CN203696220U - Multifunctional combined robot - Google Patents
Multifunctional combined robot Download PDFInfo
- Publication number
- CN203696220U CN203696220U CN201420037491.2U CN201420037491U CN203696220U CN 203696220 U CN203696220 U CN 203696220U CN 201420037491 U CN201420037491 U CN 201420037491U CN 203696220 U CN203696220 U CN 203696220U
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- rotating mechanism
- guide pillar
- vertical guide
- functional combined
- combined robot
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- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000003466 welding Methods 0.000 abstract description 13
- 238000005520 cutting process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003500 flue dust Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Abstract
The utility model discloses a multifunctional combined robot. The multifunctional combined robot comprises a machine base, a supporting device, a first rotating mechanism, a second rotating mechanism, a vertical guide column and drive mechanisms, wherein the machine base is connected with a robot control device through a cable, and the supporting device is connected to the machine base in a rotatable mode. The first rotating mechanism is connected to the supporting device in a rotatable mode. The first end of the second rotating mechanism is connected to the first end of the first rotating mechanism in a rotatable mode. The vertical guide column is connected with the second end of the second rotating mechanism. The drive mechanisms are connected with the first rotating mechanism, the second rotating mechanism and the vertical guide rod and provide power for the first rotating mechanism, the second rotating mechanism and the vertical guide rod. The multifunctional combined robot can be applied to the cutting process, the welding process and the carrying process, is stable in quality, does no harm to the human body, and is efficient in production, economical and practical.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to one and is applied to surface trimming, welding, the multi-functional combined robot in the fields such as carrying field.
Background technology
In the production process of enterprise, to staff's technical merit, product quality and production efficiency require more and more higher.In plasma cutting, laser cutting, in the production process of flame cutting, manual operations makes already can not meet quality and the production efficiency of product, and the flue dust producing in process hand-manipulated, and high lights etc. also can damage human body.And at the welding field of metal, artificial welding job intensity is large, technical merit is had relatively high expectations, and quality is unstable, and the flue dust that produces of welding, and ultraviolet ray etc. are larger to injury of human.In process of producing product, the artificial transposition to product, the labour intensity such as carrying are large, maybe cannot meet the demands, and must use automation equipment to complete.
Summary of the invention
For this reason, the purpose of this utility model is to provide a kind of robot being applied in cutting, welding and carrying operation, to enhance productivity and quality.
The utility model provides a kind of multi-functional combined robot, comprising:
Support, it is connected with robot controller by cable;
Supporting arrangement, is rotatably connected on described support;
The first rotating mechanism, is rotatably connected on described supporting arrangement;
The second rotating mechanism, its first end is rotatably connected to the first end of described the first rotating mechanism;
Vertically guide pillar, it is connected with the second end of described the second rotating mechanism; And
On described the first rotating mechanism, the second rotating mechanism and vertical guide pillar, be all connected with driving mechanism, think that it provides power.
Alternatively, according to multi-functional combined robot of the present utility model, on described vertical guide pillar, be connected with the 4th rotating mechanism.
Alternatively, according to multi-functional combined robot of the present utility model, described the 4th rotating mechanism is connected with the 5th rotating mechanism.
Alternatively, according to multi-functional combined robot of the present utility model, described the 4th rotating mechanism vertically, level or be connected to obliquely described vertical guide pillar lower end.
Alternatively, according to multi-functional combined robot of the present utility model, described the 4th rotating mechanism and described the 5th rotating mechanism are arranged on described vertical guide pillar near top end.
Alternatively, multi-functional combined robot described in the utility model, the output arm of described the 4th rotating mechanism is the hollow shaft being arranged in described vertical guide pillar, and the output arm of described the 5th rotating mechanism is arranged in the output arm of described the 4th rotating mechanism and stretches out from described vertical guide pillar lower end.
Alternatively, according to multi-functional combined robot of the present utility model, described the 4th rotating mechanism or the vertically lower end of guide pillar are provided with handgrip, for controlling the motion of described vertical guide pillar.
Alternatively, according to multi-functional combined robot of the present utility model, described the first rotating mechanism comprises horizontal part and rake, described horizontal part is connected on described supporting arrangement, described rake is connected with described the second rotating mechanism, and the angle between described horizontal part and described rake is obtuse angle.
Alternatively, according to multi-functional combined robot of the present utility model, on described the first rotating mechanism, the second rotating mechanism, the 4th rotating mechanism and the 5th rotating mechanism, be all connected with angular displacement sensor.
Alternatively, according to multi-functional combined robot of the present utility model, on described robot controller, be connected with teaching machine.
Multi-functional combined robot described in the utility model can be applicable to cutting (plasma, flame, laser), welding and handling process, and steady quality, harmless, produces efficient, economical and practical.
Accompanying drawing explanation
By reading below detailed description of the preferred embodiment, various other advantage and benefits will become cheer and bright for those of ordinary skills.Accompanying drawing is only for the object of preferred embodiment is shown, and do not think restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of multi-functional combined robot described in the first embodiment;
Fig. 2 is the structural representation of multi-functional combined robot described in the second embodiment;
Fig. 3 is the structural representation of multi-functional combined robot described in the third embodiment;
Fig. 4 is the structural representation of multi-functional combined robot described in the 4th kind of embodiment;
Fig. 5 is the effect schematic diagram of multi-functional combined robot described in the utility model side lifting; And
Fig. 6 is the effect schematic diagram of the anti-lifting of multi-functional combined robot described in the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and concrete embodiment, the utility model will be further described.
The utility model provides one to be applied to the multi-functional combined robot of economical and practical type in cutting (plasma, flame, laser), welding and handling process.
Fig. 1 shows the structural representation of multi-functional combined robot described in the first embodiment.As shown in Figure 1, described multi-functional combined robot comprises: support 100, supporting arrangement 200, the first rotating mechanism 300, the second rotating mechanisms 400 and vertically guide pillar 500.Described support 100 is connected with robot controller 1100 by cable, and the every control instruction to robot of sending to accept control device, completes corresponding operation.Described supporting arrangement 200 is connected on support 100 in the mode that can rotate with respect to described support 100.In the utility model, adopt pivoting support as described supporting arrangement.Described the first rotating mechanism 300 is rotatably connected on described supporting arrangement, described the second rotating mechanism 400 first ends are rotatably connected to the first end of described the first rotating mechanism 300, and described vertical guide pillar 500 is connected with the second end of described the second rotating mechanism.Described the first rotating mechanism 300, the second rotating mechanism 400 and vertical guide pillar 500 are all connected with driving mechanism, think that its rotation provides power.In the utility model, adopt motor 1300 as driving mechanism, motor can be servomotor or stepper motor.Can be arranged on described vertical guide pillar operation utensils such as handgrip, plasma cutting gun, welding gun.After robot energising, can make described the first rotating mechanism and the rotation of the second rotating mechanism according to operand present position, and adjust the upper-lower position of operation utensil along described vertical guide pillar, to meet the operational requirements of different directions, differing heights.
In order to increase the free degree of robot, can also on described vertical guide pillar, connect the 4th rotating mechanism.Fig. 2 shows the structural representation of multi-functional combined robot described in this kind of embodiment.As shown in Figure 2, connect the 4th rotating mechanism 600 in the lower end of described vertical guide pillar 500, described the 4th rotating mechanism 600 can be connected to the lower end of described vertical guide pillar 500 in the mode of vertical, level or inclination, and can be rotated.Now, can be arranged on the 4th rotating mechanism operation utensils such as handgrip, plasma cutting gun, welding gun.When machine man-hour, can rotate as required described the 4th rotating mechanism, the object of different directions is operated.
Further, described the 4th rotating mechanism can also connect the 5th rotating mechanism.Fig. 3 shows the structural representation of multi-functional combined robot described in this kind of embodiment.As shown in Figure 3, described the 4th rotating mechanism 600 is connected with the 5th rotating mechanism 700 by output arm 610.Described the 5th rotating mechanism 700 can be vertically, level or be connected to obliquely on described the 4th rotating mechanism 600.Now, can be arranged on the 5th rotating mechanism operation utensils such as handgrip, plasma cutting gun, welding gun.When machine man-hour, can rotate as required described the 5th rotating mechanism, the object of different directions is operated.
Except the annexation shown in the second embodiment and the third embodiment, described the 4th rotating mechanism and the 5th rotating mechanism can also be arranged on the position of described vertical guide pillar near top, and vertically guide pillar lower end is as the output of the 4th rotating mechanism and the 5th rotating mechanism.Fig. 4 shows the structural representation of multi-functional combined robot described in this kind of embodiment, and wherein support, supporting arrangement and the first rotating mechanism etc. are not shown with component omission identical in Fig. 1-3.As shown in Figure 4, described the 4th rotating mechanism 600 and the 5th rotating mechanism 700 are all arranged on the position of described vertical guide pillar 500 near top, and both are all connected with motor 1300.Described the 4th rotating mechanism 600 is connected with the 5th rotating mechanism 700 by its output arm 610.Wherein, the output arm 610 of described the 4th rotating mechanism 600 is hollow shaft, and it is arranged in described vertical guide pillar.The output arm 710 of described the 5th rotating mechanism 700 is arranged in the output arm 610 of described the 4th rotating mechanism 600 and stretches out from the lower end of described vertical guide pillar 500, forms free end.Now, can be arranged on this free end operation utensils such as handgrip, plasma cutting gun, welding gun.
In multi-functional combined robot described in the utility model, described the first rotating mechanism 300 comprises horizontal part and rake.As shown in Figure 1-Figure 3, between described horizontal part 310 and described rake 320, be connected in obtuse angle.Described horizontal part 310 is connected on described supporting arrangement 200, and described rake 320 is connected with described the second rotating mechanism 400.
In the robot of the second embodiment, the third embodiment and the 4th kind of embodiment, be provided with handgrip 800 in the lower end of described the 4th rotating mechanism 600 or vertical guide pillar 500, for controlling the motion of described vertical guide pillar 500.As shown in Figures 2 and 3, described handgrip 800 is arranged on the lower end of described the 4th rotating mechanism 600, can also as shown in Figure 4, handle 800 be arranged on to the position of described vertical guide pillar 500 near lower end.By this handgrip is set, can control easily the motion of vertical guide pillar.For example, when the programming such as welding, only need grasp handle, drag head and remember one by one that to operating position point mode programmes.Can also on described handle 800, button be set, operating personnel only need press described button, can control the motion of vertical guide pillar.
In order accurately to understand and change in location when control work, on described the first rotating mechanism 300, the second rotating mechanism 400 and vertical guide pillar 500, be all connected with angular displacement sensor 900 on the 4th rotating mechanism 600 and on the 5th rotating mechanism 700.Angular displacement sensor adopts the integrated magnet-sensitive element of high-performance intelligence, mechanical rotation or angular displacement are converted into signal of telecommunication output, non-cpntact measurement, that product has is contactless, noiseless, high sensitivity, high duplication, approach infinitely rotate the life-span, high frequency response characteristic is good.By angular displacement sensor is set, the certainty of measurement of robot displacement be can guarantee, thereby its movement velocity and kinematic accuracy improved, guarantee the degree of accuracy of Job Operations.
For the quick and various and growing complexity requirement of modern industry, robot is not only required to carry out simple repeated work " untiring ", and can serve as flexible automation equipment,, can be programmed different tasks that is.Realize the programming to robot manipulating task task by a certain equipment or mode, this process is exactly the teaching process of robot.For this reason, in multi-functional combined robot of the present utility model, on described robot controller 1100, be connected with teaching machine 1200.In described teaching machine 1200, preserve the teaching contents of artificial demonstration or the robot off-line programming code based on CAD/CAM, action command is sent to control device by it, with the operation of control.
In described multi-functional combined robot, described support 100 is foundations of robot, plays a supportive role, and can be fixed in different mounting surface according to the application scenario difference of robot for example ground, metope or ceiling.The support that is shown in Fig. 1-4 is installed situation on the ground, and Fig. 5 and Fig. 6 show respectively support and be contained on wall and the anti-situation (control device and teaching machine are not shown in the drawings) being lifted on ceiling by side crane.
It should be noted, above-described embodiment describes the utility model rather than the utility model is limited, and those skilled in the art can design alternative embodiment in the case of not departing from the scope of claims.In the claims, any reference symbol between bracket should be configured to limitations on claims.Word " comprises " not to be got rid of existence and is not listed as element or step in the claims.The use of word first, second and C grade does not represent any order, can be title by these word explanations.
Claims (10)
1. a multi-functional combined robot, is characterized in that comprising:
Support (100), it is connected with robot controller (1100) by cable;
Supporting arrangement (200), is rotatably connected on described support (100);
The first rotating mechanism (300), is rotatably connected on described supporting arrangement (200);
The second rotating mechanism (400), its first end is rotatably connected to the first end of described the first rotating mechanism (300);
Vertically guide pillar (500), it is connected with the second end of described the second rotating mechanism; And
On described the first rotating mechanism (300), the second rotating mechanism (400) and vertical guide pillar (500), be all connected with driving mechanism, think that it provides power.
2. multi-functional combined robot according to claim 1, is characterized in that: on described vertical guide pillar (500), be connected with the 4th rotating mechanism (600).
3. multi-functional combined robot according to claim 2, is characterized in that: described the 4th rotating mechanism (600) is connected with the 5th rotating mechanism (700).
4. multi-functional combined robot according to claim 2, is characterized in that: described the 4th rotating mechanism (600) vertically, level or be connected to obliquely described vertical guide pillar (500) lower end.
5. multi-functional combined robot according to claim 3, is characterized in that: described the 4th rotating mechanism (600) and described the 5th rotating mechanism (700) are arranged on described vertical guide pillar (500) near top end.
6. multi-functional combined robot according to claim 5, it is characterized in that: the output arm (610) of described the 4th rotating mechanism (600) is for being arranged on hollow shaft described vertical guide pillar (500) in, it is interior and stretch out from described vertical guide pillar (500) lower end that the output arm (710) of described the 5th rotating mechanism (700) is arranged on the output arm (610) of described the 4th rotating mechanism (600).
7. multi-functional combined robot according to claim 2, is characterized in that: described the 4th rotating mechanism (600) or the vertically lower end of guide pillar (500) are provided with handgrip (800), for controlling the motion of described vertical guide pillar (500).
8. according to the multi-functional combined robot described in any one in claim 1-7, it is characterized in that: described the first rotating mechanism (300) comprises horizontal part (310) and rake (320), it is upper that described horizontal part (310) is connected to described supporting arrangement (200), and described rake (320) is connected with described the second rotating mechanism (400); Angle between described horizontal part (310) and described rake (320) is obtuse angle.
9. according to the multi-functional combined robot described in any one in claim 3-7, it is characterized in that: on described the first rotating mechanism (300), the second rotating mechanism (400), the 4th rotating mechanism (600) and the 5th rotating mechanism (700), be all connected with angular displacement sensor (900).
10. according to the multi-functional combined robot described in any one in claim 1-7, it is characterized in that: on described robot controller (1100), be connected with teaching machine (1200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420037491.2U CN203696220U (en) | 2014-01-21 | 2014-01-21 | Multifunctional combined robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420037491.2U CN203696220U (en) | 2014-01-21 | 2014-01-21 | Multifunctional combined robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203696220U true CN203696220U (en) | 2014-07-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420037491.2U Expired - Lifetime CN203696220U (en) | 2014-01-21 | 2014-01-21 | Multifunctional combined robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN203696220U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078026A (en) * | 2016-06-30 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of intelligent automatic welding machinery hands |
| CN106181982A (en) * | 2016-08-09 | 2016-12-07 | 英华达（上海）科技有限公司 | multi-axis robot |
| US11065760B2 (en) | 2016-08-09 | 2021-07-20 | Inventec Appliances (Pudong) Corporation | Multiaxial robot with cover |
-
2014
- 2014-01-21 CN CN201420037491.2U patent/CN203696220U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078026A (en) * | 2016-06-30 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of intelligent automatic welding machinery hands |
| CN106181982A (en) * | 2016-08-09 | 2016-12-07 | 英华达（上海）科技有限公司 | multi-axis robot |
| US11065760B2 (en) | 2016-08-09 | 2021-07-20 | Inventec Appliances (Pudong) Corporation | Multiaxial robot with cover |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 650000 15A, 15 floor, block B, Kunming EGO Digital Center (two phase), No. 898 Beijing Road, Panlong District, Kunming, Yunnan. Patentee after: YUNNAN CANAAN FEIQI TECHNOLOGY CO.,LTD. Address before: 650000 room 2108, C building, good world garden, East Beijing Road, Panlong District, Kunming, Yunnan. Patentee before: FEIQI TECHNOLOGY YUNNAN Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140709 |