CN208408972U - A kind of slim type manipulator - Google Patents
A kind of slim type manipulator Download PDFInfo
- Publication number
- CN208408972U CN208408972U CN201820380302.XU CN201820380302U CN208408972U CN 208408972 U CN208408972 U CN 208408972U CN 201820380302 U CN201820380302 U CN 201820380302U CN 208408972 U CN208408972 U CN 208408972U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- curved boom
- positioning pipe
- cable
- welding
- Prior art date
- 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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Abstract
The utility model discloses a kind of slim type manipulators, including manipulator base, rotary shaft, manipulator curved boom, conduit cable and welding gun made of being cast as copper alloy, the rotary shaft is installed in manipulator base, and the top of the manipulator curved boom passes through positioning pin and rotation axis connection；The inside of the manipulator curved boom is equipped with positioning pipe, the end of the positioning pipe is flushed with the end of manipulator curved boom, balladeur train is installed in the positioning pipe, movable pulley is equipped between the balladeur train and positioning pipe, a part of the conduit cable is fastened onto balladeur train；The head of the conduit cable is introduced in manipulator base to be connected with control cabinet, and the tail portion of the conduit cable is sequentially passed through along anti-tangle position-limiting tube, positioning pipe to be connected with welding gun afterwards.The bus of the utility model is concentrated, and when welding gun rotary work is not susceptible to the coiling of conduit cable or distortion, and manipulator is easier to slip into inside workpiece, can guarantee the accessibility of workpiece lumen or narrow space welding.
Description
Technical field
The utility model belongs to Technology of Welding Robot field, and in particular to a kind of slim type manipulator.
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
Be 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
Hand line road is exposed and numerous and disorderly, and occupied space is big；On the bracket for the lower section that welding gun is installed on manipulator curved boom more, when welding gun rotation
Welding cable is easily caused to generate coiling or distortion.To affect existing welding manipulator in the inner cavity of workpiece or
Welding application in narrow space.
Summary of the invention
In view of the deficiencies of the prior art, the utility model can prevent cable by providing a kind of slim type manipulator
Winding, and can guarantee the accessibility of more narrow space welding.
To achieve the above object, the technical solution of the utility model be a kind of slim type manipulator, including manipulator base,
Rotary shaft, manipulator curved boom, conduit cable and welding gun made of being cast as copper alloy, the rotary shaft are installed on manipulator bottom
On seat, by positioning pin and rotation axis connection, the end of the manipulator curved boom, which is equipped with, to be taken the photograph on the top of the manipulator curved boom
As head；The inside of the manipulator curved boom is equipped with positioning pipe, and the end of the positioning pipe is flushed with the end of manipulator curved boom, institute
It states and balladeur train is installed in positioning pipe, movable pulley, the positioning pipe and sliding are equipped between the balladeur train and positioning pipe
Gear is located on same axle center, and a part of the conduit cable is fastened onto balladeur train；The manipulator curved boom it is interior
Side is additionally provided with anti-tangle position-limiting tube, and control cabinet and the source of welding current, the head of the conduit cable are equipped in the manipulator base
It is introduced in manipulator base and is connected with control cabinet, the tail portion of the conduit cable is sequentially passed through along anti-tangle position-limiting tube, positioning pipe
It is connected afterwards with welding gun.
Preferably, the manipulator base, rotary shaft and manipulator curved boom are hollow aluminium alloy construction.
Preferably, control device is equipped in the control cabinet, the control device includes welder, camera control mould
Block and control system are electrically connected respectively between the control system and welder, camera control module, the conduit
Pneumatic pipeline, welding cable, welding wire feeding pipeline and control cable, the pneumatic pipeline, welding cable, weldering are equipped in cable
Silk feed line is connected with welder, and the control cable is connected with control system；The camera passes through communication conductor
It is connected with camera control module, the communication conductor is drawn from manipulator base, is successively worn out of rotary shaft, manipulator curved boom
It crosses and is connected on camera.
Preferably, the anti-tangle position-limiting tube and positioning pipe are located in same direction.
Preferably, the manipulator base is top dress, and the upper end of the manipulator base is fixedly mounted by chemical bolt
In the lower surface of top platform, the rotary shaft is installed on the lower end of manipulator base.
Preferably, the lower end of the manipulator base is fixedly mounted on track or ground by chemical bolt.
Compared with prior art, the advantages of the utility model: the slim type manipulator bus of the utility model is concentrated, and is being welded
The coiling of conduit cable or distortion are not susceptible to when rifle rotary work, and manipulator is easier to slip into inside workpiece, can guarantee work
The accessibility of part inner cavity or narrow space welding.
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, manipulator base；2, rotary shaft；3, manipulator curved boom；4, conduit cable；5, welding gun；6, top
Platform；7, camera；8, positioning pipe；9, anti-tangle position-limiting tube；10, control device；11, balladeur train；12, movable pulley；13, it welds
Device；14, camera control module；15, control system；16, pneumatic pipeline；17, welding cable；18, welding wire feeding pipeline；
19, cable is controlled；20, communication conductor.
Specific embodiment
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Embodiment 1
As shown in Figure 1-3, a kind of slim type manipulator, including manipulator base 1, rotary shaft 2, manipulator curved boom 3, conduit
Cable 4 and welding gun 5.The welding gun 5 is copper alloy cast structure, and good rigidity, the service life is long, colliding with workpiece not
It can deform, system accuracy will not be affected.The manipulator base 1, rotary shaft 2 and manipulator curved boom 3 are hollow
Aluminium alloy construction, also assure its mechanical strength while mitigating weight.The manipulator base 1 is top dress, the machine
The upper end of tool at hand seat 1 is fixedly mounted on the lower surface of top platform 6 by chemical bolt, and the rotary shaft 2 is installed on machinery
The at hand lower end of seat 1.The top of the manipulator curved boom 3 is connect by positioning pin with rotary shaft 2.The manipulator curved boom 3
Camera 7 is installed on end plane, the mounting means guarantee camera 7 capture whole welding process informations under the premise of,
Camera 7 is installed on welding gun two sides in compared with the existing technology, this mounting means can also prevent in welding process collision or
Person's friction damages the surface of camera 7 and side.
The inside of the manipulator curved boom 3 is equipped with positioning pipe 8, the end of the positioning pipe 8 and the end of manipulator curved boom 3
It flushes, the inside of the manipulator curved boom 3 is additionally provided with anti-tangle position-limiting tube 9, and the anti-tangle position-limiting tube 9 is located at same with positioning pipe 8
On direction, control cabinet and the source of welding current are installed in the manipulator base 1, the head of the conduit cable 4 is introduced to machinery
At hand it is connected in seat 1 with control cabinet, the tail portion of the conduit cable 4 sequentially passes through rear and weldering along anti-tangle position-limiting tube 9, positioning pipe 8
Rifle 5 is connected.Positioning pipe 8 is mounted on the inside of manipulator curved boom 3 by the utility model, can reduce manipulator curved boom 3 and conduit
Space shared by cable 4 makes manipulator be easier to slip into inside workpiece, can guarantee the accessibility of more narrow space welding,
Mechanical hand is set to have excellent inner cavity weld seam welding function；Welding gun 5 is installed on manipulator curved boom 3 in compared with the existing technology
On the bracket of lower section, the utility model flushes the end of positioning pipe 8 with the end of manipulator curved boom 3, and welding gun 5 is thus avoided to revolve
Conduit cable 4 is driven to be wound along manipulator curved boom 3 when turning；Also, the design of the anti-tangle position-limiting tube 9 of 8 top of positioning pipe is right
Conduit cable 4 is further limited, and caused 4 winding machine hand curved boom 3 of conduit cable when welding gun 5 rotates is further avoided
The occurrence of, even if after rotations in two weeks of welding gun 5, which also can avoid the winding of the same mechanical curved boom of conduit cable 4,
Balladeur train 11 is installed in the positioning pipe 8, movable pulley is equipped between the balladeur train 11 and positioning pipe 8
12, the positioning pipe 8 is located on same axle center with balladeur train 11, and one section of the conduit cable 4 is fastened onto balladeur train
In 11.As a result, welding gun 5 rotate when, conduit cable 4 can therewith original place rotate, so as to avoid conduit cable 4 coiling or
Distortion.
Control device 10 is equipped in the control cabinet, the control device 10 includes welder 13, camera control mould
Block 14 and control system 15 are electrically connected respectively between the control system 15 and welder, camera control module 14；
Pneumatic pipeline 16, welding cable 17, welding wire feeding pipeline 18 and control cable 19, the gas are equipped in the conduit cable 4
Dynamic pipeline 16, welding cable 17, welding wire feeding pipeline 18 are connected with welder 13, the control cable 19 and control system
15 are connected；The camera 7 is connected by communication conductor 20 with camera control module 14, and the communication conductor 20 is from manipulator
Pedestal 1 is drawn, and is successively passed through and is connected on camera 7 out of rotary shaft 2, manipulator curved boom 3.The utility model is by pneumatic pipeline
16, welding cable 17, welding wire feeding pipeline 18 and control cable 19 are concentrated in conduit cable 4, and whole system is connected using bus
It connects, required connecting cable is less, and data processing speed is fast, and control is more accurate, and failure rate is lower, and not by the electromagnetic field of environment
It influences；Also, the head of conduit cable 4 is introduced in manipulator base 1 again, prevents work top from numerous cables occur and drawing
Play the generation of more complex situations.The utility model for be connected to camera 7 and 14 communication conductor 20 of camera control module from
It is passed through inside manipulator, further avoids the problem that rambling route is exposed at outside manipulator.
Embodiment 2
Unlike the first embodiment, the lower end of the manipulator base 1 is fixedly mounted on the ground by chemical bolt.
Embodiment 3
Unlike the first embodiment, the lower end of the manipulator base 1 is fixedly mounted in orbit by chemical bolt.
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 (6)
1. a kind of slim type manipulator, it is characterised in that: including manipulator base, rotary shaft, manipulator curved boom, conduit cable with
And welding gun made of being cast as copper alloy, the rotary shaft are installed in manipulator base, the top of the manipulator curved boom is logical
Positioning pin and rotation axis connection are crossed, the end of the manipulator curved boom is equipped with camera；It is set on the inside of the manipulator curved boom
There is positioning pipe, the end of the positioning pipe is flushed with the end of manipulator curved boom, and balladeur train, institute are equipped in the positioning pipe
It states and is equipped with movable pulley between balladeur train and positioning pipe, the positioning pipe and balladeur train are located on same axle center, the conduit
A part of cable is fastened onto balladeur train；Anti-tangle position-limiting tube, the machinery are additionally provided on the inside of the manipulator curved boom
Control cabinet and the source of welding current are at hand installed, the head of the conduit cable is introduced in manipulator base and control cabinet phase in seat
Company, the tail portion of the conduit cable is sequentially passed through along anti-tangle position-limiting tube, positioning pipe to be connected with welding gun afterwards.
2. slim type manipulator according to claim 1, it is characterised in that: the manipulator base, rotary shaft and machinery
Hand curved boom is hollow aluminium alloy construction.
3. slim type manipulator according to claim 2, it is characterised in that: be equipped with control device, institute in the control cabinet
Stating control device includes welder, camera control module and control system, the control system and welder, camera
Be electrically connected respectively between control module, be equipped in the conduit cable pneumatic pipeline, welding cable, welding wire feeding pipeline and
Control cable, the pneumatic pipeline, welding cable, welding wire feeding pipeline be connected with welder, the control cable and
Control system is connected；The camera is connected by communication conductor with camera control module, and the communication conductor is from manipulator
Pedestal is drawn, and is successively passed through and is connected on camera out of rotary shaft, manipulator curved boom.
4. slim type manipulator according to claim 3, it is characterised in that: the anti-tangle position-limiting tube and positioning pipe are located at together
On one direction.
5. slim type manipulator according to claim 1-4, it is characterised in that: the manipulator base is top
Dress, the upper end of the manipulator base are fixedly mounted on the lower surface of top platform, the rotary shaft installation by chemical bolt
In the lower end of manipulator base.
6. slim type manipulator according to claim 1-4, it is characterised in that: the lower end of the manipulator base
It is fixedly mounted on track or ground by chemical bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820380302.XU CN208408972U (en) | 2018-03-20 | 2018-03-20 | A kind of slim type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820380302.XU CN208408972U (en) | 2018-03-20 | 2018-03-20 | A kind of slim type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208408972U true CN208408972U (en) | 2019-01-22 |
Family
ID=65118392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820380302.XU Expired - Fee Related CN208408972U (en) | 2018-03-20 | 2018-03-20 | A kind of slim type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208408972U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434510A (en) * | 2019-07-15 | 2019-11-12 | 浙江工业大学 | A kind of welding equipment based on VR technology |
-
2018
- 2018-03-20 CN CN201820380302.XU patent/CN208408972U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434510A (en) * | 2019-07-15 | 2019-11-12 | 浙江工业大学 | A kind of welding equipment based on VR technology |
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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: 20190122 Termination date: 20200320 |