CN201900399U - Simple spot welding robot mechanism - Google Patents
Simple spot welding robot mechanism Download PDFInfo
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- CN201900399U CN201900399U CN2010206742816U CN201020674281U CN201900399U CN 201900399 U CN201900399 U CN 201900399U CN 2010206742816 U CN2010206742816 U CN 2010206742816U CN 201020674281 U CN201020674281 U CN 201020674281U CN 201900399 U CN201900399 U CN 201900399U
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Abstract
The utility model relates to a simple spot welding robot mechanism which comprises a first welding gun holder position regulating mechanism, a first welding gun holder posture regulating mechanism, a second welding gun holder position regulating mechanism, a second welding gun holder posture regulating mechanism, welding gun holders and a frame, wherein each welding gun holder consists of a swing bracket and a rotary bracket, the swing brackets are connected with the rotary brackets through a fourteenth rotary pair, the swing brackets are connected with the first welding gun holder position regulating mechanism through a fifteenth rotary pair, the swing brackets are connected with the first welding gun holder posture regulating mechanism through a tenth rotary pair, the rotary brackets are connected with the second welding gun holder posture regulating mechanism through a second spherical pair, and welding guns are mounted on the rotary brackets. The simple spot welding robot mechanism is driven by an external rotary pair and all the servomotors are mounted on the frame, so as to effectively reduce the weights of working rod pieces, take the effect of accurate positioning and increase the work efficiency.
Description
Technical field
The utility model relates to the industrial welding robot field, particularly a kind of simple and easy spot welding robot mechanism.
Background technology
Welding robot is to be engaged in welding, comprises cutting and the industrial robot that sprays.Definition according to International Organization for Standardization industrial robot terminology standard, but industrial robot is a kind of automatic control operation machine (Manipulator) of multiduty overprogram, have three or more programmable axles, be used for the industrial automation field.Spot welding is not very high to the requirement of used robot.Because spot welding only need be put position control, not to be strict with at motion track between points as for soldering turret, the welding that countries in the world produce all belongs to prosthetic robot basically with robot, and the overwhelming majority has 6 axles.Wherein, end-of-arm tooling can be delivered to different locus for 1,2,3, and the different requirements of 4,5,6 solution instrument attitudes.Welding robot human body's frame for movement mainly contains two kinds of forms: a kind of is parallelogram sturcutre, a kind of is side-mounted or the pendulum-type structure, the scope of activities that major advantage side-mounted or the pendulum-type structure is upper and lower arm is big, makes the working space of robot almost can reach a spheroid.But the artificial cantilever design of this side-mounted machine has reduced the rigidity of robot, generally is applicable to the robot that load is less.Tradition articulated type welding robot all needs motor is installed in joint, makes the robot architecture have deficiencies such as rotary inertia is big, deviation accumulation is big like this.
Summary of the invention
The purpose of this utility model is to provide a kind of simple and easy spot welding robot mechanism, deficiencies such as it can avoid the rotary inertia of traditional articulated type welding robot big, deviation accumulation big, rigidity property difference.And can effectively reduce the weight of described mechanism work rod member, realize accurately location, increase work efficiency.
The utility model achieves the above object by the following technical programs: a kind of simple and easy spot welding robot mechanism comprises the first gun rack position adjusting mechanism and attitude governor motion, the second gun rack position adjusting mechanism and frame attitude governor motion, gun rack and frame.Described frame is installed on the revolving dial, realizes the motion of entire machine people space five-freedom.
The described first gun rack position adjusting mechanism is by first servomotor, first driving lever, first connecting rod, second connecting rod, slide block, swing span and frame are formed by connecting, first driving lever, one end is connected with first servomotor by first revolute pair, first servomotor is installed on the frame, the first driving lever other end is connected with first connecting rod by second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod middle part is connected with slide block by the 4th revolute pair, slide block is connected with frame by sliding pair, and the second connecting rod other end is connected with swing span by the 15 revolute pair.
The described first gun rack attitude governor motion is made up of the 3rd servomotor, the 3rd driving lever, the 4th connecting rod and swing span, the 3rd driving lever one end is connected with the 3rd servomotor by the 8th revolute pair, the 3rd servomotor is installed on the frame, the 3rd driving lever other end is connected with the 4th connecting rod by the 9th revolute pair, and the 4th connecting rod other end is connected with swing span by the tenth revolute pair.
The described second gun rack position adjusting mechanism is made up of second servomotor, second driving lever, third connecting rod, slide block and frame, second driving lever, one end is connected with second servomotor by the 5th revolute pair, second servomotor is installed on the frame, the second driving lever other end is connected with third connecting rod by the 6th revolute pair, the third connecting rod other end is connected with slide block by the 7th revolute pair, and slide block is connected with frame by sliding pair.
The described second gun rack attitude governor motion is by the 4th servomotor, the 4th driving lever, the 5th connecting rod, tripod, slide block, the 6th connecting rod, rotating turret, swing span is formed, the 4th driving lever one end is connected with the 4th servomotor by the 11 revolute pair, the 4th servomotor is installed on the frame, the 4th driving lever other end is connected with the 5th connecting rod by the 12 revolute pair, the 5th connecting rod other end is connected with tripod one end by the 13 revolute pair, tripod second end is connected with slide block by the 7th revolute pair, slide block is connected with frame by sliding pair, tripod the 3rd end is connected with the 6th connecting rod by first spherical pair, the 6th connecting rod other end is connected with rotating turret by second spherical pair, and rotating turret is connected with swing span by the 14 revolute pair.
Described gun rack is made up of swing span and rotating turret, and swing span is connected the axis of the 14 revolute pair and the axis normal of other revolute pair by the 14 revolute pair with rotating turret.
Outstanding advantage of the present utility model is:
1, adopt outer revolute pair to drive, motor is installed on the frame, can effectively reduce the weight of work rod member, makes work rod member rotary inertia little, effectively improves operating rate and efficient.
2, compare with articulated welding robot, work accumulated error of the present utility model is little, can realize more accurate localization.
3, adopt the multiple degrees of freedom controllable type mechanism of closed loop structure, its mechanism's rigidity property is good.
4, simple and compact for structure, process and assemble requires low, low cost of manufacture.
Description of drawings
Fig. 1 is the structural representation of a kind of simple and easy spot welding robot described in the utility model mechanism.
Fig. 2 is the first gun rack position adjusting mechanism schematic diagram of a kind of simple and easy spot welding robot described in the utility model mechanism.
Fig. 3 is the first gun rack attitude governor motion schematic diagram of a kind of simple and easy spot welding robot described in the utility model mechanism.
Fig. 4 is the second gun rack position adjusting mechanism schematic diagram of a kind of simple and easy spot welding robot described in the utility model mechanism.
Fig. 5 is the second gun rack attitude governor motion schematic diagram of a kind of simple and easy spot welding robot described in the utility model mechanism.
Fig. 6 is installed in first working state schematic representation on the revolving dial for a kind of simple and easy spot welding robot described in the utility model mechanism.
Fig. 7 is installed in second working state schematic representation on the revolving dial for a kind of simple and easy spot welding robot described in the utility model mechanism.
Fig. 8 is installed in the 3rd working state schematic representation on the revolving dial for a kind of simple and easy spot welding robot described in the utility model mechanism.
The specific embodiment
Below in conjunction with drawings and Examples the technical solution of the utility model is described further.
Contrast Fig. 1,2,3,4 and 5, a kind of simple and easy spot welding robot mechanism comprises the first gun rack position adjusting mechanism, the second gun rack position adjusting mechanism, the first gun rack attitude governor motion, the second gun rack attitude governor motion, gun rack and frame 2.Described frame 2 can be installed on the revolving dial 1, realizes the motion of entire machine people space five-freedom.
Contrast Fig. 1,2, the described first gun rack position adjusting mechanism is by first servomotor 3, first driving lever 5, first connecting rod 36, second connecting rod 7, slide block 35, swing span 10 and frame 2 are formed by connecting, first driving lever, 5 one ends are connected with first servomotor 3 by first revolute pair 4, first servomotor 3 is installed on the frame 2, first driving lever, 5 other ends are connected with first connecting rod 36 by second revolute pair 6, first connecting rod 36 other ends are connected with second connecting rod 7 by the 3rd revolute pair 37, second connecting rod 7 middle parts are connected with slide block 35 by the 4th revolute pair 8, slide block 35 is connected with frame 2 by sliding pair 38, and second connecting rod 7 other ends are connected with swing span 10 by the 15 revolute pair 9.
Contrast Fig. 1,4, the described first gun rack attitude governor motion is made up of the 3rd servomotor 11, the 3rd driving lever 13, the 4th connecting rod 15 and swing span 10, the 3rd driving lever 13 1 ends are connected with the 3rd servomotor 11 by the 8th revolute pair 12, the 3rd servomotor 11 is installed on the frame 2, the 3rd driving lever 13 other ends are connected with the 4th connecting rod 15 by the 9th revolute pair 14, and the 4th connecting rod 15 other ends are connected with swing span 10 by the tenth revolute pair 16.
Contrast Fig. 1,3, the described second gun rack position adjusting mechanism is made up of second servomotor 20, second driving lever 22, third connecting rod 24, slide block 35 and frame 2, second driving lever, 22 1 ends are connected with second servomotor 20 by the 5th revolute pair 21, second servomotor 20 is installed on the frame 2, second driving lever, 22 other ends are connected with third connecting rod 24 by the 6th revolute pair 23, third connecting rod 24 other ends are connected with slide block 35 by the 7th revolute pair 25, and slide block 35 is connected with frame 2 by sliding pair 38.
Contrast Fig. 1,5, the described second gun rack attitude governor motion is by the 4th servomotor 29, the 4th driving lever 31, the 5th connecting rod 33, tripod 26, slide block 35, the 6th connecting rod 28, rotating turret 18, swing span 10 is formed, the 4th driving lever 31 1 ends are connected with the 4th servomotor 29 by the 11 revolute pair 30, the 4th servomotor 29 is installed on the frame 2, the 4th driving lever 31 other ends are connected with the 5th connecting rod 33 by the 12 revolute pair 32, the 5th connecting rod 33 other ends are connected with tripod 26 1 ends by the 13 revolute pair 34, tripod 26 second ends are connected with slide block 35 by the 7th revolute pair 25, slide block 35 is connected with frame 2 by sliding pair 38, tripod 26 the 3rd end is connected with the 6th connecting rod 28 by first spherical pair 27, the 6th connecting rod 28 other ends are connected with rotating turret 18 by second spherical pair 19, and rotating turret 18 is connected with swing span 10 by the 14 revolute pair 17.
Contrast Fig. 1 and 3, described gun rack is made up of swing span 10 and rotating turret 18, and swing span 10 is connected with rotating turret 18 by the 14 revolute pair 17.
Contrast Fig. 6,7 and 8, four servomotor interlocks of described a kind of simple and easy spot welding robot mechanism can realize two translations, two actions of rotating.But frame 2 is installed in the action of implementation space five degree of freedom on the revolving dial 1, can finishes complicated welding job.
Contrast Fig. 1,6,7 and 8, the first gun rack position adjusting mechanism and the second gun rack position adjusting mechanism of described a kind of simple and easy spot welding robot mechanism are delivered to desired location with gun rack, the action that the first gun rack attitude governor motion, the second gun rack attitude governor motion can make weld holder do swing or rotate is regulated welding gun to the angle of being convenient to work.Repeat above-mentioned action and finish the work of welding gun of sending to difference.
Claims (1)
1. simple and easy spot welding robot mechanism is characterized in that comprise the first gun rack position adjusting mechanism and attitude governor motion, the second gun rack position adjusting mechanism and frame attitude governor motion, gun rack and frame, its structure and connected mode are:
The described first gun rack position adjusting mechanism is by first servomotor, first driving lever, first connecting rod, second connecting rod, slide block, swing span and frame are formed by connecting, first driving lever, one end is connected with first servomotor by first revolute pair, first servomotor is installed on the frame, the first driving lever other end is connected with first connecting rod by second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod middle part is connected with slide block by the 4th revolute pair, slide block is connected with frame by sliding pair, the second connecting rod other end is connected with swing span by the 15 revolute pair
The described first gun rack attitude governor motion is made up of the 3rd servomotor, the 3rd driving lever, the 4th connecting rod and swing span, the 3rd driving lever one end is connected with the 3rd servomotor by the 8th revolute pair, the 3rd servomotor is installed on the frame, the 3rd driving lever other end is connected with the 4th connecting rod by the 9th revolute pair, the 4th connecting rod other end is connected with swing span by the tenth revolute pair
The described second gun rack position adjusting mechanism is made up of second servomotor, second driving lever, third connecting rod, slide block and frame, second driving lever, one end is connected with second servomotor by the 5th revolute pair, second servomotor is installed on the frame, the second driving lever other end is connected with third connecting rod by the 6th revolute pair, the third connecting rod other end is connected with slide block by the 7th revolute pair, slide block is connected with frame by sliding pair
The described second gun rack attitude governor motion is by the 4th servomotor, the 4th driving lever, the 5th connecting rod, tripod, slide block, the 6th connecting rod, rotating turret, swing span is formed, the 4th driving lever one end is connected with the 4th servomotor by the 11 revolute pair, the 4th servomotor is installed on the frame, the 4th driving lever other end is connected with the 5th connecting rod by the 12 revolute pair, the 5th connecting rod other end is connected with tripod one end by the 13 revolute pair, tripod second end is connected with slide block by the 7th revolute pair, slide block is connected with frame by sliding pair, tripod the 3rd end is connected with the 6th connecting rod by first spherical pair, the 6th connecting rod other end is connected with rotating turret by second spherical pair, rotating turret is connected with swing span by the 14 revolute pair
Described gun rack is made up of swing span and rotating turret, and swing span is connected the axis of the 14 revolute pair and the axis normal of other revolute pair by the 14 revolute pair with rotating turret.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206742816U CN201900399U (en) | 2010-12-22 | 2010-12-22 | Simple spot welding robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206742816U CN201900399U (en) | 2010-12-22 | 2010-12-22 | Simple spot welding robot mechanism |
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| CN201900399U true CN201900399U (en) | 2011-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010206742816U Expired - Fee Related CN201900399U (en) | 2010-12-22 | 2010-12-22 | Simple spot welding robot mechanism |
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| CN (1) | CN201900399U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102091899A (en) * | 2010-12-22 | 2011-06-15 | 广西大学 | Simple spot-welding robot mechanism |
| CN102528356A (en) * | 2012-03-05 | 2012-07-04 | 北京工业大学 | Two-degree-of-freedom centering posture regulating component |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN103737209A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Welding robot with symmetrical mechanisms |
| CN103737208A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Multi-degree-of-freedom welding robot |
| CN104385297A (en) * | 2014-09-28 | 2015-03-04 | 无锡康柏斯机械科技有限公司 | Two-connecting rod type movable arm for manufacturing |
| CN104476054A (en) * | 2014-12-23 | 2015-04-01 | 广西大学 | Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism |
| CN104551477A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism |
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
-
2010
- 2010-12-22 CN CN2010206742816U patent/CN201900399U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102091899A (en) * | 2010-12-22 | 2011-06-15 | 广西大学 | Simple spot-welding robot mechanism |
| CN102091899B (en) * | 2010-12-22 | 2014-08-06 | 广西大学 | Simple spot-welding robot mechanism |
| CN102528356A (en) * | 2012-03-05 | 2012-07-04 | 北京工业大学 | Two-degree-of-freedom centering posture regulating component |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN103737209A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Welding robot with symmetrical mechanisms |
| CN103737208A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Multi-degree-of-freedom welding robot |
| CN104385297A (en) * | 2014-09-28 | 2015-03-04 | 无锡康柏斯机械科技有限公司 | Two-connecting rod type movable arm for manufacturing |
| CN104476054A (en) * | 2014-12-23 | 2015-04-01 | 广西大学 | Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism |
| CN104551477A (en) * | 2014-12-23 | 2015-04-29 | 广西大学 | Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism |
| CN104476054B (en) * | 2014-12-23 | 2016-07-06 | 广西大学 | Utilize the method that six degree of freedom five bar movable type linkage carries out welding procedure |
| CN104551477B (en) * | 2014-12-23 | 2016-08-24 | 广西大学 | Utilize the method that multi-freedom-degreecontrollable controllable mechanism type linkage carries out welding procedure |
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
| CN110091936B (en) * | 2019-05-21 | 2023-05-05 | 南华大学 | Four-foot robot based on five-bar mechanism and gait control method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110720 Termination date: 20111222 |