CN206356776U - A kind of multiple degrees of freedom welding robot - Google Patents
A kind of multiple degrees of freedom welding robot Download PDFInfo
- Publication number
- CN206356776U CN206356776U CN201621209047.XU CN201621209047U CN206356776U CN 206356776 U CN206356776 U CN 206356776U CN 201621209047 U CN201621209047 U CN 201621209047U CN 206356776 U CN206356776 U CN 206356776U
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- CN
- China
- Prior art keywords
- guide rail
- movable guiding
- welding
- rotation
- large arm
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- 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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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The utility model discloses a kind of multivariant welding robot, including fixed guide rail, movable guiding rail, walking dolly, rotation large arm, rotation forearm, upright arm, motor, holder for welding gun and welding gun.The movable guiding rail and fixed guide rail vertical arrangement, movable guiding rail and action dolly can be moved all around；Upright arm moves up and down under the driving of motor；Rotation regulation can be carried out to better adapt to the demand of different welding jobs by rotating large arm, rotation forearm and welding gun.Multiple degrees of freedom welding robot of the present utility model, it is simple and light, it is quickly assembled and disassembled, general weld seam can be welded, all weld seams in complicated space can be welded in the closing space in such as case, tank body again.
Description
Technical field
The utility model belongs to welding robot design field, especially a kind of multivariant welding robot.
Background technology
At present, welding robot species on the market is various, and these welding robots solve human weld institute band
Come welding quality is high, inefficiency and the problem of high cost, but the seam track complex to some is especially large-scale
Complicated circumferential weld track inside case, tank class weldment, it is impossible to adapt to.
Although existing and column welding robot can realize the welding to most of seam tracks, volume compared with
Greatly, occupied ground, needs workpiece fixture to use cooperatively, and could complete the welding of such as circular weld, can not be used for case, tank
The complicated circumferential weld track of the inside of class weldment；Articulated type welding robot mainly for small size workpiece welding, for
Large-size workpiece can not be adapted to；Although automatic welding carriage compact volume and convenience, automaticity is not high, and mainly for straight line
The simple seam track such as type, annular, it is impossible to complete to large complicated space intersection, all weld seams of tank interior end socket part
Welding.
The content of the invention
To solve the shortcoming of prior art, the utility model purpose is to provide a kind of simple and light, can quick-mounting soon
Tear open, multivariant welding robot, general weld seam can be welded, again can be in the closing space in such as case, tank body, to multiple
The all weld seams in miscellaneous space are welded.
A kind of multivariant welding robot, including fixed rail sections, auxiliary moving devices part and welding operation
Device part；The fixed rail sections include guide rail, sliding block and adsorbent equipment；The sliding block is located on guide rail,
The adsorbent equipment is located at below guide rail；Adsorbent equipment is arranged on workpiece or workbench, makes to fix guide rail fixation not
It is dynamic；
The auxiliary moving devices part includes movable guiding rail, walking dolly and rotates large arm rear portion；The movable guiding rail
Guide rail direction it is vertical with the direction of fixed guide rail, movable guiding rail includes movable guiding rail pedestal and movable guiding rail guide rail；Institute
Movable guiding rail guide rail is stated to be installed on movable guiding rail pedestal；The movable guiding rail pedestal is installed on sliding block；The walking
Dolly is installed on movable rail guide rail；The rotation large arm rear portion is located on walking dolly；
The welding operation device part includes rotating large arm front portion, vertical arm motor, vertical arm, rotates forearm drive
Dynamic motor, rotation forearm, holder for welding gun and welding gun；The rotation large arm is anterior to be connected with rotating large arm rear portion；It is described perpendicular
Straight-arm, which is arranged on, rotates the anterior end of large arm, can be moved up and down perpendicular to the direction of movable guiding rail plane；The vertical arm
Exterior design has rack, is engaged with positioned at the gear for rotating large arm front portion, vertical arm motor drive gear, so as to drive perpendicular
Straight-arm is moved up and down；Vertical arm indoor design has rotary shaft, and top is provided with rotation forearm motor, to drive rotation forearm
Rotate；
The rotation forearm is located at below rotary shaft, and the front end for rotating forearm is provided with holder for welding gun, the welding gun folder
Holder connection has welding gun.
Specifically, being connected by bolts to assemble and disassemble between the movable guiding rail pedestal and sliding block.
Optionally, the adsorbent equipment can use Magnetic adsorber or vacuum absorber.
Specifically, being coupled between the rotation large arm rear portion and walking dolly using revolute pair.
Specifically, coupling to assemble and disassemble using flange between the rotation large arm rear portion and rotation large arm are anterior；The rotation
Coupled between rotating shaft and vertical arm outside using revolute pair；It is to be fixedly connected between rotary shaft and rotation forearm；Holder for welding gun
Coupled between rotation forearm using revolute pair.
Optionally, long movable guiding rail is supported by the way of biradical seat, double fixed guide rails, so as to be conducive to weldering
Connect.
Optionally, the sliding block in movable guiding rail, walking dolly and the fixed guide rail in auxiliary moving devices is disassembled, by row
Walk dolly to be placed on the guide rail of fixed guide rail, moved along guide rail direction, remainder (mobile large arm, vertical arm,
Rotate forearm, holder for welding gun, welding gun) then mode couples assembling as described above.
Optionally, auxiliary moving devices are replaced with connection column, connection column is arranged on the sliding block of fixed guide rail, edge
Guide rail direction is moved, and is rotated large arm front portion and is fixed on connection column, and (vertical arm rotates forearm, welding gun folder to remainder
Holder, welding gun) then mode couples assembling as described above.
Compared to prior art, technique effect of the present utility model is as follows：
1st, the utility model can quickly be split as three parts using the structure design for being easy to assembly and disassembly, lightweight, be easy to move
It is dynamic, with preferably using flexibility.
2nd, multivariant manipulator can both ensure that the angle of welding gun is adjusted flexibly, and adapted to irregular seam track again,
Avoid adjusting the location of workpiece, improve operating efficiency.
3rd, welding gun can realize reciprocally swinging, can reach the weld width of requirement.
4th, for the welding structural element (such as case, tank interior) of closing, the present invention is placed on the inside of structural member, circumferential weldering
The central position of seam, can be achieved continuously to weld the spatial complex weld seam of complete cycle, improves welding efficiency.
Brief description of the drawings
Fig. 1 is structural representation one of the present utility model；
Fig. 2 is structural representation two of the present utility model；
Fig. 3 is structural representation three of the present utility model；
Fig. 4 is structural representation four of the present utility model；
Fig. 5 is structural representation five of the present utility model.
Each label implication in figure：1- fixes guide rail, and 11- fixes the guide rail of guide rail, and 12- fixes guide rail slide block, and 13- inhales
Adsorption device, 2- movable guiding rails, 21- movable guiding rail pedestals, 22- movable guiding rail guide rails, 3- walking dollies, 4- rotates large arm,
41- rotation large arm is anterior, 42- rotation large arm rear portion, 43- vertical arm motors, 44- gears, 5- vertical arm, 51- racks,
52- rotary shafts, 53- rotates forearm motor, and 6- rotates forearm, 7- holder for welding gun, 8- welding guns, 9- connection columns.
Embodiment
A kind of multivariant welding robot, it is convenient to dismantle as three parts, fixed rail sections, synkinesia
Device part and welding operation device part.As shown in Fig. 1~2, the fixed guide rail 1 includes guide rail 11, the and of sliding block 12
Adsorbent equipment 13；Sliding block 12 is located on guide rail 11, is moved along guide rail direction；The adsorbent equipment 13 is located at guide rail 11
Lower section, on workpiece or workbench, makes trapped orbit 1 fixed.
The auxiliary moving devices include movable guiding rail 2, walking dolly 3 and rotate large arm rear portion 42；
The movable guiding rail 2 includes pedestal 21 and the two parts of guide rail 22, and movable guiding rail 2 is arranged on trapped orbit 1
On sliding block 12, it can be moved together with sliding block；The guide rail direction of movable guiding rail 2 is vertical with the direction of fixed guide rail 1；Movable guiding rail pedestal
Installed and coupled using bolt between 21 and fixed guide rail slide block 12, so as to rapid-assembling/disassembling.
The walking dolly 3 is arranged on the guide rail 22 of movable guiding rail 2, is moved along guide rail direction.So, it is fixed
Guide rail 1, movable guiding rail 2 and walking dolly 3 can realize the position adjustment in welding robot direction around.Fixed guide rail 1
Different size (length) is designed to movable guiding rail 2, can be chosen according to welding job demand；42, the rotation large arm rear portion
In on walking dolly 3, it is connected with welding operation device part.
The welding operation device includes rotating large arm front portion 41, vertical arm motor 43, vertical arm 5, rotation forearm
Motor 53, rotation forearm 6, holder for welding gun 7 and welding gun 8.
Rotated between the rotation large arm front portion 41 and rotation large arm rear portion 42 by flange connection to assemble and disassemble after large arm
Portion 42 is coupled by revolute pair with walking dolly 3, is rotated large arm front portion 41 and is provided with vertical arm 5；Rotate large arm 4 can parallel to
The rotation with surface of movable guiding rail, to expand welding job scope, particularly with the angle welding of inside four of case, tank body, can not be stayed
Weld dead band.
The vertical arm 5 is arranged on the end for rotating large arm front portion 41, can be on the direction perpendicular to movable guiding rail plane
It is mobile；The exterior design of vertical arm 5 has rack 51, is engaged with positioned at the gear 44 for rotating large arm front portion, by vertical arm motor
43 drive gears 44, so as to drive vertical arm to move up and down；The indoor design of vertical arm 5 has rotary shaft 52, and top is provided with driving
Motor 53, to drive rotation forearm 6 to rotate.
It is described rotation the rear end of forearm 6 connected firmly with the lower end of rotary shaft 52, can in the rotation with surface parallel to movable guiding rail 2,
So as to adjust the use angle of welding gun.The front end for rotating forearm 6 is connected by revolute pair with holder for welding gun 7, and welding gun 8 is pressed from both sides
Hold on holder for welding gun 7；The holder for welding gun 7 can be with the reciprocally swinging of welding gun 8, so as to obtain with one fixed width
Weld seam, improves welding quality.
Embodiment 1：
When welding job starts, welding robot is placed in welding job area, the miscellaneous equipment such as switch board, wire-feed motor
Then it is placed on outside workspace.For the circumference welding in closing space, welding robot is placed on to the center of closing space
Position, you can realize the continuous welding to all-around weld track.
Embodiment 2：
It is long in view of movable guiding rail, and only by single base supports when, the insufficient rigidity of movable guiding rail, it may occur that curved
Song, so as to influence welding job.Therefore, long movable guiding rail can be supported by the way of biradical seat, double fixed guide rails, from
And be conducive to welding, as shown in Figure 3.
Embodiment 3：
Walking dolly 3 is directly installed on the guide rail 11 of fixed guide rail, moved along guide rail direction, remainder
(mobile large arm 4, vertical arm 5, rotate forearm 6, holder for welding gun 7, welding gun 8) then mode couples assembling as described above.Using
This assembling mode, can the complicated weld seam longer to length in closing or narrow space weld, as shown in Figure 4.
Embodiment 4：
Couple column 9 to be arranged on the sliding block 12 of fixed guide rail, moved along guide rail direction, rotate large arm front portion 41 direct
It is fixed on connection column 9, remainder (vertical arm 5 rotates forearm 6, holder for welding gun 7, welding gun 8) is then as described above
Mode couples assembling.Using this assembling mode, answer shorter to length in the closing in case, tank body or narrow space can be achieved
Miscellaneous weld seam welding, as shown in Figure 5.
Claims (8)
1. a kind of multivariant welding robot, it is characterised in that：Including fixed guide rail (1) part, auxiliary moving devices portion
Divide and welding operation device part；
The fixed guide rail (1) partly includes guide rail (11), sliding block (12) and adsorbent equipment (13)；Sliding block (12) position
In on guide rail (11), the adsorbent equipment (13) is located at below guide rail (11)；Adsorbent equipment (13) is arranged on workpiece
Or on workbench, make to fix guide rail (1) fixed；
The auxiliary moving devices part includes movable guiding rail (2), walking dolly (3) and rotates large arm rear portion (42)；
The guide rail direction of the movable guiding rail (2) is vertical with the direction of fixed guide rail (1)；Movable guiding rail (2) includes movable guiding rail
Pedestal (21) and movable guiding rail guide rail (22), the movable guiding rail pedestal (21) are installed on sliding block (12)；
The walking dolly (3) is installed on movable guiding rail guide rail (22)；
Described rotate large arm rear portion (42) are located on walking dolly (3)；
The welding operation device part includes rotating large arm anterior (41), vertical arm motor (43), vertical arm (5), rotation
Rotating shaft (52), rotation forearm motor (53), rotation forearm (6), holder for welding gun (7) and welding gun (8)；
The rotation large arm anterior (41) is connected with rotating large arm rear portion (42)；
The vertical arm (5) is arranged on the end for rotating large arm anterior (41), can be on the direction perpendicular to movable guiding rail plane
Lower movement；
Vertical arm (5) exterior design has rack (51), is engaged with positioned at the gear (44) for rotating large arm anterior (41), vertically
Arm motor (43) drive gear (44), so as to drive vertical arm to move up and down；Vertical arm (5) indoor design has rotary shaft
(52), top is provided with rotation forearm motor (53), and forearm (6) rotation is rotated to drive；
The rotation forearm (6) is located at below rotary shaft (52), and the front end for rotating forearm (6) is provided with holder for welding gun (7), institute
Stating holder for welding gun (7) connection has welding gun (8).
2. multivariant welding robot as claimed in claim 1, it is characterised in that：The movable rail pedestal (21) with
Sliding block (12) is installed by bolt to be coupled, and is easy to assembly and disassembly.
3. multivariant welding robot as claimed in claim 1, it is characterised in that：The adsorbent equipment (13) can use
Magnetic adsorber or vacuum absorber.
4. multivariant welding robot as claimed in claim 1, it is characterised in that：It is described rotate large arm rear portion (42) and
Couple to assemble and disassemble using flange between rotation large arm anterior (41).
5. multivariant welding robot as claimed in claim 1, it is characterised in that：It is described rotate large arm rear portion (42) with
Coupled between walking dolly (3) using revolute pair；Using rotation duplicate invoice between the rotary shaft (52) and vertical arm (5) outside
Connect；Rotate between forearm (6) and rotary shaft (52) is to be fixedly connected；Rotate to use between forearm (6) and holder for welding gun (7) and turn
Dynamic duplicate invoice connects.
6. multivariant welding robot as claimed in claim 1, it is characterised in that：Using biradical seat, double fixed guide rails
Mode support long movable guiding rail, so as to be conducive to welding.
7. multivariant welding robot as claimed in claim 1, it is characterised in that：It is removable to lay down in auxiliary moving devices
Movable guiding rail (2), walking dolly (3) and fixed guide rail (1) in sliding block (12), walking dolly (3) is arranged on guided way
On road (11), moved along guide rail (11) direction.
8. multivariant welding robot as claimed in claim 1, it is characterised in that：Replaced with connection column (9) auxiliary
Telecontrol equipment part is helped, connection column (9) is arranged on the sliding block (12) of fixed guide rail (1), moved along guide rail (11) direction
It is dynamic, rotate large arm anterior (41) and be fixed on connection column (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621209047.XU CN206356776U (en) | 2016-11-09 | 2016-11-09 | A kind of multiple degrees of freedom welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621209047.XU CN206356776U (en) | 2016-11-09 | 2016-11-09 | A kind of multiple degrees of freedom welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206356776U true CN206356776U (en) | 2017-07-28 |
Family
ID=59369493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621209047.XU Expired - Fee Related CN206356776U (en) | 2016-11-09 | 2016-11-09 | A kind of multiple degrees of freedom welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206356776U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274168A (en) * | 2017-12-11 | 2018-07-13 | 安徽宝辰机电设备科技有限公司 | A kind of guiding movement formula welding gun holding device |
| CN108907552A (en) * | 2018-10-16 | 2018-11-30 | 宁夏吴忠市好运电焊机有限公司 | Twin shaft Five Axis welding robot positions running gear |
| CN109366033A (en) * | 2018-12-29 | 2019-02-22 | 唐山开元特种焊接设备有限公司 | Portable internal partition bonding machine and its application method |
| CN109676395A (en) * | 2019-02-13 | 2019-04-26 | 蚌埠市鑫泰工程塑料制品有限公司 | A kind of storage battery cabinet automatic soldering device and its assembly, welding, polishing production line |
| CN109877521A (en) * | 2019-03-14 | 2019-06-14 | 南昌航空大学 | A kind of adaptive quick-restoring device of list roller |
| CN112975227A (en) * | 2021-02-04 | 2021-06-18 | 浙江斯柯特科技有限公司 | High-precision cantilever type six-axis welding robot |
| CN117817213A (en) * | 2024-03-05 | 2024-04-05 | 泰州润伟机械有限公司 | Automatic welding machine for welding seams |
-
2016
- 2016-11-09 CN CN201621209047.XU patent/CN206356776U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274168A (en) * | 2017-12-11 | 2018-07-13 | 安徽宝辰机电设备科技有限公司 | A kind of guiding movement formula welding gun holding device |
| CN108907552A (en) * | 2018-10-16 | 2018-11-30 | 宁夏吴忠市好运电焊机有限公司 | Twin shaft Five Axis welding robot positions running gear |
| CN108907552B (en) * | 2018-10-16 | 2020-08-11 | 宁夏吴忠市好运电焊机有限公司 | Positioning and traveling device of double-shaft five-coordinate welding robot |
| CN109366033A (en) * | 2018-12-29 | 2019-02-22 | 唐山开元特种焊接设备有限公司 | Portable internal partition bonding machine and its application method |
| CN109676395A (en) * | 2019-02-13 | 2019-04-26 | 蚌埠市鑫泰工程塑料制品有限公司 | A kind of storage battery cabinet automatic soldering device and its assembly, welding, polishing production line |
| CN109877521A (en) * | 2019-03-14 | 2019-06-14 | 南昌航空大学 | A kind of adaptive quick-restoring device of list roller |
| CN109877521B (en) * | 2019-03-14 | 2020-05-26 | 南昌航空大学 | Single-roller self-adaptive rapid repairing device |
| CN112975227A (en) * | 2021-02-04 | 2021-06-18 | 浙江斯柯特科技有限公司 | High-precision cantilever type six-axis welding robot |
| CN117817213A (en) * | 2024-03-05 | 2024-04-05 | 泰州润伟机械有限公司 | Automatic welding machine for welding seams |
| CN117817213B (en) * | 2024-03-05 | 2024-05-24 | 泰州润伟机械有限公司 | Automatic welding machine for welding seams |
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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 |
Granted publication date: 20170728 Termination date: 20201109 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |