CN204893263U - Welding robot - Google Patents
Welding robot Download PDFInfo
- Publication number
- CN204893263U CN204893263U CN201520633366.2U CN201520633366U CN204893263U CN 204893263 U CN204893263 U CN 204893263U CN 201520633366 U CN201520633366 U CN 201520633366U CN 204893263 U CN204893263 U CN 204893263U
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- CN
- China
- Prior art keywords
- joint portion
- clamping part
- hole
- drive motors
- reductor
- Prior art date
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Abstract
The utility model discloses a welding robot, including the consecutive base that connects, first joint portion, second joint portion and clamping part, first joint portion rotate to connect be in the base on, second joint portion rotate to connect be in first joint portion on, the clamping part rotate to connect be in second joint portion on, the clamping part rotate to connect be in second joint portion on second joint portion be close to clamping part one end be provided with the through -hole the through -hole in be provided with the pivot, clamping part fixed connection be in the pivot on the pivot both ends be provided with the 3rd driven gear second joint portion on be provided with the 3rd driving motor and rather than matched with third speed reducer, the third speed reducer pass through the chain with the 3rd driven gear be connected. The utility model discloses simple structure, convenient operation can carry out the solder joint position compensation as required, improves welding precision.
Description
Technical field
The utility model relates to a kind of welding robot.
Background technology
The mode of existing manual welding, very time-consuming, existing welding robot, complex structure, controls loaded down with trivial details, uses inconvenience, and, owing to can not compensate butt welding point position in time in operating process, welding precision is affected.
Utility model content
The purpose of this utility model is to provide a kind of welding robot, and structure is simple, easy to operate, can carry out bond pad locations compensation as required, improves welding precision.
The utility model is achieved through the following technical solutions:
A kind of welding robot, comprise be connected successively base, the first joint portion, second joint portion and clamping part, the first described joint portion is rotatably connected on described base, described second joint portion is rotatably connected on the first described joint portion, and described clamping part is rotatably connected in described second joint portion;
Described clamping part is rotatably connected in described second joint portion, in described second joint portion, described clamping part one end is provided with through hole, rotating shaft is provided with in described through hole, described clamping part is fixedly connected in described rotating shaft, described rotating shaft two ends are provided with the 3rd driven gear, the 3rd reductor described second joint portion being provided with the 3rd drive motors and matching with it, the 3rd described reductor is connected with the 3rd described driven gear by chain, in described second joint portion, described clamping part one end is provided with angular transducer,
Described clamping part to take the shape of the letter U structure away from described rotating shaft one end, inside described U-shaped structure, be provided with hydraulic cylinder;
The axis of the first described joint portion is mutually vertical with the axis in second joint portion.
Further, for realizing the utility model better, the first reductor being provided with the first drive motors and matching with the first drive motors in the middle part of described base, the first described output end of reducer is provided with the first travelling gear, the first described joint portion is provided with the first driven gear be meshed with the first travelling gear, the axis of described base and the axis of the first described joint portion coincide, and described base is provided with angular transducer.
Further, for realizing the utility model better, in described second joint portion away from the second reductor that first described joint portion one end is provided with the second drive motors and matches with the second drive motors, at the first described joint portion, described one end, second joint portion is provided with through hole, rotating shaft is provided with in described through hole, second described clamping part one end is embedded in this through hole, the second described output end of reducer is provided with the second travelling gear, embed through hole one end at the second described clamping part and be provided with the second driven gear be meshed with the second travelling gear, at the first described joint portion, described one end, second joint portion is provided with angular transducer.
Further, for realizing the utility model better, inside described clamping part, be provided with anti-skidding burr.
Further, for realizing the utility model better, described clamping part is that refractory metal is made.
A control method for welding robot, comprises the following steps:
S1: record initial position message: the initial position recording the first joint portion respect thereto, the initial position of relative first joint portion in second joint portion, and the initial position in the relative second joint portion of clamping part;
S2: receive controller information, start the first drive motors, the first joint portion respect thereto is rotated, starts the second drive motors, second joint portion is rotated relative to the first joint portion, now starts the 3rd drive motors and clamping part is rotated relative to the second clamping part around the shaft;
S3: adopt each rotatable parts rotational angle information in angular transducer detecting step S2, and information is sent to controller;
S4: the angle information in step S3 and the initial information in step S1 are compared, and compare with the external input information that controller receives, and operation is compensated to comparison result difference.
The utility model compared with prior art, has following beneficial effect:
(1) the utility model is by making the first joint portion mutually vertical with the axis in second joint portion, can realize it and rotate adjustment relative in 90 °, facilitate welding operation;
(2) the utility model is by adopting clamping part first-class for accommodating bonding machine, can facilitate the fixing of welding mechanism, simultaneously, adopt hydraulic cylinder structure, butt welding machine structure can be facilitated to apply active force, and making can be more firm in its welding process, effectively ensures welding precision.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present utility model, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the utility model overall structure schematic diagram.
Wherein: 101. bases, 102. first joint portions, 103. second joint portions, 104. clamping parts, 105. first drive motors, 106. first reductors, 107. first travelling gears, 108. first driven gears, 109. the 3rd driven gears, 110. the 3rd drive motors, 111. the 3rd reductors, 112. hydraulic cylinders, 113. second reductors, 114. second travelling gears, 115. second driven gears, 116. second drive motors, 117. anti-skidding burrs.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
As shown in Figure 1, a kind of welding robot, comprise be connected successively base 101, first joint portion 102, second joint portion 103 and clamping part 104, the first described joint portion 102 is rotatably connected on described base 101, described second joint portion 103 is rotatably connected on the first described joint portion 102, and described clamping part 104 is rotatably connected in described second joint portion 103;
Described clamping part 104 is rotatably connected in described second joint portion 103, in described second joint portion 103, described clamping part 104 one end is provided with through hole, rotating shaft is provided with in described through hole, described clamping part 104 is fixedly connected in described rotating shaft, described rotating shaft two ends are provided with the 3rd driven gear 109, the 3rd reductor 111 described second joint portion 103 being provided with the 3rd drive motors 110 and matching with it, the 3rd described reductor 111 is connected with the 3rd described driven gear 109 by chain, in described second joint portion 103, described clamping part 104 one end is provided with angular transducer,
Described clamping part 104 to take the shape of the letter U structure away from described rotating shaft one end, inside described U-shaped structure, be provided with hydraulic cylinder 112;
The axis of the first described joint portion 102 is mutually vertical with the axis in second joint portion 103.
By making the first joint portion 102 mutually vertical with the axis in second joint portion 103, second joint portion is vertical relatively to make the first joint portion 102, second joint portion 103 establishes rotating shaft, clamping part 104 can be rotated relative to second joint portion 103, because the first joint portion can rotate by respect thereto 101, thus the orientation that can realize three dimensions on the whole regulates.By adopting hydraulic cylinder fixing for plumb joint inside clamping part, can conveniently adjust, avoiding plumb joint to loosen affects welding precision.
Embodiment 1:
Preferably, in the utility model, the first reductor 106 being provided with the first drive motors 105 and matching with the first drive motors 105 in the middle part of described base 101, the first described reductor 106 output is provided with the first travelling gear 107, the first described joint portion 102 is provided with the first driven gear 108 be meshed with the first travelling gear 107, the axis of described base 101 and the axis of the first described joint portion 102 coincide, and described base 101 is provided with angular transducer.
Further preferably, in described second joint portion 103 away from the second reductor 113 that first described joint portion 102 one end is provided with the second drive motors 116 and matches with the second drive motors 116, at the first described joint portion 102, described one end, second joint portion 103 is provided with through hole, rotating shaft is provided with in described through hole, second described clamping part 103 one end is embedded in this through hole, the second described reductor 113 output is provided with the second travelling gear 114, embed through hole one end at the second described clamping part 103 and be provided with the second driven gear 115 be meshed with the second travelling gear 114, at the first described joint portion 102, described one end, second joint portion 103 is provided with angular transducer.
In order to ensure the fixed effect of welding mechanism, in the present embodiment, inside described clamping part 104, be provided with anti-skidding burr 117.
In order to avoid clamping part 104 is easily influenced by heat its performance, described clamping part 104 is made for refractory metal.
Embodiment 2:
The present embodiment is on the basis of embodiment 1, and a kind of control method of welding robot, comprises the following steps:
S1: record initial position message: the initial position recording the first joint portion 102 respect thereto 101, the initial position of relative first joint portion 102 in second joint portion 103, and the initial position in the relative second joint portion 103 of clamping part 104;
S2: receive controller information, start the first drive motors 105, first joint portion 102 respect thereto 101 is rotated, start the second drive motors 116, second joint portion 102 is rotated relative to the first joint portion 102, now starts the 3rd drive motors 110 and clamping part 104 is rotated relative to the second clamping part 103 around the shaft;
S3: adopt each rotatable parts rotational angle information in angular transducer detecting step S2, and information is sent to controller;
S4: the angle information in step S3 and the initial information in step S1 are compared, and compare with the external input information that controller receives, and operation is compensated to comparison result difference.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (5)
1. a welding robot, it is characterized in that: comprise be connected successively base (101), the first joint portion (102), second joint portion (103) and clamping part (104), described the first joint portion (102) is rotatably connected on described base (101), described second joint portion (103) is rotatably connected on described the first joint portion (102), and described clamping part (104) is rotatably connected in described second joint portion (103);
Described clamping part (104) is rotatably connected in described second joint portion (103), in described second joint portion (103), described clamping part (104) one end is provided with through hole, rotating shaft is provided with in described through hole, described clamping part (104) is fixedly connected in described rotating shaft, the 3rd driven gear (109) is provided with at described rotating shaft two ends, the 3rd reductor (111) described second joint portion (103) being provided with the 3rd drive motors (110) and matching with it, the 3rd described reductor (111) is connected with the 3rd described driven gear (109) by chain, in described second joint portion (103), described clamping part (104) one end is provided with angular transducer,
Described clamping part (104) to take the shape of the letter U structure away from described rotating shaft one end, is provided with hydraulic cylinder (112) inside described U-shaped structure;
The axis of described the first joint portion (102) is mutually vertical with the axis of second joint portion (103).
2. a kind of welding robot according to claim 1, it is characterized in that: the first reductor (106) being provided with the first drive motors (105) at described base (101) middle part and matching with the first drive motors (105), described the first reductor (106) output is provided with the first travelling gear (107), described the first joint portion (102) is provided with the first driven gear (108) be meshed with the first travelling gear (107), the axis of described base (101) and the axis of described the first joint portion (102) coincide, described base (101) is provided with angular transducer.
3. a kind of welding robot according to claim 1 and 2, it is characterized in that: in described second joint portion (103) away from the second reductor (113) that described the first joint portion (102) one end is provided with the second drive motors (116) and matches with the second drive motors (116), at described the first joint portion (102), described second joint portion (103) one end is provided with through hole, rotating shaft is provided with in described through hole, described the second clamping part (103) one end is embedded in this through hole, described the second reductor (113) output is provided with the second travelling gear (114), embed through hole one end at described the second clamping part (103) and be provided with the second driven gear (115) be meshed with the second travelling gear (114), at described the first joint portion (102), described second joint portion (103) one end is provided with angular transducer.
4. a kind of welding robot according to claim 1 and 2, is characterized in that: described clamping part (104) inner side is provided with anti-skidding burr (117).
5. a kind of welding robot according to claim 1 and 2, is characterized in that: described clamping part (104) is made for refractory metal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520633366.2U CN204893263U (en) | 2015-08-20 | 2015-08-20 | Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520633366.2U CN204893263U (en) | 2015-08-20 | 2015-08-20 | Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204893263U true CN204893263U (en) | 2015-12-23 |
Family
ID=54915475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520633366.2U Expired - Fee Related CN204893263U (en) | 2015-08-20 | 2015-08-20 | Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204893263U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108081250A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | A kind of welding robot |
| CN110202562A (en) * | 2019-06-30 | 2019-09-06 | 山西科达自控股份有限公司 | Robot device for underground coal mine |
-
2015
- 2015-08-20 CN CN201520633366.2U patent/CN204893263U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108081250A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | A kind of welding robot |
| CN110202562A (en) * | 2019-06-30 | 2019-09-06 | 山西科达自控股份有限公司 | Robot device for underground coal mine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20160820 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |