CN206241514U - A kind of controllable link-type welding robot of multiple degrees of freedom - Google Patents
A kind of controllable link-type welding robot of multiple degrees of freedom Download PDFInfo
- Publication number
- CN206241514U CN206241514U CN201621359812.6U CN201621359812U CN206241514U CN 206241514 U CN206241514 U CN 206241514U CN 201621359812 U CN201621359812 U CN 201621359812U CN 206241514 U CN206241514 U CN 206241514U
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- connecting rod
- rotating secondary
- frame
- rotating
- objective table
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Abstract
A kind of controllable link-type welding robot of multiple degrees of freedom, the one end of connecting rod one is connected to the other end in frame and is connected with the one end of connecting rod two, the other end of connecting rod two is connected on objective table, the one end of connecting rod three is connected to the other end in frame and is connected on objective table, the one end of connecting rod four is connected to the other end in frame and is connected with the one end of connecting rod five, the other end of connecting rod five is connected on connecting rod three by rotating secondary eight, the one end of connecting rod six is connected to the other end in frame and is connected with bar July 1st end repeatedly, the other end of connecting rod seven is connected for first jiao with triangular connecting plate, second jiao of triangular connecting plate is connected with connecting rod Aug. 1st end, the other end of connecting rod eight is connected with the one end of connecting rod nine, the other end of connecting rod nine is connected on welding gun, the one end of connecting rod ten is fixedly connected on objective table, the other end of connecting rod ten is connected on connecting rod nine, frame is arranged on base by rotating secondary 16.The utility model combines the advantage of serial manipulator and parallel robot, has the advantages that working space is big, rigidity is high, carrying is strong, good reliability, quickly positions, and the complex job such as adapts to weld, sprays.
Description
Technical field
The utility model is related to mechanical field, specifically a kind of controllable link-type welding robot of multiple degrees of freedom.
Background technology
At present, robot is generally used in each field, welding robot be engaged in welding (including cutting with
Spraying) industrial robot, for improving welding efficiency, improve the working environment of workers, reduce production cost etc. and play and can not replace
The effect in generation, but robot is influenceed by many factors such as space, environment, often operating efficiency also cannot be played effectively.
And serial manipulator and parallel robot respectively have advantage and disadvantage, traditional serial manipulator has simple structure, low cost, work
The advantages of space is big, comparatively serial manipulator rigidity is low, it is impossible to be applied at a high speed, the big occasion for carrying；Parallel robot
Compared with traditional serial manipulator, with without accumulated error, precision higher, compact conformation, large carrying capacity, rigidity it is high and
The features such as end effector inertia is small, drive device is placed on fixed platform or close to the position of fixed platform, such motion parts
Lightweight, speed is high, and dynamic response is good；But the distinct disadvantage of parallel robot is that working space is small and complex structure.
Utility model content
The utility model is in view of the shortcomings of the prior art, there is provided a kind of controllable link-type welding robot of multiple degrees of freedom.
To achieve these goals, the utility model employs following technical scheme：
A kind of controllable link-type welding robot of multiple degrees of freedom, including connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod
5th, connecting rod six, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten, welding gun, objective table, triangular connecting plate, frame and base,
The one end of connecting rod one is connected in frame by rotating secondary one, and the other end of connecting rod one is by rotating secondary two with connecting rod 21
End connection, the other end of connecting rod two is connected on objective table by rotating secondary three,
The one end of connecting rod three is connected in frame by rotating secondary four, and the other end of connecting rod three is connected to loading by rotating secondary five
On platform,
The one end of connecting rod four is connected in frame by rotating secondary six, and the other end of connecting rod four is by rotating secondary seven with connecting rod May Day
End connection, the other end of connecting rod five is connected on connecting rod three by rotating secondary eight,
The one end of connecting rod six is connected in frame by rotating secondary nine, and the other end of connecting rod six is by rotating secondary ten with bar seven repeatedly
One end is connected, and the other end of connecting rod seven is connected for first jiao by rotating pair 11 with triangular connecting plate, and second jiao of triangular connecting plate leads to
Cross rotation secondary 12 to be connected with connecting rod Aug. 1st end, the other end of connecting rod eight is connected by rotating secondary 13 with the one end of connecting rod nine, connecting rod
Nine other ends are connected on welding gun by rotating secondary 14, and triangular connecting plate the third angle is connected to objective table by rotating secondary 15
On,
The one end of connecting rod ten is fixedly connected on objective table, and the other end of connecting rod ten is connected to connecting rod nine by rotating secondary 17
On,
Frame is arranged on base by rotating secondary 16.
Further, also including the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor,
First servomotor drives secondary one, second servomotor of rotation to drive secondary six, the 3rd servomotor driving of rotation to rotate nine and of pair
4th servomotor drives and rotates secondary 16.
Further, also including bonding wire case and bonding wire supply pipe, bonding wire case is arranged on objective table, bonding wire supply pipe one end
Bonding wire case is connected to, the bonding wire supply pipe other end is connected to welding gun.
Compared with prior art, the beneficial effect that the utility model possesses：
1. the utility model combines the advantage of serial manipulator and parallel robot, with working space it is big, rigidity is high,
The advantages of carrying strong, good reliability, quickly position, the complex job such as adapts to weld, sprays, carries.
2. the utility model includes the removable executing agency of series connection, horizontally moveable, improves the work telemechanical of welding gun 14 empty
Between scope.
3. the utility model improves robot bearing capacity, it is possible to quick positioning welding position, improves welding efficiency.
4. rod member is lighter bar, and mechanism kinematic inertia is small, and power performance is good, therefore under motor equal-wattage, the utility model
It is in hgher efficiency.
Brief description of the drawings
Fig. 1 is a kind of structural representation one of the controllable link-type welding robot of multiple degrees of freedom described in the utility model.
Fig. 2 is a kind of structural representation two of the controllable link-type welding robot of multiple degrees of freedom described in the utility model.
Fig. 3 is a kind of dimensional structure diagram of the controllable link-type welding robot of multiple degrees of freedom described in the utility model
One.
Fig. 4 is a kind of dimensional structure diagram of the controllable link-type welding robot of multiple degrees of freedom described in the utility model
Two.
Specific embodiment
The technical solution of the utility model is further elaborated below by embodiment.
Embodiment 1
A kind of controllable link-type welding robot of multiple degrees of freedom, including connecting rod 1, connecting rod 22, connecting rod 33, connecting rod 44,
Connecting rod 55, connecting rod 66, connecting rod 77, connecting rod 88, connecting rod 99, connecting rod 10, welding gun 14, objective table 21, triangular connecting plate
11st, frame 12 and base 13,
The one end of connecting rod 1 is connected in frame 12 by rotating secondary 1, and the other end of connecting rod 1 is by rotating secondary 2 102
It is connected with the one end of connecting rod 22, the other end of connecting rod 22 is connected on objective table 21 by rotating secondary 3 103,
The one end of connecting rod 33 is connected in frame 12 by rotating secondary 4 104, and the other end of connecting rod 33 is by rotating secondary 5 105
It is connected on objective table 21,
The one end of connecting rod 44 is connected in frame 12 by rotating secondary 6 106, and the other end of connecting rod 44 is by rotating secondary 7 107
It is connected with the one end of connecting rod 55, the other end of connecting rod 55 is connected on connecting rod 33 by rotating secondary 8 108,
The one end of connecting rod 66 is connected in frame 12 by rotating secondary 9 109, and the other end of connecting rod 66 is by rotating secondary 10
It is connected with one end of bar 77 repeatedly, the other end of connecting rod 77 is connected for 11 first jiaos by rotating pair 11 with triangular connecting plate, three
11 second jiaos of angle connecting plate is connected by rotating secondary 12 with the one end of connecting rod 88, and the other end of connecting rod 88 is by rotating secondary ten
3 113 are connected with the one end of connecting rod 99, and the other end of connecting rod 99 is connected on welding gun 14 by rotating secondary 14, triangle joint
The third angle of plate 11 is connected on objective table 21 by rotating secondary 15,
The one end of connecting rod 10 is fixedly connected on objective table 21, and the other end of connecting rod 10 is connected by rotating secondary 17
On connecting rod 99,
Frame 12 is arranged on base 13 by rotating secondary 16.
Further, also including the first servomotor 17, the second servomotor 16, the 3rd servomotor 17 and the 4th servo
Motor 15, the first servomotor 17 drives and rotates secondary 6 106, the 3rd servo electricity of the secondary driving of one 101, second servomotor 16 rotation
Machine 18 drives and rotates secondary 9 109 and the driving of the 4th servomotor 15 rotation secondary 16.
Further, also including bonding wire case 19 and bonding wire supply pipe 20, bonding wire case 19 is arranged on objective table 21, and bonding wire is supplied
Bonding wire case 19 is connected to the one end of pipe 20, the other end of bonding wire supply pipe 20 is connected to welding gun 14.
Claims (3)
1. the controllable link-type welding robot of a kind of multiple degrees of freedom, it is characterised in that including connecting rod one, connecting rod two, connecting rod three, even
Bar four, connecting rod five, connecting rod six, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten, welding gun, objective table, triangular connecting plate, frame and
Base,
The one end of connecting rod one is connected in frame by rotating secondary one, and the other end of connecting rod one is connected by rotating secondary two with the one end of connecting rod two
Connect, the other end of connecting rod two is connected on objective table by rotating secondary three,
The one end of connecting rod three is connected in frame by rotating secondary four, and the other end of connecting rod three is connected to objective table by rotating secondary five
On,
The one end of connecting rod four is connected in frame by rotating secondary six, and the other end of connecting rod four is connected by rotating secondary seven with the one end of connecting rod five
Connect, the other end of connecting rod five is connected on connecting rod three by rotating secondary eight,
The one end of connecting rod six is connected in frame by rotating secondary nine, and the other end of connecting rod six is by rotating secondary ten with bar July 1st end repeatedly
Connection, the other end of connecting rod seven is connected for first jiao by rotating pair 11 with triangular connecting plate, and second jiao of triangular connecting plate is by turning
Dynamic secondary 12 are connected with connecting rod Aug. 1st end, and the other end of connecting rod eight is connected by rotating secondary 13 with the one end of connecting rod nine, and connecting rod nine is another
One end is connected on welding gun by rotating secondary 14, and triangular connecting plate the third angle is connected on objective table by rotating secondary 15,
The one end of connecting rod ten is fixedly connected on objective table, and the other end of connecting rod ten is connected on connecting rod nine by rotating secondary 17,
Frame is arranged on base by rotating secondary 16.
2. the controllable link-type welding robot of multiple degrees of freedom as claimed in claim 1, it is characterised in that also including the first servo
Motor, the second servomotor, the 3rd servomotor and the 4th servomotor, the first servomotor drive rotation secondary, second to watch
Taking motor-driven rotation pair six, the 3rd servomotor drives secondary nine and the 4th servomotor of rotation to drive rotation secondary 16.
3. the controllable link-type welding robot of multiple degrees of freedom as claimed in claim 1 or 2, it is characterised in that also including bonding wire
Case and bonding wire supply pipe, bonding wire case are arranged on objective table, and bonding wire supply pipe one end is connected to bonding wire case, and bonding wire supply pipe is another
End is connected to welding gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621359812.6U CN206241514U (en) | 2016-12-12 | 2016-12-12 | A kind of controllable link-type welding robot of multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621359812.6U CN206241514U (en) | 2016-12-12 | 2016-12-12 | A kind of controllable link-type welding robot of multiple degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206241514U true CN206241514U (en) | 2017-06-13 |
Family
ID=59007217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621359812.6U Expired - Fee Related CN206241514U (en) | 2016-12-12 | 2016-12-12 | A kind of controllable link-type welding robot of multiple degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206241514U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127502A (en) * | 2017-07-04 | 2017-09-05 | 广西大学 | A kind of six degree of freedom controllable-mechanism type high speed Bai Han robots |
| CN107414371A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of welding robot |
| CN107433413A (en) * | 2017-07-13 | 2017-12-05 | 柳州福能机器人开发有限公司 | Screw type welding robot arm |
| CN107442329A (en) * | 2017-09-26 | 2017-12-08 | 广西南宁栩兮科技有限公司 | A kind of spray equipment |
| CN108213795A (en) * | 2016-12-12 | 2018-06-29 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
-
2016
- 2016-12-12 CN CN201621359812.6U patent/CN206241514U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213795A (en) * | 2016-12-12 | 2018-06-29 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
| CN107127502A (en) * | 2017-07-04 | 2017-09-05 | 广西大学 | A kind of six degree of freedom controllable-mechanism type high speed Bai Han robots |
| CN107433413A (en) * | 2017-07-13 | 2017-12-05 | 柳州福能机器人开发有限公司 | Screw type welding robot arm |
| CN107414371A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of welding robot |
| CN107442329A (en) * | 2017-09-26 | 2017-12-08 | 广西南宁栩兮科技有限公司 | A kind of spray equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170613 Termination date: 20171212 |