CN206287151U - A kind of many bar controllable type welding robots of three-dimensional combination drive - Google Patents
A kind of many bar controllable type welding robots of three-dimensional combination drive Download PDFInfo
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- CN206287151U CN206287151U CN201621430757.5U CN201621430757U CN206287151U CN 206287151 U CN206287151 U CN 206287151U CN 201621430757 U CN201621430757 U CN 201621430757U CN 206287151 U CN206287151 U CN 206287151U
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- bar
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- rotating secondary
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Abstract
A kind of many bar controllable type welding robots of three-dimensional combination drive, one end of the bar one of the robot is connected to the other end in frame and is connected with one end of bar two, the other end of bar two is connected on objective table, one end of bar three is connected to the other end in frame and is connected on objective table, one end of bar four is connected to the other end in frame and is connected with one end of bar five, the other end of bar five is connected on bar three, the middle part of bar six is connected on objective table, one end of bar six is connected with electric pushrod one end, the electric pushrod other end is connected on bar one, the other end of bar six is fixedly connected with bar July 1st end, bar six is fixedly connected L-shaped with bar seven, the other end of bar seven is connected with bar Aug. 1st end, the other end of bar eight is connected on welding gun.The utility model improves robot bearing capacity, it is possible to quick positioning welding position, improves welding efficiency.And rod member is lighter bar, mechanism kinematic inertia is small, and power performance is good, therefore under motor equal-wattage, the utility model is in hgher efficiency.
Description
Technical field
The utility model is related to mechanical field, specifically a kind of many bar controllable type welding robots of three-dimensional combination drive.
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 three-dimensional many bar controllable type welding robots of combination drive
People.
To achieve these goals, the utility model employs following technical scheme：
A kind of many bar controllable type welding robots of three-dimensional combination drive, including bar one, bar two, bar three, bar four, bar five, bar
6th, bar seven, bar eight, bar nine, bar ten, bar 11, frame, base, line roller, cable, electric pushrod, welding gun and objective table,
One end of bar one is connected in frame by rotating secondary one, and the other end of bar one is by rotating the one of secondary two and bar two
End connection, the other end of bar two is connected on objective table by rotating secondary three,
One end of bar three is connected in frame by rotating secondary four, and the other end of bar three is connected to loading by rotating secondary five
On platform,
One end of bar four is connected in frame by rotating secondary six, and the other end of bar four is by rotating the one of secondary seven and bar five
End connection, the other end of bar five is connected on bar three by rotating secondary eight,
The middle part of bar six is connected on objective table by rotating secondary nine,
One end of bar six is connected by rotating secondary ten with electric pushrod one end, and the electric pushrod other end is connected by rotating secondary ten
It is connected on bar one,
The other end of bar six is fixedly connected with bar July 1st end, and bar six is fixedly connected L-shaped with bar seven, and the other end of bar seven passes through
Rotate secondary 12 to be connected with bar Aug. 1st end, the other end of bar eight is connected on welding gun by rotating secondary 13,
The middle part of bar nine is connected with the middle part of bar seven by rotating secondary 14,
One end of bar nine be connected by rotating secondary 15 with one end of bar ten, the other end of bar ten by rotate pair 16 and
One connection of bar 11, the other end of bar 11 is connected on bar eight by rotating secondary 17,
The other end of bar nine is fixedly connected with cable one end, and the cable other end is wound on online roller, and line roller is arranged on frame
On,
Frame is connected on base by rotating secondary 18.
Further,
Also include servomotor one, servomotor two and servomotor three, rotate secondary one and driven by servomotor one, line roller
Driven by servomotor two, rotate secondary 18 and driven by servomotor three.
Further,
The Plane of rotation for rotating pair nine is vertical with the Plane of rotation for rotating secondary,
The Plane of rotation for rotating secondary 13 and the Plane of rotation of rotation secondary ten are all put down with the Plane of rotation for rotating secondary nine
OK,
It is described to rotate secondary two, rotate secondary three, rotate secondary four, rotate secondary five, rotate secondary six, rotate secondary seven, rotate secondary eight, turn
Dynamic secondary ten, the rotation for rotating secondary 11, rotating secondary 12, rotate secondary 14, rotate secondary 15, rotate secondary 16 and rotate secondary 17
Turn plane all parallel with the Plane of rotation for rotating secondary.
Further,
The bar six is provided with cable through hole, and cable is wound on online roller after passing through cable through hole.
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 welding gun work telemechanical space
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 the structural representation of many bar controllable type welding robot angles one of three-dimensional combination drive described in the utility model
Figure.
Fig. 2 is the structural representation of many bar controllable type welding robot angles two of three-dimensional combination drive described in the utility model
Figure.
Fig. 3 is the structural representation of many bar controllable type welding robot angles three of three-dimensional combination drive described in the utility model
Figure.
Fig. 4 is bar six, bar seven, the bar nine of many bar controllable type welding robots of three-dimensional combination drive described in the utility model
And the assembling schematic diagram between cable.
Fig. 5 is that the installation of the cable of many bar controllable type welding robots of three-dimensional combination drive described in the utility model is illustrated
Figure.
Fig. 6 is the structural representation of many bar controllable type welding robot angles four of three-dimensional combination drive described in the utility model
Figure.
Specific embodiment
The technical solution of the utility model is further elaborated below by embodiment.
Embodiment 1
A kind of many bar controllable type welding robots of three-dimensional combination drive, including bar 1, bar 22, bar 33, bar 44, bar five
5th, bar 66, bar 77, bar 88, bar 99, bar 10, bar 11, frame 13, base 15, line roller 23, cable 17, electronic push away
Bar 16, welding gun 22 and objective table 14,
One end of bar 1 is connected in frame 13 by rotating secondary 1, and the other end of bar 1 is by rotating secondary 2 102
One end with bar 22 is connected, and the other end of bar 22 is connected on objective table 14 by rotating secondary 3 103,
One end of bar 33 is connected in frame 13 by rotating secondary 4 104, and the other end of bar 33 is by rotating secondary 5 105
It is connected on objective table 14,
One end of bar 44 is connected in frame 13 by rotating secondary 6 106, and the other end of bar 44 is by rotating secondary 7 107
One end with bar 55 is connected, and the other end of bar 55 is connected on bar 33 by rotating secondary 8 108,
The middle part of bar 66 is connected on objective table 14 by rotating secondary 9 109,
One end of bar 66 is connected by rotating secondary 10 with the one end of electric pushrod 16, and the other end of electric pushrod 16 is by turning
Dynamic secondary 10 are connected on bar 1,
The other end of bar 66 is fixedly connected with the one end of bar 77, and bar 66 is fixedly connected L-shaped with bar 77, and bar 77 is another
End is connected by rotating secondary 12 with the one end of bar 88, and the other end of bar 88 is connected to welding gun 22 by rotating secondary 13
On,
The middle part of bar 99 is connected with the middle part of bar 77 by rotating secondary 14,
One end of bar 99 is connected by rotating secondary 15 with one end of bar 10, and the other end of bar 10 is by rotating
Secondary 16 are connected with the one of bar 11, and the other end of bar 11 is connected on bar 88 by rotating secondary 17,
The other end of bar 99 is fixedly connected with the one end of cable 17, and the other end of cable 17 is wound on online roller 23, and line roller 23 is pacified
In frame 13,
Frame 13 is connected on base 15 by rotating secondary 18.
Further, also including servomotor 1, servomotor 2 20 and servomotor 3 21, rotate secondary 1 by
Servomotor 1 is driven, and line roller 23 is driven by servomotor 2 20, is rotated secondary 18 and is driven by servomotor 3 21.
Further,
The Plane of rotation for rotating pair 9 109 is vertical with the Plane of rotation for rotating secondary 1,
It is described rotate secondary 13 Plane of rotation and rotate secondary 10 Plane of rotation all with the rotation for rotating secondary 9 109
Turn plane parallel,
It is described to rotate secondary 2 102, rotate secondary 3 103, rotate secondary 4 104, rotate secondary 5 105, rotate secondary 6 106, rotate
Secondary 7 107, secondary 8 108 are rotated, secondary 10 is rotated, is rotated secondary 11, rotate secondary 12, rotate secondary 14, turn
Dynamic secondary 15, the Plane of rotation for rotating pair 16 and rotating secondary 17 is all flat with the Plane of rotation for rotating secondary 1
OK.
Further, the bar 66 is provided with cable through hole 27, and cable 17 winds online roller 23 after passing through cable through hole 27
On.
Operation principle：
The middle part of bar described in the utility model does not refer to the geometry point midway of rod member, and refers to that bar or not two ends is taken up an official post
What position.
The mechanism that bar 1, bar 22, bar 33, bar 44 and bar 55 are cooperatively formed is used to adjust the attitude of objective table 14.
The middle part of bar 66 is connected on objective table 14 by rotating secondary 9 109, and bonding wire case is arranged on objective table 14, therefore
Objective table 14 also acts as the work of the mechanism of carrier bar 66 and connection and control welding gun 22 position while bonding wire case is carried
With.
The electric pushrod 16 being connected with one end of bar 66 extends and shortens rotation pair nine of the drive rod 66 in the middle part of it
109 rotations, and one end of bar 77 is fixedly connected on the other end of bar 66, and also bar 77 is vertical with bar 66 so that bar 77
Rotated with the axis for rotating secondary 9 109, the inswept face of cylinder in track of the rotation of bar 77.Bar 88 is by rotating secondary 12
The other end of bar 77 is connected to, the motion of bar 88 is driven by the mechanism that bar 99, bar 10, bar 11 and cable 17 are constituted
Dynamic.
The bar 66 is provided with cable through hole 27, and cable 17 is wound on online roller 23 after passing through cable through hole 27, therefore rope
Cable is divided into the part 176 parallel with bar seven, and remainder 17a and 17c by cable through hole.17 is cable 17 in figure,
Due to 3 dimensional drawing is drawn, 17 points is three sections in figure, is respectively 17a, 17b, 17c.Wherein 17b is helical form portion
Point, when gesture stability is carried out, first control electric pushrod 16 to extend and shorten, when bar 66 rotates, cable 17 is needed in pine
Relaxation state, not so bar 66 cannot rotate, spiral-form portion 17b be exactly represent cable 17 be in relaxed state when design margin.
The middle part of bar 99 is connected with the middle part of bar 77 by rotating pair 14, is rotated secondary 12 and is rotated pair ten
4 114 Plane of rotation is parallel and vertical with rotating secondary 9 119, when the position of adjusting lever 88 is needed, starts servomotor
2 20 band moving-wire rollers 23 are rotated, and cable 17 is wound on online roller 23, after cable 17 is tensioned, the one end of pull lever 99, the phase of bar 99
Fulcrum is when in lever, rotating secondary 14, the other end of bar 99 is by bar 10 and the driven rod 88 of bar 11 around rotation
Secondary 12 are rotated, you can barre 88 is adjusted to the position for needing, and the welding gun 22 for being connected on the end of bar 88 just can be accurate
Point to position while welding.Because cable 17 is provided with the part 17b parallel with bar 77, after cable 17 is tensioned, cable shrinks pull lever
99 one end are to the side shifting of objective table 14 1, and the other end of bar 99 is then to a side shifting of welding gun 22.
Frame 13 is connected on base 15 by rotating secondary 18, is rotated secondary 18 and is driven by servomotor 3 21, welding
The main element of robot is arranged in frame 13, starts servomotor 3 21, and control frame 13 is done rotate in the horizontal plane, makes
Obtaining welding gun 22 being capable of the comprehensive work in the range of 360 degree.
In figure, 18 is that bar 66 is fixedly connected L-shaped solder joint with bar 77.
Claims (4)
1. many bar controllable type welding robots of a kind of three-dimensional combination drive, it is characterised in that including bar one, bar two, bar three, bar
4th, bar five, bar six, bar seven, bar eight, bar nine, bar ten, bar 11, frame, base, line roller, cable, electric pushrod, welding gun and
Objective table,
One end of bar one is connected in frame by rotating secondary one, and the other end of bar one is connected by rotating secondary two with one end of bar two
Connect, the other end of bar two is connected on objective table by rotating secondary three,
One end of bar three is connected in frame by rotating secondary four, and the other end of bar three is connected to objective table by rotating secondary five
On,
One end of bar four is connected in frame by rotating secondary six, and the other end of bar four is connected by rotating secondary seven with one end of bar five
Connect, the other end of bar five is connected on bar three by rotating secondary eight,
The middle part of bar six is connected on objective table by rotating secondary nine,
One end of bar six is connected by rotating secondary ten with electric pushrod one end, and the electric pushrod other end is connected to by rotating secondary ten
On bar one,
The other end of bar six is fixedly connected with bar July 1st end, bar six be fixedly connected with bar seven it is L-shaped, the other end of bar seven by rotate
Secondary 12 are connected with bar Aug. 1st end, and the other end of bar eight is connected on welding gun by rotating secondary 13,
The middle part of bar nine is connected with the middle part of bar seven by rotating secondary 14,
One end of bar nine is connected by rotating secondary 15 with one end of bar ten, and the other end of bar ten is by rotating secondary 16 with bar ten
One connection, the other end of bar 11 is connected on bar eight by rotating secondary 17,
The other end of bar nine is fixedly connected with cable one end, and the cable other end is wound on online roller, and line roller is arranged in frame,
Frame is connected on base by rotating secondary 18.
2. solid many bar controllable type welding robots of combination drive as claimed in claim 1, it is characterised in that also including servo
Motor one, servomotor two and servomotor three, rotate secondary one and are driven by servomotor one, and line roller is driven by servomotor two,
Secondary 18 are rotated to be driven by servomotor three.
3. solid many bar controllable type welding robots of combination drive as claimed in claim 1, it is characterised in that
The Plane of rotation for rotating pair nine is vertical with the Plane of rotation for rotating secondary,
The Plane of rotation for rotating secondary 13 and the Plane of rotation of rotation secondary ten are all parallel with the Plane of rotation for rotating secondary nine,
It is described to rotate secondary two, rotate secondary three, rotate secondary four, rotate secondary five, rotate secondary six, rotate secondary seven, rotate secondary eight, rotate secondary
Tenth, secondary 11 are rotated, secondary 12 is rotated, is rotated the secondary 14, rotary flat for rotating secondary 15, rotating secondary 16 and rotate secondary 17
Face is all parallel with the Plane of rotation for rotating secondary.
4. solid many bar controllable type welding robots of combination drive as claimed in claim 1, it is characterised in that on the bar six
Cable through hole is provided with, cable is wound on online roller after passing through cable through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621430757.5U CN206287151U (en) | 2016-12-23 | 2016-12-23 | A kind of many bar controllable type welding robots of three-dimensional combination drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621430757.5U CN206287151U (en) | 2016-12-23 | 2016-12-23 | A kind of many bar controllable type welding robots of three-dimensional combination drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206287151U true CN206287151U (en) | 2017-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621430757.5U Expired - Fee Related CN206287151U (en) | 2016-12-23 | 2016-12-23 | A kind of many bar controllable type welding robots of three-dimensional combination drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206287151U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053189A (en) * | 2016-12-23 | 2017-08-18 | 广西大学 | A kind of three-dimensional combination drive multi link controllable type welding robot |
-
2016
- 2016-12-23 CN CN201621430757.5U patent/CN206287151U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053189A (en) * | 2016-12-23 | 2017-08-18 | 广西大学 | A kind of three-dimensional combination drive multi link controllable type welding robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170630 Termination date: 20171223 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |