulator or automatic welding technique field, refers in particular to a kind of welding manipulator.

Background technology

At present, in business organization's production, need carry out the coupling part of some metalworks or metallic plate fixedly connected, i.e. welding, manual welding is mostly adopted in this welding again, and its weak point is: the one, the quality of manual welding depends on welder's the technical merit and the performance state in when operation, the welding quality instability, labor strength is big, and is tired easily, directly influences the workmanship of product; The 2nd, the smog that produces during welding produces infringement to people's respiratory system, during welding if careless, people directly observe the light that welding the time is sent with eyes, can produce infringement to people's cornea, the high temperature that produces when welding besides can burn people's face and skin; The 3rd, the production efficiency of manual welding is low.

Summary of the invention

The purpose of this utility model provides a kind of welding quality stable, can not produce infringement, welding manipulator that production efficiency is high to human body.

The purpose of this utility model is achieved in that welding manipulator, include base and motor, it is characterized in that: described base is provided with vertical pivot, vertical pivot is provided with the big rocking arm that can rotate around it, the hinged small rocker in outer end at big rocking arm, be provided with a vertical shaft in the outer end of small rocker, sleeve outside vertical shaft is outside equipped with, bottom at vertical shaft is hinged with arc welding gun head, big rocking arm, the lifting of the rotation of small rocker and vertical shaft and vertical shaft and outer sleeve is the driven by motor by independently being provided with separately all, and by independently encoder collection or measure its rotational angle and the lifting displacement signal separately, the swing of arc welding gun head is by driven by motor, and by the encoder collection or measure its pendulum angle signal, the displacement of encoder collection or measurement and angle signal are controlled the rotation of each motor to drive big rocking arm by controller, small rocker, vertical shaft, the action of outer sleeve and arc welding gun head.

Be provided with the clockwork spring balanced controls in the outer end of above-mentioned small rocker, an end of clockwork spring is fixed on the small rocker, and the other end is connected with the lower end of vertical shaft.

Above-mentioned vertical shaft can vertically be provided with, and also can be obliquely installed.

The top of the outer sleeve that the motor of the rotation of above-mentioned drive vertical shaft and encoder are arranged on vertical shaft, the electric wire of the connecting circuit on vertical shaft and the outer sleeve is led chain by electric wire and is led to small rocker, and is connected with controller, and sleeve is provided with guider outside.

Above-mentioned motor is a stepper motor.

Between above-mentioned big rocking arm and small rocker, one or more intermediate rockers can also be set, between intermediate rockers and the big rocking arm, between intermediate rockers and the small rocker or also adopt its rotation of driven by motor between intermediate rockers and the intermediate rockers, adopt the encoder collection or measure its rotational angle signal, and rotate to drive the rotation of each rocking arm by controller control motor.

But above-mentioned small rocker or big rocking arm also can be arranged to integral elevating and rotation, vertical shaft is not set on small rocker and drives the motor and the corresponding codes device of its rotation, and arc welding gun head directly is positioned at the outer end of small rocker.

The outstanding compared to existing technology advantage of the utility model is:

1, welding quality stable: the utility model welds by controller automatically according to the welding route that preestablishes or gather, and makes welding quality stable, yield rate height, welding efficiency height.

2, can not produce infringement to human body: the utility model is when work, and welding manipulator is implemented welding by the program of setting, and people can be away from the production scene, can not cause operating personnel's skin, eyes, the injury of respiratory tract;

3, volume of the present utility model is little, in light weight, cost is low, efficient is high, easy to operate, Functionality, quality and appealing design, welding radius are big, can implement welding automatically to the weld seam of complexity, is widely used in industries such as shipbuilding, automobile, machinery, chemical industry, metallurgy, building and makes automatic welding device.

Description of drawings

Fig. 1 is a structural principle schematic diagram of the present utility model;

Fig. 2 is a schematic perspective view of the present utility model.

The specific embodiment

With specific embodiment the utility model is further described below, referring to Fig. 1-2:

Welding manipulator, include base 10 and motor, described base 10 is provided with vertical pivot 102, vertical pivot 102 is provided with the big rocking arm 20 that can rotate around it, the hinged small rocker 30 in an end at big rocking arm 20, be provided with a vertical shaft 40 in the outer end of small rocker 30, sleeve 46 outside vertical shaft 40 is outside equipped with, be hinged with arc welding gun head 60 in the bottom of vertical shaft 40, big rocking arm 20, the lifting of the rotation of small rocker 30 and vertical shaft 40 and vertical shaft 40 is the motor 21 by independently being provided with separately all, 31,41,47 drive, and by encoder 22 independently separately, 32,42,48 gather or measure its rotational angle and lifting displacement signal, the swing of arc welding gun head 60 is driven by motor 51, and gather or measure its pendulum angle signal, encoder 22 by encoder 52,32,42,48,52 displacements of gathering or measuring and angle signal are by controller 70 each motor 21 of control, 31,41,47,51 rotation is to drive big rocking arm 20, the swing of the rotation of small rocker 30 and vertical shaft 40 and/or mobile and/or arc welding gun head 60.

Be provided with clockwork spring balanced controls 90 in the outer end of above-mentioned small rocker, one end of clockwork spring is fixed on the small rocker, the other end is connected with the lower end of vertical shaft 40 by cable wire 91, utilize the screen resilience of clockwork spring, but the gravity of motor 41 under the balance powering-off state, when moving plumb joint 60 when making operating personnel's teaching, brisk, convenient.

Above-mentioned vertical shaft 40 can vertically be provided with, and also can be obliquely installed.

The motor 41 of the rotation of above-mentioned drive vertical shaft 40 and encoder 42 are arranged on the top of the outer sleeve 46 outside the vertical shaft 40, the electric wire of the connecting circuit on vertical shaft 40 and the outer sleeve 46 is led chain 45 by electric wire and is led to small rocker 30, and be connected with controller 70, sleeve 46 is provided with guider outside.

Above-mentioned motor the 21,31,41,47, the 51st, stepper motor.

In the arranged outside of above-mentioned base 10 the bearing height adjusting device 101 of base 10 is arranged, bearing height adjusting device 101 adopts fluid pressure types, also can adopt mechanical type; The rotation of big rocking arm 20 is by gear 23,24 transmissions, and gear 23 is positioned on the motor 21, and gear 24 is positioned on the vertical pivot 102 of base 10; The rotation of small rocker 30 is by gear 33,34 transmissions, and gear 33 is positioned on the motor 31, and gear 34 is positioned on the vertical pivot 302 of small rocker 30; The rotation of vertical shaft 40 is by gear 43,44 transmissions, and gear 43 is positioned on the motor 41, and gear 44 is positioned on the vertical shaft 40; The lifting of vertical shaft 40 is by angular wheel or turbine and worm transmission, and arc welding gun head 60 rotates around the rotating shaft 601 that is fixed on vertical shaft 40 bottoms;

Between above-mentioned big rocking arm 20 and small rocker 30, one or more intermediate rockers can also be set, between intermediate rockers and the big rocking arm 20, between intermediate rockers and the small rocker 30, or also adopt its rotation of driven by motor between intermediate rockers and the intermediate rockers, adopt the encoder collection or measure its rotational angle signal, and control motors by controller 70 and rotate to drive the rotation of each rocking arm, that is to say, single rotation or lifting or swing part all are to use independently driven by motor, and with independent encoder collection or measure its actuating signal, offer controller 70 and make control signal.

Above-mentioned small rocker 30 or big rocking arm 20 also can be arranged to integral elevating and rotation, vertical shaft 40 is not set on small rocker 30 and drives the motor 41 and the corresponding codes device 42 of its rotation, and arc welding gun head 60 directly is positioned at the outer end of small rocker 30.

Use of the present utility model:

1, omnidistance teach mode: connect power supply, press signals collecting mode 1 button on the controller 70, operating personnel hold the handle 603 of arc welding gun head 60, the end of the soldering tip 602 of arc welding gun head 60 is moved to the weld seam terminal point, the signals collecting button on the closing controller 70 in proper order along the weld seam of needs welding;

2, some teach mode: connect power supply, press signals collecting mode 2 buttons on the controller 70, operating personnel hold the handle 603 of arc welding gun head 60, the leading section of arc welding gun head 602 is moved to the starting point of welding, press the affirmation button on the controller 70, again the end of the soldering tip 602 of arc welding gun head 60 is moved to the next characteristic point of welding, press the affirmation button on the controller 70, so a plurality of characteristic points are imported in the circulation teaching, to the last import a welding terminal point, the signals collecting button on the closing controller 70;

3, welding: press the welding button on the controller 70, welding manipulator is then automatically by above-mentioned signals collecting route walking and enforcement welding, be soldered to the weld seam terminal point, controller 70 will control and cut out welding gun automatically, stop welding, and make welding gun be back to original position, after new weldment transports and puts in place, press the welding button on the movement controller 70 again, repeat above-mentioned action.

Volume of the present utility model is little, in light weight, cost is low, efficient is high, easy to operate, Functionality, quality and appealing design, welding radius are big, can implement welding automatically to the weld seam of complexity, is widely used in industries such as shipbuilding, automobile, machinery, chemical industry, metallurgy, building and makes automatic welding device.

The foregoing description only is one of preferred embodiment of the present utility model; be not to limit practical range of the present utility model with this; so: all equivalences of doing according to shape of the present utility model, structure, principle change, and all should be covered by within the protection domain of the present utility model.

Claims

1, welding manipulator, include base and motor, it is characterized in that: described base is provided with vertical pivot, vertical pivot is provided with the big rocking arm that can rotate around it, the hinged small rocker in outer end at big rocking arm, be provided with a vertical shaft in the outer end of small rocker, sleeve outside vertical shaft is outside equipped with, bottom at vertical shaft is hinged with arc welding gun head, big rocking arm, the lifting of the rotation of small rocker and vertical shaft and vertical shaft and outer sleeve is the driven by motor by independently being provided with separately all, and by independently encoder collection or measure its rotational angle and the lifting displacement signal separately, the swing of arc welding gun head is by driven by motor, and by the encoder collection or measure its pendulum angle signal, the displacement of encoder collection or measurement and angle signal are controlled the rotation of each motor to drive big rocking arm by controller, small rocker, vertical shaft, the action of outer sleeve and arc welding gun head.

2, welding manipulator according to claim 1 is characterized in that: be provided with the clockwork spring balanced controls in the outer end of described small rocker, an end of clockwork spring is fixed on the small rocker, and the other end is connected with the lower end of vertical shaft.

3, welding manipulator according to claim 1 is characterized in that: described vertical shaft can vertically be provided with, and also can be obliquely installed.

4, welding manipulator according to claim 1, it is characterized in that: the motor of the rotation of described drive vertical shaft and encoder are arranged on the top of the outer sleeve of vertical shaft, the electric wire of the connecting circuit on vertical shaft and the outer sleeve is led chain by electric wire and is led to small rocker, and be connected with controller, sleeve is provided with guider outside.

5, welding manipulator according to claim 1 is characterized in that: described motor is a stepper motor.

6, welding manipulator according to claim 1, it is characterized in that: between described big rocking arm and small rocker, one or more intermediate rockers can also be set, between intermediate rockers and the big rocking arm, between intermediate rockers and the small rocker or also adopt its rotation of driven by motor between intermediate rockers and the intermediate rockers, adopt the encoder collection or measure its rotational angle signal, and rotate to drive the rotation of each rocking arm by controller control motor.