CN203265968U - Novel bionics-based welding gun - Google Patents
Novel bionics-based welding gun Download PDFInfo
- Publication number
- CN203265968U CN203265968U CN 201320033834 CN201320033834U CN203265968U CN 203265968 U CN203265968 U CN 203265968U CN 201320033834 CN201320033834 CN 201320033834 CN 201320033834 U CN201320033834 U CN 201320033834U CN 203265968 U CN203265968 U CN 203265968U
- Authority
- CN
- China
- Prior art keywords
- motor
- chute board
- rolling curve
- dactylus
- welding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a novel bionics-based welding gun. The novel bionics-based welding gun adopts an implementation mode that a drawing mechanism design is adopted, a motor serves as a power element, and a bionic welding gun is designed by simulating a physiological structure of the hands of a person according to a bionics principle, so that in all-position welding, particularly under the condition of a special welding task such as an intersecting line, the real-time adjustment of a working angle and a traveling angle in welding can be well realized, a welding gesture can be adjusted, and working angle and traveling angle adjusting mechanisms do not influence each other, and can cooperatively adjust the welding gesture. An automatic adjusting function of the welding gun can be realized, and welding efficiency is improved; and if the novel bionics-based welding gun is used together with an industrial robot, the system inertia of a conventional industrial robot can be effectively reduced, and the power performance of a system is improved.
Description
Technical field
The utility model relates to a kind of soldering appliance, relates in particular to a kind of Novel welding gun.
Background technology
In large pressurized vessel and pipeline engineering application, intersection welding seam is a kind of very common typical weld seam form.Intersection welding seam is the space curve weld seam of a kind of full position form, and the space curve weld seam of this complexity weld seam attitude in welding process is in change procedure constantly, therefore to guarantee the welding quality of intersection welding seam, not only to control the track of welding gun end points in welding process, and the attitude of welding gun and the attitude of weld seam are complementary.
Traditional industrial welding robot is all the tandem machine people of the joint type that adopts, for the attitude that realizes Butt welding gun in all-position welding is carried out real-time regulation and control, just need to be to each joint real-time collaborative regulation and control of serial machine people, realize the adjusting of welding gun terminal angle, the inertia of system is larger, and capacity usage ratio is lower.
Development along with the needs of producing and science and technology, since the 1950's, it has been recognized that biosystem is one of main path of opening up new technology, consciously the source of living nature as various technological thoughts, design principle and creation utility model.People are carrying out deep research with chemistry, physics, mathematics and technology model to biosystem, have promoted biological very big development, and function research on mechanism in organism has also been obtained rapid progress.This moment, to simulate biology be no longer spectacular illusion, but the knowledge that the fact that can accomplish obtains living nature is used for improving old or creates new engineering equipment.
Utility model patent number discloses a smart under-actuated bionic robot finger device with parallel-connected tendon ropes for the patent of CN101797753A, belong to anthropomorphic robot's technical field, this device utilizes motor, rope sheave, tendon rope and back-moving spring spare comprehensively to realize the variable special-effect that combines with self-adapting grasping of finger original configuration.
Existing welding gun equipment, because the globality of himself is sayed, can not realize that self adaptation regulates to realize in the welding of spatial complex curve, the flexible modulation at operating angle and walking angle, the match mechanism that need to manually weld or add is completed the regulatory function of corresponding pose.So it is high equipment cost to occur, the problems such as welding quality is undesirable, in traditional tandem type robot welding, in order to realize the attitude regulation of the section of execution, need to could realize the adjusting of pose by the motor cooperative motion in each joint, make the whole inertia of system larger, power performance is lower, and the effective rate of utilization of energy is lower.
The utility model content
In order to solve in all position welding termination process, the automatic in real time of the operating angle of Butt welding gun and the angle of walking controlled and regulates, reduce traditional tandem industrial robot in when welding the system inertia during attitude regulation, improve the mobility of total system, put forward the problems such as high-octane effective rate of utilization.The utility model provides a kind of bionic finger welding gun, its dynamical system is low in energy consumption, can real-time Butt welding gun attitude carry out regulation and control in all position welding termination process, if the execution end as traditional tandem type industrial robot, can effectively reduce load and the inertia of system, effectively improve the mobility of system.Simultaneously the structure of this mechanism is comparatively succinct, and quality is comparatively light, is of moderate size, and operating angle and walking angle that can Butt welding gun by collaborative adjusting control to adjust in real time.
The technical scheme that its technical problem that solves the utility model adopts is:
A kind of based on bionic Novel welding gun, adopt the thread drawing mechanism design, it is characterized in that: it includes actuating unit one, actuating unit two, welding job angle governor motion and welding walking angle governor motion;
Described actuating unit one comprises motor I 16, axle head locking cap 20, rolling curve wheel I 19 and flexible rope I 18 and motor fixing seat I 17; Motor I 16 is passed the mesopore of motor fixing seat I 17, by pressing closer bolt, that motor I 16 is fixing, the motor shaft of motor I 16 passes the centre bore of rolling curve wheel I 19, and shaft end enters into axle head locking cap 20, axle head locking cap 20 is fixed on nearly dactylus 4, tighten together by pressing closer the axle head that bolt takes turns I 19 and motor I 16 with rolling curve, flexible rope I 18 1 ends are fastened on rolling curve wheel I 19;
described actuating unit two comprises motor II 11, motor fixing seat II 12, rolling curve wheel shaft II 33, expansion tightening wheel I 15, expansion tightening wheel II 40 and flexible rope II 14, motor II 11 is passed the hole of motor fixing seat II 12, by pressing closer screw, motor II 11 is fixed on motor fixing seat II 12, the axle head of motor II 11 passes in the installing hole of axle head of rolling curve wheel shaft II 33, use presses closer screw the axle head of itself and motor II 12 is fixed, rolling curve on rolling curve wheel shaft II 33 wheel II 32 makes the two ends of flexible rope II 14 be wrapped in rolling curve wheel II 32 places, two ends, and be entangled on rolling curve wheel II 32 to different canoes according to left-right rotary,
described welding job angle governor motion adopts the bionic finger pattern, comprises nearly dactylus 4, middle finger joint 3, dactylus 1 far away, flexible rope I 18, in-seam spring 23, connects pivot pin 22 and nearly dactylus holder 21, nearly dactylus 4 is connected to one with middle finger joint 3 by being connected pivot pin 22, and form revolute pair at connecting portion, middle finger joint 3 is connected to one with dactylus 1 far away by being connected pivot pin (22), and form revolute pair at connecting portion, in-seam spring 23 passes nearly dactylus 4, the hollow cavity of middle finger joint 3 and dactylus 1 far away makes nearly dactylus 4, middle finger joint 3 and dactylus far away 1 form an integral body, flexible rope I 18 is passed middle finger joint 3, slide fastener hole on nearly dactylus 4 and dactylus 1 far away, and the slide fastener hole on an end of flexible rope I 18 and dactylus 1 far away is fastened on one, the other end of flexible rope I 18 is fixed on rolling curve wheel I 19, and be wrapped on rolling curve wheel I 19,
described welding walking angle governor motion, adopt arc track to copy wrist, comprise chute board I 9, chute board II 6, rail slider 8, back shaft 36, rolling bearing I 37, chute board pillar I 29, chute board pillar II 30, chute board pillar III 13, expansion tightening wheel post I 27, expansion tightening wheel post II 10 and gripper shoe I 5, gripper shoe II 7, gripper shoe III 28, chute board I 9 and the parallel placement of chute board II 6, chute board pillar I 29, chute board pillar II 30, 13 one-tenth triangular shapes of chute board pillar III are positioned over the effect of playing fixed support two plates between chute board I 9 and chute board II 6, use gripper shoe I 5, gripper shoe II 7, gripper shoe III 28 is placed on the end of chute board I 9 and chute board II 6 and plays reinforcement effect, rail slider 8 is placed on the arc road of chute board I 9 and chute board II 6, four back shafts 36 pass the installing hole on rail slider 8 and two rolling bearing I 37 are arranged on respectively the two ends of each back shaft 36, realize that rail slider 8 is along fixing perpendicular to the direction of chute board I 9 and chute board II 6, one end of rail slider 8 connects flexible rope II 14, the other end connects the operating angle governor motion,
Motor I 16 in actuating unit one is fixed on motor fixing seat I 17, motor fixing seat I 17 is fixed on the nearly dactylus holder 21 of operating angle governor motion, motor II 11 on actuating unit two is fixed on motor fixing seat II 12, motor fixing seat II 12 is fixed on the chute board I 6 of walking angle governor motion, is fixed on by nearly dactylus holder 21 on the rail slider 8 of walking angle governor motion two governor motions are formed one.
The utility model adopts motor as dynamical element, and utilizes the moving winding wheel of motor straight tape splicing to drive.As preferred version of the present utility model, the selected motor of this mechanism adopts servomotor, himself have current feedback, speed feedback and position feedback function, the accuracy and stability controlled have been improved, and it also has auto-lock function, can make the restoring force spring keep deformation, make mechanism can keep its corresponding attitude.Its beneficial effect is that frame for movement is succinct, improves the capacity usage ratio of system, improves the accuracy that actuating unit is controlled.
The inner spring that adopts of the utility model fingerstall cylinder is the restoring force spring, and the quality of spring is light, and controllability is stronger, can carry out at any time deformation.Increased the actuating unit controllability.
Rolling curve wheel II 32 and the flexible rope II 14 of actuating unit two correspondences in the walking angle governor motion in the utility model, the mode of rolling curve wheel II 32 wrap wires be two ends adopt left-right rotary to different modes, it is the left-handed end that is wrapped in rolling curve wheel II 32 of an end of flexible rope II 14, on the other end that is wrapped in rolling curve wheel II 32 of the other end dextrorotation of flexible rope II 14, one end is wrap wire when the motor anticlockwise, and the other end will unwrapping wire.Will drag the operating angle governor motion this moment moves on corresponding slideway.Its beneficial effect can strengthen the accuracy of walking angle adjusting, thereby strengthens the precision of welding.
In the utility model, the two ends of trapped orbit slide block 8 are equipped with four location with back shafts 36, and back shaft 36 two ends of location use all are equipped with rolling bearing I 37, guarantee rail slider 8 when sliding can in the situation that less frictional force carry out.Its beneficial effect has strengthened Systems balanth for making its governor motion more stable when carrying out adjustment movement.
During the utility model work, detailed process is as follows:
1, in the welding, operating angle is regulated the stage: in all position welding termination process, when the operating angle of welding gun need to be regulated, rotation by motor I 16, driving rolling curve wheel I 19 rotatablely moves, because an end of flexible rope I 18 is fixed on rolling curve wheel I 19, its other end is fixed on slide opening on dactylus 1 far away, and passes the slide opening on middle finger joint 3 and nearly dactylus 4, and runs through an in-seam spring 23 that restoring force is provided in the inner chamber of its three dactylus.When motor I 16 is wound around flexible rope I 18, due to the variation that is attached to flexible rope I 18 length on three dactylus, can drive middle finger joint swings with dactylus far away, welding gun is positioned at the inside of dactylus far away, welding desired welding job angle will change, until reach institute's claimed range energy, stop regulating.
2, in welding, the stage is regulated at the walking angle: in all-position welding, when regulating the walking angle of welding gun, motor II 11 drives rolling curve wheel shaft II 33, because the two ends of flexible rope II 14 all are wrapped on rolling curve wheel II 32, and when an end is the dextrorotation winding, the other end is left-handed winding, tensioner effect by expansion tightening wheel makes flexible rope II 14 be in the tensioner state, the stage casing part of flexible rope II 14 need to be fastened on above rail slider 8, when 33 rotation of rolling curve wheel shaft II, one end meeting twining movement of the flexible rope II 14 that be wound around on rolling curve wheel II 32 this moment, the flexible rope II 14 that its relative other end is wound around will unwrapping wire, therefore rail slider 8 will be in chute board I 9, move in cambered way on chute board II 6, when the motor direction of rotation changes, the direction of motion of rail slider 8 also can change.
The utility model is compared with existing equipment, can obtain following beneficial effect:
The utility model adopts motor-driven mechanism, and therefore can be real-time in welding process controll plant be regulated improved operating efficiency, and improved welding quality; Because rail slider 8 has been installed four location with back shafts 36, and the two ends of four axles have all installed rolling bearing I 37, make it in system's smooth sliding in the adjustment movement process, have strengthened the stability of system in welding process; The winding mode that adopts on rolling curve wheel II 32 due to the two ends of flexible rope II 14 adopts be left-right rotary to different rotation modes, strengthen the accuracy that the walking angle is regulated, thereby improved the precision of welding.
Description of drawings:
Fig. 1: a kind of bionic finger welding gun structure schematic diagram
Fig. 2: the operating angle in the intersection welding and the angle of walking
Fig. 3: operating angle governor motion
Fig. 4: the angle governor motion of walking
Fig. 5: flexible rope canoe in the angle governor motion of walking
Fig. 6: the internal structure schematic diagram of walking the angle governor motion
Fig. 7: rail slider structure member schematic diagram
Fig. 8: dactylus structural representation far away
in figure: 1 dactylus far away, 2 connect pivot pin, 3 middle finger joints, 4 nearly dactylus, 5 gripper shoe I, 6 chute board II, 7 gripper shoe II, 8 rail sliders, 9 chute board I, 10 expansion tightening wheel post II, 11 motor II, 12 motor fixing seat II, 13 chute board pillar III, 14 flexible rope II, 15 expansion tightening wheel I, 16 motor I, 17 motor fixing seat I, 18 flexible rope I, 19 rolling curve wheel I, 20 axle head locking caps, 21 nearly dactylus holders, 22 connect pivot pin, 23 in-seam springs, 24 seal covers, 25 joint pins, 26 distribution sieves, 27 expansion tightening wheel post I, 28 gripper shoe III, 29 chute board pillar I, 30 chute board pillar II, 31 rolling bearings, 32 rolling curve wheel II, 33 rolling curve wheel shaft II, 34 ignition tips, 35 nozzles, 36 back shafts, 37 rolling bearing I, 38 shaft shoulders, 39 nuts, 40 expansion tightening wheel II
The specific embodiment
Below in conjunction with drawings and embodiments, the utility model is described further
As shown in Figure 1, a kind of bionic finger welding gun of the present utility model, actuating unit one mainly comprises motor fixing seat I 17, motor I 16, flexible rope I 18, and nearly dactylus 4, dactylus 1 far away, middle finger joint 3 connect into a global facility by flexible rope I 18; Actuating unit two mainly comprises motor fixing seat II 12, motor II 11, chute board II 6, chute board I 9, rail slider 8 and flexible rope II 14.By the cambered way on chute board II 6 and chute board I 9, rail slider 8 is led, drawing on by flexible rope II 14, rail slider 8 being moved.The adjusting at operating angle and the angle of walking in regulating to carry out welding with intersection in all-position welding by this two-part coordination, as shown in Figure 2.
as shown in Figure 3, the view of operating angle governor motion, the fuselage of motor I 16 is fixed on motor fixing seat 17 I, motor I 16 axle heads pass rolling curve wheel I 19 and are connected in axle head locking cap 20, axle head locking cap 20 is fixed on nearly dactylus 4, motor fixing seat I 17 and nearly dactylus 4 are arranged on nearly dactylus holder 21, dactylus 1 far away, middle finger joint 3 is hinged by connecting pivot pin 22 with the dactylus of being connected 4, the inner chamber of three fingers of in-seam spring 23 break-through, flexible rope I 18 1 ends connect and are wrapped on rolling curve wheel I 19, the other end passes three slide openings on dactylus and finally is fixed on the slide opening of dactylus far away, when 16 rotation of motor I, drive rolling curve wheel I 19 and be wound around or emit the change in location that flexible rope I 18 realizes three dactylus.The internal integration of dactylus far away forms the welding actuator by seal cover 24, joint pin 25 and distribution sieve 26.
The governor motion at Fig. 4 and walking shown in Figure 6 angle, chute board II 6 is fixed into parallel frame with gripper shoe III 28 with two chute boards by chute board pillar I 29, chute board pillar III 13, chute board pillar II 30, expansion tightening wheel post I 27, expansion tightening wheel post II 10, gripper shoe I 5, gripper shoe II 7 with chute board I 9, rail slider 8 is arranged in arc track on chute board I 9, chute board II 6, moves by the dilatory realization of flexible rope II 14.Motor II 11 is arranged on motor fixing seat II 12 and is fixed on chute board I 9.The axle head of motor II 11 is arranged in the connecting hole of rolling curve wheel shaft II 33, rolling curve wheel shaft II 33 is fixed on chute board I 9 by rolling bearing 31, pass rolling curve wheel 32 and realize regulating the displacement of flexible rope II 14, it is long that rotation by motor just can realize that flexible rope II 14 two ends are wrapped in the rope of rolling curve wheel 32, because by canoe as shown in Figure 5, can realize an end when being wound around the other end at the rope that lengthens, thereby can realize the motion of dilatory rail slider 8.
Shown in Figure 7, the structure of rail slider 8, rail slider 8 is being arranged on a base plate of certain radian by two slide block axles, differentiate on two slide block axles four back shaft I 36 have been installed, and the direction of its axis is pointed on the radian center of circle of rail slider simultaneously.Be symmetrically installed with respectively rolling bearing I 37, the shaft shoulder 38 and clamp nut 39 on every back shaft 36.The mounting arrangement mode as shown in Figure 7.
shown in Figure 8, Fundamentals of Welding structure for dactylus far away inside, ignition tip 34 is arranged on joint pin 25 1 ends, the other end of joint pin 25 connects will be connected to the external welding wire tube connector that passes through the centre bore of seal cover 24 future, joint pin 25 is threaded connection on the internal thread hole of distribution sieve 26, distribution sieve 26 is by on the inner chamber that is threaded in dactylus 1 far away on outside cylinder, seal cover 24 is arranged on the inner chamber of dactylus 1 far away by the screw thread on external diameter, when protection gas is connected by the passage on dactylus 1 far away, will be evenly distributed in ignition tip 34 around realize the welding of better quality.
Claims (3)
1. one kind based on bionic Novel welding gun, adopts the thread drawing mechanism design, and it is characterized in that: it includes actuating unit one, actuating unit two, welding job angle governor motion and welding walking angle governor motion;
Described actuating unit one comprises motor I (16), axle head locking cap (20), rolling curve wheel I (19) and flexible rope I (18) and motor fixing seat I (17); Motor I (16) is passed the mesopore of motor fixing seat I (17), by pressing closer bolt, that motor I (16) is fixing, the motor shaft of motor I (16) passes the centre bore of rolling curve wheel I (19), and shaft end enters into axle head locking cap (20), axle head locking cap (20) is fixed on nearly dactylus (4), tighten together by pressing closer the axle head that bolt takes turns I (19) and motor I (16) with rolling curve, flexible rope I (18) one ends are fastened on rolling curve wheel I (19);
described actuating unit two comprises motor II (11), motor fixing seat II (12), rolling curve wheel shaft II (33), expansion tightening wheel I (15), expansion tightening wheel II (40) and flexible rope II (14), motor II (11) is passed the hole of motor fixing seat II (12), by pressing closer screw, motor II (11) is fixed on motor fixing seat II (12), the axle head of motor II (11) passes in the installing hole of axle head of rolling curve wheel shaft II (33), use presses closer screw the axle head of itself and motor II (12) is fixed, rolling curve wheel II (32) on rolling curve wheel shaft II (33) makes the two ends of flexible rope II (14) be wrapped in place, rolling curve wheel II (32) two ends, and be entangled on rolling curve wheel II (32) to different canoes according to left-right rotary,
described welding job angle governor motion adopts the bionic finger pattern, comprises nearly dactylus (4), middle finger joint (3), dactylus (1) far away, flexible rope I (18), in-seam spring (23), connects pivot pin (22) and nearly dactylus holder (21), nearly dactylus (4) is connected to one with middle finger joint (3) by being connected pivot pin (22), and form revolute pair at connecting portion, middle finger joint (3) is connected to one with dactylus (1) far away by being connected pivot pin (22), and form revolute pair at connecting portion, in-seam spring (23) passes nearly dactylus (4), the hollow cavity of middle finger joint (3) and dactylus (1) far away makes nearly dactylus (4), middle finger joint (3) and dactylus (1) far away form an integral body, flexible rope I (18) is passed middle finger joint (3), slide fastener hole on nearly dactylus (4) and dactylus (1) far away, and the slide fastener hole on an end of flexible rope I (18) and dactylus (1) far away is fastened on one, the other end of flexible rope I (18) is fixed on rolling curve wheel I (19), and be wrapped on rolling curve wheel I (19),
described welding walking angle governor motion, adopt arc track to copy wrist, comprise chute board I (9), chute board II (6), rail slider (8), back shaft (36), rolling bearing I (37), chute board pillar I (29), chute board pillar II (30), chute board pillar III (13), expansion tightening wheel post I (27), expansion tightening wheel post II (10) and gripper shoe I (5), gripper shoe II (7), gripper shoe III (28), chute board I (9) and the parallel placement of chute board II (6), chute board pillar I (29), chute board pillar II (30), chute board pillar III (13) becomes triangular shape to be positioned over the effect of playing fixed support two plates between chute board I (9) and chute board II (6), use gripper shoe I (5), gripper shoe II (7), gripper shoe III (28) is placed on the end of chute board I (9) and chute board II (6) and plays reinforcement effect, rail slider (8) is placed on the arc road of chute board I (9) and chute board II (6), four back shafts (36) pass the installing hole on rail slider (8) and two rolling bearing I (37) are arranged on respectively the two ends of each back shaft (36), realize that rail slider (8) is along fixing perpendicular to the direction of chute board I (9) and chute board II (6), one end of rail slider (8) connects flexible rope II (14), the other end connects the operating angle governor motion,
Motor I (16) in actuating unit one is fixed on motor fixing seat I (17), motor fixing seat I (17) is fixed on the nearly dactylus holder (21) of operating angle governor motion, motor II (11) on actuating unit two is fixed on motor fixing seat II (12), motor fixing seat II (12) is fixed on the chute board I (6) of the angle governor motion of walking, and the rail slider (8) that is fixed on the angle governor motion of walking by nearly dactylus holder (21) is upper with two governor motions formation one.
2. according to claim 1 a kind of based on bionic Novel welding gun, it is characterized in that: in described actuating unit two, the rope on the rolling curve that is wrapped in wheel II (32), one end is that dextrorotation is being wound around, the other end is left-handed the winding, the two ends of rope are fixed on the two ends of rolling curve wheel II (32), rope one end is wrapped in an end of rolling curve wheel II (32) by dextrorotation, the rope other end is by the left-handed other end that is wrapped in rolling curve wheel II (32), rolling curve wheel shaft II (33) and the combination of rolling curve wheel II (32), when motor II (11) drives rolling curve wheel shaft II (33) rotation, one end of rolling curve wheel II (32) is realized kinking and the other end is realized unwrapping wire.
3. according to claim 1 a kind of based on bionic Novel welding gun, it is characterized in that: the end of dactylus (1) far away is the position of implementing welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320033834 CN203265968U (en) | 2013-01-22 | 2013-01-22 | Novel bionics-based welding gun |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320033834 CN203265968U (en) | 2013-01-22 | 2013-01-22 | Novel bionics-based welding gun |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203265968U true CN203265968U (en) | 2013-11-06 |
Family
ID=49496457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320033834 Withdrawn - After Issue CN203265968U (en) | 2013-01-22 | 2013-01-22 | Novel bionics-based welding gun |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203265968U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103100811A (en) * | 2013-01-22 | 2013-05-15 | 北京工业大学 | Novel welding gun based on bionics |
| CN107414368A (en) * | 2017-08-23 | 2017-12-01 | 江西恒大高新技术股份有限公司 | The hand-held flexible semi-automatic built-up welding mechanism of one kind |
-
2013
- 2013-01-22 CN CN 201320033834 patent/CN203265968U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107414368A (en) * | 2017-08-23 | 2017-12-01 | 江西恒大高新技术股份有限公司 | The hand-held flexible semi-automatic built-up welding mechanism of one kind |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103565562B (en) | Under-actuated artificial limb hand | |
| CN206484587U (en) | A kind of Artificial grip module based on flexible shaft | |
| CN103100811B (en) | Novel welding gun based on bionics | |
| CN104589310B (en) | A kind of self adaptation multiple degrees of freedom Apery manipulator based on Pneumatic artificial muscle | |
| CN106041995A (en) | Human-simulated mechanical hand | |
| Laliberté et al. | Towards the design of a prosthetic underactuated hand | |
| CN102258411B (en) | Cable control type upper limb function training robot arm | |
| US20110137423A1 (en) | Mechanical joint imitating creatures' joints | |
| CN203265968U (en) | Novel bionics-based welding gun | |
| CN209078735U (en) | A kind of hull outer surface wire saws parallel connection spray robot | |
| CN104760055A (en) | Turtle robot and flexible neck device thereof | |
| CN105751211A (en) | Curvature continuously-changing robot driven by flexible rods and control method of robot | |
| CN110141455A (en) | A kind of wearable hand convalescence device of multiplex control system | |
| CN106903710B (en) | Humanoid dexterous hand base joint mechanism | |
| CN105583829A (en) | Simulated mechanical finger pulled on basis of steel wire | |
| CN204229734U (en) | Welder training operation control platform | |
| CN204818467U (en) | Boats and ships welding set | |
| CN207402782U (en) | A kind of miniature steering engine robot arm | |
| CN205904035U (en) | Telescopic spraying teaching mechanism with hemispheroid gathering range | |
| Lee et al. | Development of torque controllable leg for running robot, AiDIN-IV | |
| CN107639632A (en) | A kind of robot arm | |
| CN111452082A (en) | Under-actuated dexterous hand with palm capable of being forked and wrist capable of rotating coaxially | |
| CN215618127U (en) | Manipulator system with multi-rope driving unit | |
| CN206263988U (en) | A kind of waist structure for anthropomorphic robot | |
| CN206141751U (en) | A numerical control derailleur for bicycle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131106 Effective date of abandoning: 20150603 |
|
| RGAV | Abandon patent right to avoid regrant |