CN208099571U - A kind of welding manipulator for arc welding - Google Patents
A kind of welding manipulator for arc welding Download PDFInfo
- Publication number
- CN208099571U CN208099571U CN201820402076.0U CN201820402076U CN208099571U CN 208099571 U CN208099571 U CN 208099571U CN 201820402076 U CN201820402076 U CN 201820402076U CN 208099571 U CN208099571 U CN 208099571U
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- China
- Prior art keywords
- joint axis
- welding
- arm
- rotary shaft
- cable
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Abstract
The utility model discloses a kind of welding manipulators for arc welding, including suspension arm, rotary shaft, large-arm joint axis, wrist joint axis, conduit cable and welding gun, the rotary shaft is installed on the bottom end of suspension arm, the top side surface of the large-arm joint axis is installed on the side of rotary shaft by articulated shaft, to realize that large-arm joint axis is rotated around rotary shaft in vertical direction, the bottom end lower surface of the large-arm joint axis is installed on the top upper surface of the wrist joint axis by articulated shaft, to realize that wrist joint axis is rotated around large-arm joint axis in the horizontal direction, the head of the conduit cable is introduced from rotary shaft base portion to be connected with control cabinet, the tail end of the conduit cable is connected with welding gun.The utility model can be realized welding gun and work in relatively large range, even for certain inaccessible weld seams, can also best angle of welding gun complete in welding narrow space or the welding of circular weld.
Description
Technical field
The utility model belongs to Technology of Welding Robot field, and in particular to a kind of welding manipulator for arc welding.
Background technique
In manufacturing industry, to the technological means that auto parts and components are welded, it is broadly divided into two major classes in the prior art：
Manual welding and robot automatic welding, in the environment of today's society rapid economic development, the deficiency of manual welding embodies
It is more and more obvious：(1) manual welding low efficiency is not able to satisfy the modern times for efficient requirement；(2) quality of manual welding is very
The experience and working condition of people are all relied in big degree, the requirement to operator itself is very high, and welding quality cannot obtain
It is reliable to guarantee；(3) employment cost is also higher and higher.With the rapid development of social economy, either people's lives are still
The rhythm of work is all constantly being accelerated, the production of enterprise be also in this way, most of enterprise all use mechanical automation by
Step replaces manual operation, currently, more and more enterprises can all be welded using robot.But existing welding robot
People's working range is more limited to, and particularly with certain inaccessible weld seams, is extremely difficult to optimal angle of welding gun, and welding
In termination process, due to the rotation of welding gun or mechanical axis joint, it is easy to cause cable disc around or the problem of distortion.
Summary of the invention
In view of the deficiencies of the prior art, the utility model is by providing a kind of welding manipulator for arc welding, energy
It, can also best angle of welding gun even for certain inaccessible weld seams while enough guaranteeing relatively large working range
Complete welding.
To achieve the above object, the technical solution of the utility model is a kind of welding manipulator for arc welding, including
Suspension arm, rotary shaft, large-arm joint axis, wrist joint axis, conduit cable and welding gun made of being cast as copper alloy, the rotation
Shaft is installed on the bottom end of suspension arm, and the top side surface of the large-arm joint axis is installed on the side of rotary shaft by articulated shaft
Face, to realize that large-arm joint axis is rotated around rotary shaft in vertical direction, the bottom end lower surface of the large-arm joint axis is logical
The top upper surface that articulated shaft is installed on the wrist joint axis is crossed, to realize that wrist joint axis is closed around large arm in the horizontal direction
Nodal axisn is rotated, and the large-arm joint axis and wrist joint axis are by AC servo machinery driving；The wrist joint axis
Bottom end side surface is fixedly installed with positioning pipe, is equipped with balladeur train in the positioning pipe, the balladeur train and positioning pipe it
Between be equipped with movable pulley, the positioning pipe and balladeur train are located on same axle center, and the tail portion of the conduit cable is fastened onto cunning
In moving gear, the tail portion trend of the conduit cable is perpendicular with wrist joint axis；Be equipped in the rotary shaft control cabinet and
The source of welding current, the head of the conduit cable is introduced from rotary shaft base portion to be connected with control cabinet, the tail portion end of the conduit cable
End is connected with welding gun.
Further, the length and diameter of the wrist joint axis is respectively less than large-arm joint axis.
Preferably, hollow made of the aluminium alloy that the suspension arm, rotary shaft, large-arm joint axis and wrist joint axis are
Axle construction.
Preferably, control device is equipped in the control cabinet, the control attaching includes welder and control system, institute
It states control system to be electrically connected with welder, pneumatic pipeline, welding cable, welding wire feeding pipe is equipped in the conduit cable
Line and control cable, the pneumatic pipeline, welding cable, welding wire feeding pipeline are connected with welder, the control electricity
Cable, AC servo motor are connected with control system.
Further, electronics obstacle avoidance sensor is installed below the large-arm joint axis；The electronics obstacle avoidance sensor with
It is electrically connected between control system.
Compared with prior art, the advantages of the utility model：The axis joint of the welding manipulator of the utility model can be
It is rotated in each freedom degree direction in space, can be realized welding gun and work in relatively large range, and even for
Certain inaccessible weld seams, can also best angle of welding gun complete in welding narrow space or the welding of circular weld,
And welding gun is rotating, and conduit cable will not be wound between any joint shaft.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the enlarged structure schematic diagram of the positioning pipe cross section of the utility model；
Fig. 3 is the catenation principle schematic diagram of the utility model control device；
Appended drawing reference：1, suspension arm；2, rotary shaft；3, large-arm joint axis；4, wrist joint axis；5, conduit cable；6, it welds
Rifle；7, AC servo motor；8, electronics obstacle avoidance sensor；9, positioning pipe；10, balladeur train；11, movable pulley；12, control dress
It sets；13, welder；14, control system；15, pneumatic pipeline；16, welding cable；17, welding wire feeding pipeline；18, control electricity
Cable.
Specific embodiment
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
As shown in Figure 1-3, a kind of welding manipulator for arc welding, including suspension arm 1, rotary shaft 2, large-arm joint axis
3, wrist joint axis 4, conduit cable 5 and welding gun 6.The welding gun 6 is copper alloy cast structure, and good rigidity, the service life is long, even if with
Workpiece, which collides, to be deformed, and system accuracy will not be affected.The suspension arm 1, rotary shaft 2, large-arm joint
Hollow shaft structure made of the aluminium alloy that axis 3 and wrist joint axis 4 are also assures itself while mitigating weight
Mechanical strength, can easily upright or suspension install and use.The rotary shaft 2 is installed on the bottom end of suspension arm 1, and the large arm is closed
The top side surface of nodal axisn 3 is installed on the side of rotary shaft 2 by articulated shaft, to realize large-arm joint axis 3 in vertical direction
It is rotated around rotary shaft 2.The bottom end lower surface of the large-arm joint axis 3 is installed on the wrist joint axis 4 by articulated shaft
Top upper surface, to realize that wrist joint axis 4 is rotated around large-arm joint axis 3 in the horizontal direction.The large-arm joint
Axis 3 and wrist joint axis 4 are driven by non-maintaining AC servo motor 7, use Gapless gear transmission and absolute encoder.Institute
The length and diameter for stating wrist joint axis 4 is respectively less than large-arm joint axis 3, the articulated shaft of this high-freedom degree and rapid reaction it is short
Arm design, can also be best even for certain inaccessible weld seams while guaranteeing relatively large working range
Angle of welding gun completes welding.The lower section of the large-arm joint axis 3 is equipped with electronics obstacle avoidance sensor 8, can prevent in real time
Monitor the rotation situation of large-arm joint axis 3 and wrist joint axis 4, it is thus also avoided that welding gun 6 collides.
The bottom end side surface of the wrist joint axis 4 is fixedly installed with positioning pipe 9, is equipped with sliding in the positioning pipe 9
Gear 10, is equipped with movable pulley 11 between the balladeur train 10 and positioning pipe 9, the positioning pipe 9 is located at same with balladeur train 10
On one axle center, the tail portion of the conduit cable 5 is fastened onto balladeur train 10, which can guarantee the rotation of welding gun 6 more
Add and stablizes and be not obstructed.The tail portion trend of the conduit cable 5 is perpendicular with wrist joint axis 4, to further avoid electrosurgical catheter
Cable 5 winds large-arm joint axis 3 or wrist joint axis 4.Control cabinet is installed in the rotary shaft 2 and the source of welding current (has saved in figure
Slightly), the head of the conduit cable 5 introduces from 2 base portion of rotary shaft and is connected with control cabinet, the tail end of the conduit cable 5
It is connected with welding gun 6.After 0 ° of position is rotated by 360 ° from, conduit cable 5 will not occur welding gun 6 between each joint shaft as a result,
Winding, even if conduit cable 5 is not wound with any joint shaft, and realizes big rotation on welding gun axis after 6 liang of week rotations of welding gun
Turn range, is easy welding circle.The welding manipulator of the utility model is designed exclusively for arc welding, unique mechanical structure
It is designed as in narrow space or the welding of circular weld creates distinguished excellent properties.
Control device 12 is equipped in the control cabinet, the control device 12 includes welder 13 and control system 14,
The control system 14 is electrically connected with welder 13, is equipped with pneumatic pipeline 15, welding cable in the conduit cable 5
16, welding wire feeding pipeline 17 and control cable 18, the pneumatic pipeline 15, welding cable 16, welding wire feeding pipeline 17 with
Welder 13 be connected, the control cable 18, electronics obstacle avoidance sensor 8, AC servo motor 7 with 14 phase of control system
Even.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (5)
1. a kind of welding manipulator for arc welding, it is characterised in that：Including suspension arm, rotary shaft, large-arm joint axis, wrist
Joint shaft, conduit cable and welding gun made of being cast as copper alloy, the rotary shaft is installed on the bottom end of suspension arm, described big
The top side surface of shoulder joint axis is installed on the side of rotary shaft by articulated shaft, to realize large-arm joint axis in vertical direction
It is rotated around rotary shaft, the bottom end lower surface of the large-arm joint axis is installed on the top of the wrist joint axis by articulated shaft
Hold upper surface, to realize that wrist joint axis is rotated around large-arm joint axis in the horizontal direction, the large-arm joint axis and hand
Wrist joint axis is by AC servo machinery driving；The bottom end side surface of the wrist joint axis is fixedly installed with positioning pipe, described
Balladeur train is installed in positioning pipe, movable pulley, the positioning pipe and slide teeth are equipped between the balladeur train and positioning pipe
Wheel is located on same axle center, and the tail portion of the conduit cable is fastened onto balladeur train, the tail portion trend of the conduit cable
It is perpendicular with wrist joint axis；Control cabinet and the source of welding current be installed, the head of the conduit cable is from rotation in the rotary shaft
The introducing of shaft base portion is connected with control cabinet, and the tail end of the conduit cable is connected with welding gun.
2. the welding manipulator according to claim 1 for arc welding, it is characterised in that：The length of the wrist joint axis
Degree and diameter are respectively less than large-arm joint axis.
3. the welding manipulator according to claim 2 for arc welding, it is characterised in that：The suspension arm, rotary shaft,
Hollow shaft structure made of the aluminium alloy that large-arm joint axis and wrist joint axis are.
4. the welding manipulator according to claim 3 for arc welding, it is characterised in that：Control is equipped in the control cabinet
Device processed, the control device include welder and control system, and the control system is electrically connected with welder, institute
It states and is equipped with pneumatic pipeline, welding cable, welding wire feeding pipeline and control cable, the pneumatic pipeline, welding in conduit cable
Cable, welding wire feeding pipeline are connected with welder, and the control cable, AC servo motor are connected with control system.
5. the welding manipulator according to claim 4 for arc welding, it is characterised in that：Under the large-arm joint axis
Side is equipped with electronics obstacle avoidance sensor；It is electrically connected between the electronics obstacle avoidance sensor and control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820402076.0U CN208099571U (en) | 2018-03-23 | 2018-03-23 | A kind of welding manipulator for arc welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820402076.0U CN208099571U (en) | 2018-03-23 | 2018-03-23 | A kind of welding manipulator for arc welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208099571U true CN208099571U (en) | 2018-11-16 |
Family
ID=64122549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820402076.0U Expired - Fee Related CN208099571U (en) | 2018-03-23 | 2018-03-23 | A kind of welding manipulator for arc welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208099571U (en) |
-
2018
- 2018-03-23 CN CN201820402076.0U patent/CN208099571U/en not_active Expired - Fee Related
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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: 20181116 Termination date: 20200323 |