CN207953010U - It is a kind of to be used for two robot devices for passing through friendship cylinder welding - Google Patents
It is a kind of to be used for two robot devices for passing through friendship cylinder welding Download PDFInfo
- Publication number
- CN207953010U CN207953010U CN201820038334.1U CN201820038334U CN207953010U CN 207953010 U CN207953010 U CN 207953010U CN 201820038334 U CN201820038334 U CN 201820038334U CN 207953010 U CN207953010 U CN 207953010U
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- China
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- pair
- revolute pair
- pivot center
- slide bar
- connecting rod
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Abstract
It is a kind of to be used for two robot devices for passing through friendship cylinder welding, it is made of rack, shaft, slide bar, connecting rod, side link, welding gun guider and three revolute pairs, a prismatic pair and a cylindrical pair, the bar length of wherein slide bar, side link and connecting rod is adjustable, and assembly features are：One end of shaft is coupled by revolute pair one and rack, the other end of shaft is coupled by prismatic pair and slide bar, one end of connecting rod is coupled by revolute pair two and slide bar, and the other end of connecting rod is coupled by revolute pair three and side link, and the other end of side link is connected in cylindrical pair in rack.Wherein, the pivot center of revolute pair one, prismatic pair sliding rail, revolute pair two pivot center three be mutually parallel, the pivot center of revolute pair three and cylindrical pair is mutually parallel, and the end of the pivot center of revolute pair two, the pivot center of revolute pair three and welding gun guider is directed toward three and intersects at a point.The utility model has many advantages, such as simple structure, convenient control, has a wide range of application.
Description
Technical field
The utility model is related to a kind of welding robot devices, and friendship is passed through for two（It just passes through, tiltedly pass through, pass through partially）Cylinder provides a kind of
Novel welding machine people's device.
Background technology
Pressure vessel is widely present in the fields such as industry, agricultural, building, chemical industry, especially in petrochemical industry
It is most widely used, accounts for pressure vessel and use total amount about 50%.Pressure vessel also has a wide range of applications in industrial department, such as
Various accumulators in engineering machinery, the auxiliary machine of various dynamic power machines, various coal gas and liquefied gas tank used in city and enterprise
Storage tank, various heavy construction pipelines etc..Pressure vessel plays an important role in industrial production and life, is national economy
Important component.As general special equipment is widely used, the quality of pressure vessel directly affects the peace of production and living
Entirely, it is counted according to national quality Safety Supervision and Management Bureau, each type III pressure vessel explosion accident caused by quality problems in 2003
144, about 15,000,000 yuan of economic loss is caused, so the welding of research pressure vessel is most important.
In welding production, since the spatial form of pressure vessel all parts is more complex, especially tube bundle and circle
The weld seam that column tube road grafting is formed is space curve, welds certain difficulty, the welding of current such weld seam mainly by
It is accomplished manually, human weld's working environment is severe, the production cycle is long, working efficiency is low, is difficult to guarantee welding quality, and there is an urgent need to grind
Welding robot of the system for such weld seam.China started to develop automatic welding equipment in the fifties, due to comparing flourishing state
Family starts late, and basis is weaker, causes pressure vessel welding robot relatively backward.Have at present part it is semi-automatic and
Series connection welding robot is automated, however such welding robot generally has multiple degree of freedom, complicated, control is more difficult,
The shortcomings of cost is higher, so that such welding robot does not obtain developing and applying well.
Utility model content
One kind is provided the purpose of the utility model is to overcome the deficiencies in the prior art and passes through friendship for two（It just passes through, tiltedly pass through, partially
It passes through）The novel robot device of cylinder welding.
The utility model is achieved through the following technical solutions.
It is described in the utility model it is a kind of be used for two pass through hand over cylinder welding robot devices, by shaft（1）, slide bar（2）、
Connecting rod（3）, side link（4）, rack（5）, welding gun guider（6）Composition, it is characterized in that：Shaft（1）One end by revolute pair
One（R1）And rack（5）Connection, shaft（1）The other end by prismatic pair（P1）And slide bar（2）Connection, connecting rod（3）One end by
Revolute pair two（R2）And slide bar（2）Connection, connecting rod（3）The other end by revolute pair three（R3）And side link（4）Connection, side link
（4）Other end cylindrical pair（C1）And rack（5）Connection, welding gun guider（6）It is fixedly arranged at slide bar（2）On.Wherein, it rotates
Pair one（R1）Pivot center, prismatic pair（P1）Sliding rail, revolute pair two（R2）Pivot center three be mutually parallel；Revolute pair
Three（R3）And cylindrical pair（C1）Pivot center be mutually parallel；Revolute pair two（R2）Pivot center, revolute pair three（R3）Turn
Shaft line and welding gun guider（6）End be directed toward three intersect at a point.Slide bar（2）, connecting rod（3）And side link
（4）Bar length it is adjustable.
Cylindrical pair described in the utility model（C1）Can with axis overlap or parallel revolute pair and prismatic pair combination come
It substitutes.
Revolute pair one described in the utility model（R1）And prismatic pair（P1）It can be substituted with a cylindrical pair.
Cylindrical pair described in the utility model（C1）With revolute pair three（R3）Position can be exchanged with each other.
The utility model has many advantages, such as simple structure, convenient control, has a wide range of application.
Description of the drawings
Attached drawing 1 is the structure diagram schematic diagram of one of embodiment of welding robot device of the utility model.
Attached drawing 2 is the schematic diagram that the device of the utility model passes through one of installation embodiment when handing over cylinder welding for two.
In figure, 1 is shaft, and 2 be slide bar, and 3 be connecting rod, and 4 be side link, and 5 be rack, and 6 be welding gun guider, and 7 be to wait for
Cylinder one is welded, 8 be cylinder two to be welded, and R1 is revolute pair one, and R2 is revolute pair two, and R3 is revolute pair three, and P1 is prismatic pair,
C1 is cylindrical pair.
Specific implementation mode
Below by attached drawing and example, the utility model is further described.
Attached welding mechanism shown in FIG. 1 can be one of the embodiments of the present invention, and technical solution is：One kind being used for two
Pass through friendship（It just passes through, tiltedly pass through, pass through partially）The robot device of cylinder welding, by shaft 1, slide bar 2, connecting rod 3, side link 4, rack 5, weldering
Rifle guider 6 forms, it is characterized in that：One end of shaft 1 is coupled by one R1 of revolute pair and rack 5, and the other end of shaft 1 is by moving
Dynamic secondary P1 and slide bar 2 couple, and one end of connecting rod 3 is coupled by two R2 of revolute pair and slide bar 2, and the other end of connecting rod 3 is by revolute pair three
R3 and side link 4 couple, and the other end of side link is coupled with cylindrical pair C1 and rack 5, and welding gun guider 6 is fixedly arranged at slide bar 2
On；The pivot center of one R1 of revolute pair and prismatic pair P1 sliding rails be conllinear and, revolute pair parallel with the pivot center of two R2 of revolute pair
The pivot center of three R3 and cylindrical pair C1 are mutually parallel, the pivot center of two R2 of revolute pair, the pivot center of three R3 of revolute pair with
And the end of welding gun guider 6 is directed toward three and intersects at a point；The bar length of slide bar 2, connecting rod 3 and side link 4 is adjustable.
Attached drawing 2 passes through one of installation embodiment when handing over cylinder welding, the axis of shaft 1 for two for the device of the utility model
Line is overlapped with the axis of cylinder 1 to be welded, and the pivot center of cylindrical pair C1 is overlapped with the axis of cylinder 28 to be welded；Slide bar 2
Bar length after adjusting is equal to the radius of cylinder 1 to be welded, half of bar length equal to cylinder 28 to be welded after the adjusting of side link 4
Diameter.
Since mechanism freedom is equal to one, only need drive shaft 1 that welding gun can be realized between two cylindrical surface to be welded
Intersection moved.
Claims (4)
1. a kind of being used for two robot devices for passing through friendship cylinder welding, by shaft（1）, slide bar（2）, connecting rod（3）, side link（4）、
Rack（5）, welding gun guider（6）Composition, it is characterized in that：
Shaft（1）One end by revolute pair one（R1）And rack（5）Connection, shaft（1）The other end by prismatic pair（P1）And cunning
Bar（2）Connection, connecting rod（3）One end by revolute pair two（R2）And slide bar（2）Connection, connecting rod（3）The other end by revolute pair three
（R3）And side link（4）Connection, side link（4）Other end cylindrical pair（C1）And rack（5）Connection, welding gun guider
（6）It is fixedly arranged at slide bar（2）On；Wherein, revolute pair one（R1）Pivot center, prismatic pair（P1）Sliding rail, revolute pair two（R2）
Pivot center three be mutually parallel；Revolute pair three（R3）And cylindrical pair（C1）Pivot center be mutually parallel；Revolute pair two
（R2）Pivot center, revolute pair three（R3）Pivot center and welding gun guider（6）End be directed toward three intersect at
A bit；Slide bar（2）, connecting rod（3）And side link（4）Bar length it is adjustable.
2. robot device according to claim 1, it is characterized in that the cylindrical pair（C1）It is overlapped with axis or parallel
Revolute pair and the combination of prismatic pair substitute.
3. robot device according to claim 1, it is characterized in that the revolute pair one（R1）And prismatic pair（P1）With
One cylindrical pair substitutes.
4. robot device according to claim 1, it is characterized in that the cylindrical pair（C1）With revolute pair three（R3）It can
It is exchanged with each other position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820038334.1U CN207953010U (en) | 2018-01-10 | 2018-01-10 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820038334.1U CN207953010U (en) | 2018-01-10 | 2018-01-10 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207953010U true CN207953010U (en) | 2018-10-12 |
Family
ID=63732447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820038334.1U Expired - Fee Related CN207953010U (en) | 2018-01-10 | 2018-01-10 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207953010U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044276A (en) * | 2018-01-10 | 2018-05-18 | 南昌大学 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
| CN109822268A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | It is a kind of to pass through the robot device for handing over welding for circular cone and ball |
| CN112518188A (en) * | 2020-12-09 | 2021-03-19 | 南昌大学 | Novel pipeline grafting looks through line welding robot device |
-
2018
- 2018-01-10 CN CN201820038334.1U patent/CN207953010U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044276A (en) * | 2018-01-10 | 2018-05-18 | 南昌大学 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
| CN108044276B (en) * | 2018-01-10 | 2024-05-17 | 南昌大学 | Robot device for welding two intersecting cylinders |
| CN109822268A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | It is a kind of to pass through the robot device for handing over welding for circular cone and ball |
| CN112518188A (en) * | 2020-12-09 | 2021-03-19 | 南昌大学 | Novel pipeline grafting looks through line welding robot device |
| CN112518188B (en) * | 2020-12-09 | 2022-06-14 | 南昌大学 | Novel pipeline grafting looks through line welding robot device |
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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: 20181012 Termination date: 20190110 |