CN205869766U - Four -axis welding machines hand - Google Patents
Four -axis welding machines hand Download PDFInfo
- Publication number
- CN205869766U CN205869766U CN201620776537.1U CN201620776537U CN205869766U CN 205869766 U CN205869766 U CN 205869766U CN 201620776537 U CN201620776537 U CN 201620776537U CN 205869766 U CN205869766 U CN 205869766U
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- CN
- China
- Prior art keywords
- screw mandrel
- axis
- drag chain
- wiring
- mechanical arm
- 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.)
- Expired - Fee Related
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- 238000003466 welding Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 238000009434 installation Methods 0.000 claims abstract description 24
- 239000012636 effector Substances 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000007787 solid Substances 0.000 claims 1
- 230000032258 transport Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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- Resistance Welding (AREA)
Abstract
The utility model discloses a four -axis welding machines hand of manipulator technique, including frame, X axle driven device, Y axle driven device, Z axle driven device, end effector mechanism, still include to cooperate the welded machine of shifting with end effector mechanism, X axle driven device includes a servo motor, still includes the first lead screw of being connected with a servo motor output transmission, still including installing on first lead screw and along the length direction reciprocating motion's of first lead screw first installation department, still include first wiring tow chain, still includes first wiring tow chain mount, Y axle driven device includes Y axle arm, still includes and installs the 2nd servo motor in Y axle arm one end, still includes the second lead screw of being connected with the 2nd servo motor output transmission, still including installing the second installation department on the second lead screw, still includes second wiring tow chain, still includes second wiring tow chain mount. The utility model has the advantages of being simple in structure and convenient in operation, degree of automation is high.
Description
Technical field
This utility model relates to mechanical hand technology, particularly to a kind of four axle welding manipulators.
Background technology
In the production course of processing, generally require employing welding procedure and realize the fixing connection to product.Welding
Workman is not only needed to have skilled operant skill, abundant practical experience, stable weld horizontal, and, welding job
Condition is poor, flue dust is many, heat radiation is big, danger is high.Therefore, just occur in that industry mechanical arm to replace the manual welding of workman,
The labor intensity alleviating workman, the labor condition improving workman, reduce workman to operating technology difficulty requirement, but, existing skill
In art, often because robot manipulator structure is complicated, inconvenient operation, automaticity is low affects welding job.
Utility model content
The one four axle bonding machine that the purpose of this utility model is to provide simple in construction, easy to operate, automaticity is high
Tool hands.
The purpose of this utility model is achieved in that a kind of four axle welding manipulators, including frame, X-axis actuating device,
Y-axis transmission, Z-axis transmission device, end effector mechanism, also include assembling workpiece and coordinating weldering with end effector mechanism
The positioner connect；
Described X-axis actuating device includes the first servomotor being arranged on frame one end, also includes and the first servomotor
The first screw mandrel that outfan is in transmission connection, also includes being arranged on the first screw mandrel and past along the length direction of the first screw mandrel
First installation portion of multiple motion, also includes the first wiring drag chain, also includes that the first wiring being easy to the first wiring drag chain motion is dragged
Chain fixed mount；Described first installation portion is fixed with Z-axis transmission device；
Described Y-axis transmission includes Y-axis mechanical arm, also includes the second servomotor being arranged on Y-axis mechanical arm one end,
Also include the second screw mandrel being in transmission connection with the second servomotor outfan, also include the second installation being arranged on the second screw mandrel
Portion, also includes the second wiring drag chain, also includes the second wiring drag chain fixed mount being easy to the second wiring drag chain motion；
Described Z-axis transmission device includes the Z axis mechanical arm being vertically fixed on the first installation portion, also includes arranging Z axis machine
3rd servomotor at mechanical arm top, also includes the 3rd screw mandrel being connected with the 3rd servo motor transmission, also includes being fixed on
On two installation portions and be arranged on the 3rd installation portion on the 3rd screw mandrel, also include the 3rd wiring drag chain, also include being easy to the 3rd
3rd wiring drag chain fixed mount of wiring drag chain motion；Described Y-axis mechanical arm moves back and forth along the length direction of the 3rd screw mandrel.
Compared with prior art, the beneficial effects of the utility model are: due to first driven by servomotor the first screw mandrel,
First installation portion is moved along the length direction of the first screw mandrel, completes X-direction and move back and forth, due to the second servomotor
Drive the second screw mandrel so that Y-axis mechanical arm completes Y direction and moves back and forth, and due to the 3rd driven by servomotor the 3rd screw mandrel, makes
Obtain Y-axis mechanical arm and complete Z-direction reciprocating motion, owing to electric rotating machine drives weldment to rotate so that be arranged on weldment
Plumb joint and positioner coordinate and weld, overall structure is simple and convenient to operate, and automaticity is high.
As preferred version of the present utility model, described end effector mechanism is fixed on the other end of Y-axis mechanical arm, described
End effector mechanism includes electric rotating machine, also includes the weldment interlocked with electric rotating machine outfan, also includes being arranged on welding
The plumb joint of part end.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is A portion enlarged drawing in Fig. 2.
Wherein, 1X shaft drive, 1a the first servomotor, 1b the first screw mandrel, 1c the first installation portion, 1d the first wiring is dragged
Chain, 1c the first wiring drag chain fixed mount,
2Y shaft drive, 2aY shaft mechanical arm, 2b the second servomotor, 2c the second screw mandrel, 2d the second wiring drag chain, 2e
Second wiring drag chain fixed mount, 2f the second installation portion,
3Z shaft drive, 3aZ shaft mechanical arm, 3b the 3rd servomotor, 3c the 3rd screw mandrel, 3d the 3rd installation portion, 3e
Three wiring drag chains, 3f the 3rd wiring drag chain fixed mount,
4 end effector mechanisms, 4a electric rotating machine, 4b weldment, 4c plumb joint,
5 frames, 6 positioners.
Detailed description of the invention
As illustrated in fig. x, a kind of four axle welding manipulators, including frame 5, X-axis actuating device 1, Y-axis transmission 2, Z axis
Actuating device 3, end effector mechanism 4, also include assembling workpiece and coordinating, with end effector mechanism, the positioner 6 welded；
X-axis actuating device 1 includes the first servomotor 1a being arranged on frame 5 one end, also includes and the first servomotor
The first screw mandrel 1b that 1a outfan is in transmission connection, also includes being arranged on the first screw mandrel 1b and along the length of the first screw mandrel 1b
The degree reciprocating first installation portion 1c in direction, also includes the first wiring drag chain 1d, also includes being easy to the first wiring drag chain 1d fortune
The first dynamic wiring drag chain fixed mount 1e；First installation portion 1c fixes with Z-axis transmission device 3；
Y-axis transmission 2 includes Y-axis mechanical arm 2a, also includes the second servomotor being arranged on Y-axis mechanical arm 2a one end
2b, also includes the second screw mandrel 2c being in transmission connection with the second servomotor 2b outfan, also includes being arranged on the second screw mandrel 2c
The second installation portion 2f, also include the second wiring drag chain 2d, the second wiring also including being easy to the second wiring drag chain 2d motion is dragged
Chain fixed mount 2e；
Z-axis transmission device 3 includes the Z axis mechanical arm 3a being vertically fixed on the first installation portion 1c, also includes arranging Z axis machine
The 3rd servomotor 3b at mechanical arm 3a top, also includes the 3rd screw mandrel 3c being in transmission connection with the 3rd servomotor 3b, also includes
It is fixed on the second installation portion 2f and is arranged on the 3rd installation portion 3d on the 3rd screw mandrel 3c, also include the 3rd wiring drag chain
3e, also includes the 3rd wiring drag chain fixed mount 3f being easy to the 3rd wiring drag chain 3e motion；Y-axis mechanical arm 2a is along the 3rd screw mandrel
The length direction of 3c moves back and forth.
Above-mentioned end actuator 4 is fixed on the other end of Y-axis mechanical arm 2a, and end effector mechanism 4 includes electric rotating machine
4a, also includes the weldment 4b interlocked with electric rotating machine 4a outfan, also includes the plumb joint 4c being arranged on weldment 4b end.
During work, first, the first servomotor 1a drives the first screw mandrel 1b so that the first installation portion 1c is along the first screw mandrel
The length direction motion of 1b, completes X-direction and moves back and forth；Secondly, the second servomotor 2b drives the second screw mandrel 2c so that Y
Shaft mechanical arm 2a completes Y direction and moves back and forth；Then, the 3rd servomotor 3b drives the 3rd screw mandrel 3c so that Y-axis mechanical arm
2a completes Z-direction and moves back and forth；Then, electric rotating machine 4a drives weldment 4b to rotate so that be arranged on weldment 4b
Plumb joint 4c welds with positioner 6 cooperation.
This utility model is not limited to above-described embodiment, on the basis of technical scheme disclosed in this utility model, this
The technical staff in field is according to disclosed technology contents, it is not necessary to performing creative labour just can be special to some of which technology
Levying and make some replacements and deformation, these are replaced and deformation is all in protection domain of the present utility model.
Claims (2)
1. an axle welding manipulator, it is characterised in that: include frame, X-axis actuating device, Y-axis transmission, Z-axis transmission
Device, end effector mechanism, also include assembling workpiece and coordinating, with end effector mechanism, the positioner welded；
Described X-axis actuating device includes the first servomotor being arranged on frame one end, also includes and the first servomotor output
The first screw mandrel of being in transmission connection of end, also includes being arranged on the first screw mandrel and back and forth transports along the length direction of the first screw mandrel
The first dynamic installation portion, also includes the first wiring drag chain, also includes that the first wiring drag chain being easy to the first wiring drag chain motion is solid
Determine frame；Described first installation portion is fixed with Z-axis transmission device；
Described Y-axis transmission includes Y-axis mechanical arm, also includes the second servomotor being arranged on Y-axis mechanical arm one end, also wraps
Include the second screw mandrel being in transmission connection with the second servomotor outfan, also include the second installation portion being arranged on the second screw mandrel,
Also include the second wiring drag chain, also include the second wiring drag chain fixed mount being easy to the second wiring drag chain motion；
Described Z-axis transmission device includes the Z axis mechanical arm being vertically fixed on the first installation portion, also includes arranging Z axis mechanical arm
3rd servomotor at top, also includes the 3rd screw mandrel being connected with the 3rd servo motor transmission, also includes being fixed on the second peace
In dress portion and be arranged on the 3rd installation portion on the 3rd screw mandrel, also include the 3rd wiring drag chain, also include being easy to the 3rd wiring
3rd wiring drag chain fixed mount of drag chain motion；Described Y-axis mechanical arm moves back and forth along the length direction of the 3rd screw mandrel.
A kind of four axle welding manipulators the most according to claim 1, it is characterised in that: described end effector mechanism is fixed on
The other end of Y-axis mechanical arm, described end effector mechanism includes electric rotating machine, also includes the weldering interlocked with electric rotating machine outfan
Fitting, also includes the plumb joint being arranged on weldment end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620776537.1U CN205869766U (en) | 2016-07-22 | 2016-07-22 | Four -axis welding machines hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620776537.1U CN205869766U (en) | 2016-07-22 | 2016-07-22 | Four -axis welding machines hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205869766U true CN205869766U (en) | 2017-01-11 |
Family
ID=57697114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620776537.1U Expired - Fee Related CN205869766U (en) | 2016-07-22 | 2016-07-22 | Four -axis welding machines hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205869766U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044609A (en) * | 2017-11-08 | 2018-05-18 | 江苏新光数控技术有限公司 | A kind of numerical control four-axis welding manipulator |
| CN108907544A (en) * | 2018-07-05 | 2018-11-30 | 深圳中研塑力科技有限公司 | Four axis welding manipulators |
-
2016
- 2016-07-22 CN CN201620776537.1U patent/CN205869766U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044609A (en) * | 2017-11-08 | 2018-05-18 | 江苏新光数控技术有限公司 | A kind of numerical control four-axis welding manipulator |
| CN108907544A (en) * | 2018-07-05 | 2018-11-30 | 深圳中研塑力科技有限公司 | Four axis welding manipulators |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 |