CN201702528U - Rectangular-coordinate five-degree-of-freedom welding manipulator - Google Patents

Rectangular-coordinate five-degree-of-freedom welding manipulator Download PDF

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Publication number
CN201702528U
CN201702528U CN2010202366274U CN201020236627U CN201702528U CN 201702528 U CN201702528 U CN 201702528U CN 2010202366274 U CN2010202366274 U CN 2010202366274U CN 201020236627 U CN201020236627 U CN 201020236627U CN 201702528 U CN201702528 U CN 201702528U
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CN
China
Prior art keywords
axis
axle
spindle motor
rotating shaft
motor seat
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Expired - Lifetime
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CN2010202366274U
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Chinese (zh)
Inventor
黄连勇
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LIUZHOU GAOHUA MACHINE CO Ltd
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LIUZHOU GAOHUA MACHINE CO Ltd
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Priority to CN2010202366274U priority Critical patent/CN201702528U/en
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Abstract

The utility model relates to a rectangular-coordinate five-degree-of-freedom welding manipulator, and relates to a welding manipulator, which comprises an X-axis slipway, an X-axis slide block, a Y-axis slipway, a Y-axis slide block, a Z-axis slipway, a Z-axis slide block, an A-axis motor base and a B-axis motor base, wherein the A-axis motor base is connected with the Z-axis slide block, the B-axis motor base is connected with the A-axis motor base and can rotationally move in the vertical direction relative to the A-axis motor base, an A-axis belt pulley is connected onto the output rotating shaft of an A-axis servo motor in the A-axis motor base, the A-axis motor base is connected with a rotating shaft supporting plate, the A-axis motor base and the B-axis motor base are mutually connected through a B-axis rotating shaft penetrating through a shaft hole I on the rotating shaft supporting plate and a shaft hole II of the B-axis motor base, a B-axis belt pulley is connected onto the B-axis rotating shaft, a synchronous belt is connected onto the A-axis belt pulley and the B-axis belt pulley, and a B-axis servo motor in the B-axis motor base is provided with a B-axis motor output rotating shaft for connecting a welding gun. The welding manipulator has wide welding region and large flexibility and can weld part dead-angle positions which are not easily welded through an ordinary manipulator.

Description

Rectangular co-ordinate five degree of freedom welding manipulator
Technical field
The utility model relates to a kind of manipulator, particularly a kind of welding manipulator.
Background technology
Welding requires on the one hand the workman that skilled operative skill, rich practice experience, stable weld horizontal will be arranged; On the other hand, welding is again that a kind of working condition is poor, flue dust is many, heat radiation is big, dangerous high work.Therefore, replace workman's manual welding, not only can alleviate working strength of workers, improve workman's working condition, reduce requirement, also can guarantee welding quality simultaneously and improve welding efficiency workman's operating technology difficulty with industry mechanical arm.Existing rectangular co-ordinate welding manipulator can only be realized three rectilinear motions, does not have rotating mechanism, can't weld some welding dead angles.
The utility model content
The purpose of this utility model provides that a kind of welding region is wider, flexibility is bigger and can weld the rectangular co-ordinate five degree of freedom welding manipulator of the position, part dead angle that common welding manipulator is difficult for being welded to.
The technical scheme that the utility model adopts for achieving the above object is: a kind of rectangular co-ordinate five degree of freedom welding manipulator, this welding manipulator comprises the X-axis slide unit, the X-axis slide block, the Y-axis slide unit, the Y-axis slide block, Z axle slide unit and Z axle slide block, described X-axis slide block can move in X-direction along the X-axis slide unit, described Y-axis slide block can move in the Y direction vertical with X-direction along the Y-axis slide unit, described Z axle slide block can move with the vertical respectively Z-direction of X-direction and Y direction along Z axle slide unit, described Y-axis slide unit is connected with the X-axis slide block, described Z axle slide unit is connected with the Y-axis slide block, this welding manipulator also comprises the A spindle motor seat that is connected in Z axle slide block, the B spindle motor seat that connects with A spindle motor seat and can relative A spindle motor seat rotatablely move at vertical direction, be provided with A axle servomotor in the A spindle motor seat, one end of A axle servomotor is connected with A spindle motor output rotating shaft, be connected with the A shaft pulley on the A spindle motor output rotating shaft, A spindle motor seat is connected with the rotating shaft gripper shoe away from the both sides of Z axle slide block one end, the rotating shaft gripper shoe is provided with the axis hole I, B spindle motor seat is provided with the axis hole II parallel with the axis of axis hole I near A spindle motor seat one end, the B axle rotating shaft of A spindle motor seat and the B spindle motor seat axis hole II by passing axis hole I on the rotating shaft gripper shoe and B spindle motor seat interconnects, B axle rotating shaft with A spindle motor output rotating shaft the same side on be connected with the B shaft pulley, be connected with synchronous belt on A shaft pulley and the B shaft pulley, be provided with B axle servomotor in the described B spindle motor seat, B axle servomotor is provided with the outer B spindle motor output rotating shaft with the connection welding gun of outstanding B spindle motor seat.
Wherein said A spindle motor seat is connected on the Z axle slide block by the Z axle installing plate that is connected with Z axle slide block, described rotating shaft gripper shoe is connected in the both sides of A spindle motor seat away from Z axle installing plate one end, the rotating shaft gripper shoe is provided with at least one near A spindle motor seat one end the rotating shaft gripper shoe is fixed in fixing hole I on the A spindle motor seat, A spindle motor seat correspondence position is provided with the fixing hole II corresponding with the hole I, the rotating shaft gripper shoe is connected with A spindle motor seat with the fixture of fixing hole II by passing the fixing hole I.
Wherein be concaved with the axis normal of axis and axis hole II by B spindle motor seat upper surface or lower surface or upper and lower surface and be communicated with the fixing hole III of axis hole II, described welding manipulator also comprises and passes the fixing hole III with the fixing rotating shaft set bolt of B axle rotating shaft.
Wherein said B spindle motor seat is respectively equipped with the axis hole II near the both sides of A spindle motor seat one end, described B axle rotating shaft comprises left-handed rotating shaft of B axle and the B axle dextral shaft that is arranged at respectively in the axis hole II of B spindle motor seat both sides, and described B shaft pulley is connected in the left-handed rotating shaft of B axle.
Wherein in the axis hole I of the rotating shaft gripper shoe of described A spindle motor seat both sides, be respectively equipped with the bearing that supports left-handed rotating shaft of B axle and B axle dextral shaft, be respectively equipped with the bearing (setting) plate of rigid bearing in the two rotating shaft gripper shoes outside, the bearing (setting) plate middle part is provided with the through hole corresponding with the axis hole I.
Wherein said X-axis slide unit one end is connected with the X-axis servomotor, X-axis slide unit both sides are provided with the X-axis linear guides, the two ends of X-axis slide block are connected in the X-axis linear guides, and the X-axis slider bottom is connected with X-axis screw mandrel on being arranged on the X-axis slide unit, and the X-axis screw mandrel is connected by the output shaft of shaft coupling with the X-axis servomotor.
Wherein said Y-axis slide unit one end is connected with the Y-axis servomotor, Y-axis slide unit both sides are provided with the Y-axis linear guides, the two ends of Y-axis slide block are connected in the Y-axis linear guides, and the Y-axis slider bottom is connected with Y-axis screw mandrel on being arranged on the Y-axis slide unit, and the Y-axis screw mandrel is connected by the output shaft of shaft coupling with the Y-axis servomotor.
Wherein said Z axle slide unit one end is connected with Z axle servomotor, Z axle slide unit both sides are provided with the z axis guide rail, the two ends of Z axle slide block are connected in the z axis guide rail, and Z axle slider bottom is connected with Z axial filament bar on being arranged on Z axle slide unit, and Z axial filament bar is connected by the output shaft of shaft coupling with Z axle servomotor.
Owing to adopt said structure, the rectangular co-ordinate five degree of freedom welding manipulator of the utility model has following beneficial effect: 1, welding region is wider, flexibility is bigger and can weld the rectangular co-ordinate five degree of freedom welding manipulator of position, part dead angle the utility model that common welding manipulator is difficult for being welded to because at X, Y, increase rotatablely moving of both direction on the basis that Z is three, that is: rotate the back by A axle servomotor and drive the synchronous belt rotation by the A shaft pulley, skin drives the rotation of B shaft pulley more synchronously, the B shaft pulley rotates back drive B spindle motor seat in the vertical direction and rotates up and down, and B spindle motor output rotating shaft rotates in B spindle motor seat simultaneously.Therefore the welding gun that is connected on the B spindle motor output rotating shaft can be realized the five-axle linkage function with B spindle motor output rotating shaft, possessed parallel and the function that rotatablely moves, welding region is wider when adopting it to weld, flexibility is bigger and can weld the position, part dead angle that common welding manipulator is difficult for being welded to.
2, the rectangular co-ordinate five degree of freedom welding manipulator of short the utility model of simple in structure, cheap, manufacturing cycle is owing to increase by two rotating shafts and can realize parallel and the function that rotatablely moves on the basis of three of rectangular co-ordinate X-axis, Y-axis, Z axle, and the welding manipulator overall structure is simple, cheap, the manufacturing cycle short.
3, the positioning accuracy height, help enhancing productivity the rectangular co-ordinate five degree of freedom welding manipulator of the utility model because X-axis, Y-axis, the Z axle, the A axle, the B axle is respectively equipped with the servomotor of its motion of control separately, can control the rotation of each servomotor by the controller (or computer) that is connected with servomotor, make five kinematic parameter all control very accurately, therefore positioning accuracy height when welding, help enhancing productivity, be particularly suitable for the many kinds of automobile industry, become flexible production pattern in batches, to stabilized product quality, enhance productivity, improve working conditions, realize the automated production mode and promote that product updates fast significant.
Below in conjunction with drawings and Examples the utility model rectangular co-ordinate five degree of freedom welding manipulator is further described.
Description of drawings
Fig. 1 is the schematic perspective view of the utility model rectangular co-ordinate five degree of freedom welding manipulator.
Fig. 2 is the other direction view of Fig. 1.
Fig. 3 is the X-direction rectilinear motion principle schematic of the utility model rectangular co-ordinate five degree of freedom welding manipulator.
Fig. 4 is the A axle assembly of the utility model rectangular co-ordinate five degree of freedom welding manipulator and the combination schematic diagram of B axle assembly.
Fig. 5 is the A axle assembly of the utility model rectangular co-ordinate five degree of freedom welding manipulator and the decomposing schematic representation of B axle assembly.
Element numbers explanation: 1-X axle slide unit, 2-X axle slide block, 3-Y axle slide unit, 4-B axle servomotor, 5-B spindle motor output rotating shaft, 6-welding gun, 7-A spindle motor seat, 8-Z axle installing plate, 9-Z axle slide block, 10-Z axle servomotor, 11-Z axle slide unit, 12-Y axle slide block, 13-Y axle servomotor, 14-X axle servomotor, 15-shaft coupling, 16-X axial filament bar, 17-A shaft pulley, 18-synchronous belt, the 19-locking nut, 20-B shaft pulley, 21-bearing (setting) plate, 22-B spindle motor seat 22,23-rotating shaft gripper shoe, 24-A axle servomotor, the left-handed rotating shaft of 25-B axle, 26-bearing, 27-axis hole I, 28-rotating shaft set bolt, 29-axis hole II, 30-B axle dextral shaft, 31-fixing hole III, 32-fixing hole II, 33-fixing hole I, 34-A spindle motor output rotating shaft, 35-X axis linear guide rail.
The specific embodiment
As Fig. 1, shown in Figure 2, the utility model rectangular co-ordinate five degree of freedom welding manipulator (being called for short " welding manipulator "), this welding manipulator comprises X-axis slide unit 1, X-axis slide block 2, Y-axis slide unit 3, Y-axis slide block 12, Z axle slide unit 11 and Z axle slide block 9, X-axis slide block 2 can move in X-direction along X-axis slide unit 1, Y-axis slide block 12 can move in the Y direction vertical with X-direction along Y-axis slide unit 3, Z axle slide block 9 can move with the vertical respectively Z-direction of X-direction and Y direction along Z axle slide unit 11, Y-axis slide unit 3 is connected with X-axis slide block 2, and Z axle slide unit 11 is connected with Y-axis slide block 12.
Described X-axis slide unit 1 one ends are connected with X-axis servomotor 14, X-axis slide unit 1 both sides are provided with X-axis linear guides 35, the two ends of X-axis slide block 2 are connected in X-axis linear guides 35, and X-axis slide block 2 bottoms are connected with X-axis screw mandrel 16 on being arranged on X-axis slide unit 1, X-axis screw mandrel 16 is connected with the output shaft of X-axis servomotor 14 by shaft coupling 15, and motion principle as shown in Figure 3.
Y-axis slide unit 3 one ends are connected with Y-axis servomotor 13, Y-axis slide unit 3 both sides are provided with the Y-axis linear guides, the two ends of Y-axis slide block 12 are connected in the Y-axis linear guides, and Y-axis slide block 12 bottoms are connected with Y-axis screw mandrel on being arranged on Y-axis slide unit 3, the Y-axis screw mandrel is connected by the output shaft of shaft coupling with Y-axis servomotor 13, motion principle and schematic diagram are identical with X-direction, and be not shown.
Z axle slide unit 11 1 ends are connected with Z axle servomotor 10, Z axle slide unit 11 both sides are provided with the z axis guide rail, the two ends of Z axle slide block 9 are connected in the z axis guide rail, and Z axle slide block 9 bottoms are connected with Z axial filament bar on being arranged on Z axle slide unit 11, Z axial filament bar is connected by the output shaft of shaft coupling with Z axle servomotor 10, motion principle and schematic diagram are identical with X-direction, and be not shown.
Please be simultaneously referring to this welding manipulator of Fig. 4, Fig. 5 also comprise the A spindle motor seat 7 that is connected in Z axle slide block 9, with 7 connections of A spindle motor seat and the B spindle motor seat 22 that can relative A spindle motor seat 7 rotatablely moves at vertical direction, wherein A spindle motor seat 7 is connected on the Z axle slide block 9 by the Z axle installing plate 8 that is connected with Z axle slide block 9.A spindle motor seat 7 is a microscler frame structure, and its middle part is provided with receiving space.Be provided with the A axle servomotor 24 that is arranged in the receiving space in the A spindle motor seat 7, one end of A axle servomotor 24 is connected with A spindle motor output rotating shaft 34, be connected with A shaft pulley 17 on the A spindle motor output rotating shaft 34, A spindle motor seat 7 is connected with rotating shaft gripper shoe 23 away from the both sides of Z axle installing plate 8 one ends, rotating shaft gripper shoe 23 is provided with at least one near A spindle motor seat 7 one ends rotating shaft gripper shoe 23 is fixed in fixing hole I 33 on the A spindle motor seat 7, A spindle motor seat 7 correspondence positions are provided with the fixing hole II 32 corresponding with fixing hole I 33, rotating shaft gripper shoe 23 is provided with five locating hole I in the present embodiment, and A spindle motor seat 7 correspondence positions also are provided with the fixing hole II 32 of five correspondences.Certainly the quantity of locating hole I and locating hole II also is not limited to one or five, can suitably adjust as required.During assembling, rotating shaft gripper shoe 23 and A spindle motor seat 7 are connected as one by the fixture (, not shown) that passes fixing hole I 33 and fixing hole II 32 as set bolt or steady pin etc.Rotating shaft gripper shoe 23 is provided with axis hole I 27 away from Z axle installing plate 8 one ends, B spindle motor seat 22 is provided with the axis hole II 29 parallel with the axis of axis hole I 27 near A spindle motor seat 7 one ends, the B axle rotating shaft of A spindle motor seat 7 and the B spindle motor seat 22 axis hole II 29 by passing axis hole I 27 on the rotating shaft gripper shoe 23 and B spindle motor seat 22 interconnects, B axle rotating shaft with A spindle motor output rotating shaft 34 the same sides on be connected with B shaft pulley 20, be connected with synchronous belt 18 on A shaft pulley 17 and the B shaft pulley 20.In the present embodiment, B spindle motor seat 22 is respectively equipped with axis hole II 29 (the axis hole II also can be a through hole that runs through B spindle motor seat two vertical sides certainly) near the both sides of A spindle motor seat 7 one ends, B axle rotating shaft comprises left-handed rotating shaft 25 of the B axle that is arranged at respectively in the B spindle motor seat 22 both sides axis hole II 29 and B axle dextral shaft 30, and B shaft pulley 20 is connected in the left-handed rotating shaft 25 of B axle.
Described B spindle motor seat 22 outlines are the rectangular structure that an end end is provided with chamfering, and it is provided with chamfering near A spindle motor seat 7 one end ends.B spindle motor seat 22 is away from the cave inward accepting hole of the axis normal that forms axis and axis hole II 29 of the end face of A spindle motor seat 7 one ends, be provided with part in the B spindle motor seat 22 and be contained in B axle servomotor 4 in the accepting hole, B axle servomotor 4 is provided with the B spindle motor output rotating shaft 5 with connection welding gun 6 outside the outstanding B spindle motor seat 22.The welding gun 6 that is connected with B spindle motor output rotating shaft 5 in the present embodiment is CO 2Welding gun, CO 2Welding gun is with CO 2Gas is as the electric arc medium and protect electric arc and the weld zone.
Be concaved with the axis normal of axis and axis hole II 29 and be communicated with the fixing hole III 31 of axis hole II 29 in the upper surface of B spindle motor seat 22 and axis hole II 29 correspondence positions or lower surface or upper and lower surface, welding manipulator also comprises and passes fixing hole III 31 with the fixing rotating shaft set bolt 28 of B axle rotating shaft.Be respectively equipped with the axis normal of axis and axis hole II 29 in the present embodiment on B spindle motor seat 22 upper and lower surfaces and axis hole II 29 correspondence positions and be communicated with the fixing hole III 31 of two axis hole II 29 respectively, be equipped with rotating shaft set bolt 28 in each fixing hole III 31, to prevent the rotation of B axle rotating shaft.
In the axis hole I 27 of the rotating shaft gripper shoe 23 of A spindle motor seat 7 both sides, be respectively equipped with the bearing 26 that supports the left-handed rotating shaft 25 of B axle and B axle dextral shaft 30, be respectively equipped with the bearing (setting) plate 21 of rigid bearing 26 in two rotating shaft gripper shoes, 23 outsides, bearing (setting) plate 21 middle parts are provided with the through hole corresponding with axis hole I 27.During assembling, the left-handed rotating shaft 25 of B axle is contained in the axis hole II 29 in B spindle motor seat 22 left sides, after successively rotating shaft gripper shoe 23, bearing 26, bearing (setting) plate 21 and the B shaft pulley 20 in left side is contained in the left-handed rotating shaft 25 of B axle, again a locking nut 19 is locked in left-handed rotating shaft 25 ends of B axle; B axle dextral shaft 30 is contained in the axis hole II 29 on B spindle motor seat 22 right sides, after successively rotating shaft gripper shoe 23, bearing 26, the bearing (setting) plate 21 on right side is contained on the B axle dextral shaft 30, the back is locked in B axle dextral shaft 30 ends with a locking nut 19.Correlated parts on left-handed rotating shaft 25 of B axle and the B axle dextral shaft 30 installs the back and covers an enclosing cover respectively in A spindle motor seat 7 both sides.
The utility model welding manipulator principle that rotatablely moves is: A axle servomotor 24 rotates and drives synchronous belts 18 by A shaft pulley 17 and rotate, synchronous belt 18 drives B shaft pulley 20 again and rotates, B shaft pulley 20 rotates drive B spindle motor seat 22 in the vertical directions and rotates the rotation in B spindle motor seat 22 of B spindle motor output rotating shaft 5 up and down.The welding gun that is connected on the B spindle motor output rotating shaft 5 can be realized the five-axle linkage function with B spindle motor output rotating shaft 5, has possessed parallel and the function that rotatablely moves.
Above-mentioned X-axis servomotor, Y-axis servomotor, Z axle servomotor, A axle servomotor, B axle servomotor are AC servo motor.
In use, welding manipulator is connected with the controller (not shown) of its motion of control, controller is connected with five servomotor (X-axis servomotor, Y-axis servomotor, Z axle servomotor, A axle servomotor, B axle servomotor) respectively, and is handled and the motion of welding manipulator by controller control full detail.Welding manipulator is accepted each taught point position and attitude information, kinematic parameter and technological parameter that teaching system is sent here when teach mode, and by calculating the teaching of each point (joint) coordinate figure is converted to the rectangular co-ordinate value, deposits internal memory in.Welding manipulator is when playback mode, its position and attitude coordinate figure are taken out in pointwise from internal memory, by regular hour beat (claiming the sampling period again) it is carried out circular arc or linear interpolation computing, calculate the position and the attitude coordinate figure of each interpolated point, Here it is, and path planning generates.

Claims (8)

1. rectangular co-ordinate five degree of freedom welding manipulator, this welding manipulator comprises X-axis slide unit (1), X-axis slide block (2), Y-axis slide unit (3), Y-axis slide block (12), Z axle slide unit (11) and Z axle slide block (9), described X-axis slide block (2) can move in X-direction along X-axis slide unit (1), described Y-axis slide block (12) can move in the Y direction vertical with X-direction along Y-axis slide unit (3), described Z axle slide block (9) can move with the vertical respectively Z-direction of X-direction and Y direction along Z axle slide unit (11), described Y-axis slide unit (3) is connected with X-axis slide block (2), described Z axle slide unit (11) is connected with Y-axis slide block (12), it is characterized in that, this welding manipulator also comprises the A spindle motor seat (7) that is connected in Z axle slide block (9), the B spindle motor seat (22) that connects with A spindle motor seat (7) and can relative A spindle motor seat (7) rotatablely move at vertical direction, be provided with A axle servomotor (24) in the A spindle motor seat (7), one end of A axle servomotor (24) is connected with A spindle motor output rotating shaft (34), be connected with A shaft pulley (17) on the A spindle motor output rotating shaft (34), A spindle motor seat (7) is connected with rotating shaft gripper shoe (23) away from the both sides of Z axle slide block (9) one ends, rotating shaft gripper shoe (23) is provided with axis hole I (27), B spindle motor seat (22) is provided with the axis hole II (29) parallel with the axis of axis hole I (27) near A spindle motor seat (7) one ends, the B axle rotating shaft of A spindle motor seat (7) and B spindle motor seat (22) the axis hole II (29) by passing axis hole I (27) on the rotating shaft gripper shoe (23) and B spindle motor seat (22) interconnects, B axle rotating shaft with A spindle motor output rotating shaft (34) the same side on be connected with B shaft pulley (20), be connected with synchronous belt (18) on A shaft pulley (17) and the B shaft pulley (20), be provided with B axle servomotor (4) in the described B spindle motor seat (22), B axle servomotor (4) is provided with the outer B spindle motor output rotating shaft (5) with connection welding gun (6) of outstanding B spindle motor seat (22).
2. rectangular co-ordinate five degree of freedom welding manipulator as claimed in claim 1, it is characterized in that: described A spindle motor seat (7) is connected on the Z axle slide block (9) by the Z axle installing plate (8) that is connected with Z axle slide block (9), described rotating shaft gripper shoe (23) is connected in the both sides of A spindle motor seat (7) away from Z axle installing plate (8) one ends, rotating shaft gripper shoe (23) is provided with at least one near A spindle motor seat (7) one ends rotating shaft gripper shoe (23) is fixed in fixing hole I (33) on the A spindle motor seat (7), A spindle motor seat (7) correspondence position is provided with the fixing hole II (32) corresponding with the hole I, rotating shaft gripper shoe (23) is connected with A spindle motor seat (7) with the fixture of fixing hole II (32) by passing fixing hole I (33).
3. rectangular co-ordinate five degree of freedom welding manipulator as claimed in claim 2, it is characterized in that: be concaved with the axis normal of axis and axis hole II (29) and be communicated with the fixing hole III (31) of axis hole II (29) by B spindle motor seat (22) upper surface or lower surface or upper and lower surface, described welding manipulator also comprises and passes fixing hole III (31) with the fixing rotating shaft set bolt (28) of B axle rotating shaft.
4. rectangular co-ordinate five degree of freedom welding manipulator as claimed in claim 3, it is characterized in that: described B spindle motor seat (22) is respectively equipped with axis hole II (29) near the both sides of A spindle motor seat (7) one ends, described B axle rotating shaft comprises the left-handed rotating shaft of B axle (25) and B axle dextral shaft (30) that is arranged at respectively in B spindle motor seat (22) the both sides axis hole II (29), and described B shaft pulley (20) is connected in the left-handed rotating shaft of B axle (25).
5. rectangular co-ordinate five degree of freedom welding manipulator as claimed in claim 4, it is characterized in that: in the axis hole I (27) of the rotating shaft gripper shoe (23) of described A spindle motor seat (7) both sides, be respectively equipped with the bearing (26) that supports the left-handed rotating shaft of B axle (25) and B axle dextral shaft (30), be respectively equipped with the bearing (setting) plate (21) of rigid bearing (26) in two rotating shaft gripper shoes (23) outside, bearing (setting) plate (21) middle part is provided with and the corresponding through hole of axis hole I (27).
6. as the arbitrary described rectangular co-ordinate five degree of freedom welding manipulator of claim 1 to 5, it is characterized in that: described X-axis slide unit (1) one end is connected with X-axis servomotor (14), X-axis slide unit (1) both sides are provided with the X-axis linear guides, the two ends of X-axis slide block (2) are connected in X-axis linear guides (35), and X-axis slide block (2) bottom is connected with X-axis screw mandrel (16) on being arranged on X-axis slide unit (1), and X-axis screw mandrel (16) passes through shaft coupling (15) and is connected with the output shaft of X-axis servomotor (14).
7. rectangular co-ordinate five degree of freedom welding manipulator as claimed in claim 6, it is characterized in that: described Y-axis slide unit (3) one ends are connected with Y-axis servomotor (13), Y-axis slide unit (3) both sides are provided with the Y-axis linear guides, the two ends of Y-axis slide block (12) are connected in the Y-axis linear guides, and Y-axis slide block (12) bottom is connected with Y-axis screw mandrel on being arranged on Y-axis slide unit (3), and the Y-axis screw mandrel is connected by the output shaft of shaft coupling with Y-axis servomotor (13).
8. rectangular co-ordinate five degree of freedom welding manipulator as claimed in claim 7, it is characterized in that: described Z axle slide unit (11) one ends are connected with Z axle servomotor (10), Z axle slide unit (11) both sides are provided with the z axis guide rail, the two ends of Z axle slide block (9) are connected in the z axis guide rail, and Z axle slide block (9) bottom is connected with Z axial filament bar on being arranged on Z axle slide unit (11), and Z axial filament bar is connected by the output shaft of shaft coupling with Z axle servomotor (10).
CN2010202366274U 2010-06-25 2010-06-25 Rectangular-coordinate five-degree-of-freedom welding manipulator Expired - Lifetime CN201702528U (en)

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US9333601B2 (en) 2013-07-05 2016-05-10 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Storage mechanism and feeding device using the same
CN106181163A (en) * 2016-08-26 2016-12-07 济南时代新纪元科技有限公司 A kind of Cartesian coordinate type welding robot
CN107283081A (en) * 2017-07-19 2017-10-24 江门市众能电控科技有限公司 A kind of adjustable composite welding component of pivot angle
CN107335898A (en) * 2017-07-19 2017-11-10 江门市众能电控科技有限公司 A kind of rotation formula weld assembly
CN108044609A (en) * 2017-11-08 2018-05-18 江苏新光数控技术有限公司 A kind of numerical control four-axis welding manipulator
CN108722785A (en) * 2018-07-18 2018-11-02 正雄箱包(河源)有限公司 A kind of numerically controlled intelligent cantilever dispenser
CN109483115A (en) * 2018-12-28 2019-03-19 上海理工大学 A kind of welder and method of flange and short tube

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CN101983829A (en) * 2010-12-08 2011-03-09 柳州高华机械有限公司 Rectangular coordinate five-freedom welding manipulator
CN102941575B (en) * 2011-05-18 2016-07-06 东莞市松庆自动化设备有限公司 Straight directly go out servo electric extractor
CN102941575A (en) * 2011-05-18 2013-02-27 东莞市松庆自动化设备有限公司 Direct-in/direct-out servo electrical pick-up machine
CN102506709A (en) * 2011-10-21 2012-06-20 深圳市科陆电子科技股份有限公司 Device and method for detecting overall dimension of intelligent electric energy meter
CN102506709B (en) * 2011-10-21 2017-04-19 深圳市科陆电子科技股份有限公司 Device and method for detecting overall dimension of intelligent electric energy meter
CN102658546B (en) * 2012-04-28 2014-09-10 刘朝龙 Industrial robot
CN102658546A (en) * 2012-04-28 2012-09-12 刘朝龙 Industrial robot
CN103100811A (en) * 2013-01-22 2013-05-15 北京工业大学 Novel welding gun based on bionics
CN103100811B (en) * 2013-01-22 2015-06-03 北京工业大学 Novel welding gun based on bionics
US9333601B2 (en) 2013-07-05 2016-05-10 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Storage mechanism and feeding device using the same
CN103433676A (en) * 2013-09-05 2013-12-11 安徽江淮汽车股份有限公司 Welding tool device
CN104669271A (en) * 2013-11-27 2015-06-03 深圳职业技术学院 Grab chuck component, triaxial feeding device, loading robot and machining system
CN103934826A (en) * 2014-04-18 2014-07-23 南昌光明化验设备有限公司 Unit modular type full-automatic back-check device for large-diameter sample bottles
CN104589334A (en) * 2014-12-22 2015-05-06 湖北文理学院 Five-axis multifunctional manipulator
EP3231549A4 (en) * 2015-04-30 2018-08-15 Guangzhou Mino Automotive Equipment Co., Ltd Linear flexible positioning device
US20160319921A1 (en) * 2015-04-30 2016-11-03 Guangzhou Mino Automotive Equipment Co., Ltd. Straight line flexible positioning device
CN104816119A (en) * 2015-04-30 2015-08-05 广州明珞汽车装备有限公司 Linear flexible positioning device
US10330243B2 (en) * 2015-04-30 2019-06-25 Guangzhou Mino Automotive Equipment Co., Ltd. Straight line flexible positioning device
CN105436726A (en) * 2015-12-09 2016-03-30 无锡西源电力装备厂 Automatic electrode conveying and welding equipment for welded pipes
CN106181163A (en) * 2016-08-26 2016-12-07 济南时代新纪元科技有限公司 A kind of Cartesian coordinate type welding robot
CN107283081A (en) * 2017-07-19 2017-10-24 江门市众能电控科技有限公司 A kind of adjustable composite welding component of pivot angle
CN107335898B (en) * 2017-07-19 2019-12-31 江门市众能电控科技有限公司 Swing type welding assembly
CN107335898A (en) * 2017-07-19 2017-11-10 江门市众能电控科技有限公司 A kind of rotation formula weld assembly
CN107283081B (en) * 2017-07-19 2019-12-31 江门市众能电控科技有限公司 Swing angle adjustable composite welding assembly
CN108044609A (en) * 2017-11-08 2018-05-18 江苏新光数控技术有限公司 A kind of numerical control four-axis welding manipulator
CN108722785A (en) * 2018-07-18 2018-11-02 正雄箱包(河源)有限公司 A kind of numerically controlled intelligent cantilever dispenser
CN109483115A (en) * 2018-12-28 2019-03-19 上海理工大学 A kind of welder and method of flange and short tube

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