CN208496200U - A kind of small space automatic welding device - Google Patents
A kind of small space automatic welding device Download PDFInfo
- Publication number
- CN208496200U CN208496200U CN201821097104.9U CN201821097104U CN208496200U CN 208496200 U CN208496200 U CN 208496200U CN 201821097104 U CN201821097104 U CN 201821097104U CN 208496200 U CN208496200 U CN 208496200U
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- CN
- China
- Prior art keywords
- mechanical arm
- chassis
- arm
- groups
- shaft
- 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 small space automatic welding devices, including chassis and six shaft mechanical arms, the six shaft mechanicals arm is equipped with two groups at the top of chassis, the six shaft mechanicals arm includes first mechanical arm, second mechanical arm, third mechanical arm, 4th mechanical arm, 5th mechanical arm and the 6th mechanical arm, the first mechanical arm is mounted on chassis, the first mechanical arm, second mechanical arm, third mechanical arm, 4th mechanical arm, 5th mechanical arm side is mounted on first motor, welding gun is installed in the welding gun support, fixture is connected with by the second motor in the fixture mount, it is movably installed with the first camera and second camera respectively on two groups of support frames as described above, the tray bottom quadrangle passes through third motor and the output shaft of output end is equipped with Mecanum wheel, the utility model all-around mobile formula chassis, four The independent driving of wheel, kinematic dexterity is high, easy to operate, the visual field is provided for operator outside space, to complete weld task.
Description
Technical field
The utility model relates to welding technology field, specially a kind of small space automatic welding device.
Background technique
Welding, also referred to as welding, Rong connects, and is a kind of jointing metal in a manner of heating, high temperature or high pressure or other heat
The manufacturing process and technology of plastic material such as plastics, in small space operation, personnel's inconvenience enters, and the visual field is poor, it has not been convenient to
It adjusts, and in welding process, temperature is higher and can generate toxic gas.
Utility model content
The purpose of this utility model is to provide a kind of small space automatic welding device, all-around mobile formula chassis, four
The independent driving of wheel, wheel use the Mecanum wheel of high-temperature resistant rubber material, and kinematic dexterity is high, uses two six degree of freedom machines
Tool arm cooperates, and one is used as piece-holder, another is easy to operate for welding, and avoids manual operation dangerous, using double
Camera structure is easy to adjust, provides the visual field for operator outside space, to solve the problems mentioned in the above background technology.
To achieve the above object, the utility model provides the following technical solutions: a kind of small space automatic welding device, packet
Chassis and six shaft mechanical arms are included, the six shaft mechanicals arm is equipped with two groups at the top of chassis, and the six shaft mechanicals arm includes the first machine
Tool arm, second mechanical arm, third mechanical arm, the 4th mechanical arm, the 5th mechanical arm and the 6th mechanical arm, the first mechanical arm peace
On chassis, the first mechanical arm, second mechanical arm, third mechanical arm, the 4th mechanical arm, the 5th mechanical arm side are pacified
Equipped with first motor, the first mechanical arm, second mechanical arm, third mechanical arm, the 4th mechanical arm, the 5th mechanical arm and the 6th
Mechanical arm successively docks, and the first mechanical arm, second mechanical arm, third mechanical arm, the 4th mechanical arm, the 5th mechanical arm and
6th mechanical arm docking location exports axis connection by first motor, and top is separately installed on six shaft mechanical arms described in two groups
Welding gun support and fixture mount are equipped with welding gun in the welding gun support, are connected in the fixture mount by the second motor
Fixture, two group of six shaft mechanical arm side is located on the chassis passes through base rotation and be equipped with support frame, supports described in two groups
The first camera and second camera are movably installed on frame respectively, the tray bottom quadrangle passes through third motor and output
The output shaft at end is equipped with Mecanum wheel.
Preferably, the first mechanical arm is groove type structure, and the first mechanical arm is mounted by means of bolts on bottom
On disk.
Preferably, first camera and second camera pass through pin shaft and support frame is flexibly connected.
Preferably, the fixture includes sliding rail, two groups of fixture blocks and connecting rod, and the sliding rail is mounted on fixture mount bottom, and two
The group fixture block is slidably connected to sliding rail, and the output shaft of second motor is movably connected on two groups of fixture blocks by connecting rod.
Preferably, fixture block bottom side described in two groups is equipped with link block, passes through pin shaft between the connecting rod and link block
It is flexibly connected.
Preferably, third motor is corresponded on the chassis and Mecanum wheel installation site offers the groove to match.
Compared with prior art, the utility model has the beneficial effects that
1, the utility model is equipped with Mike by the output shaft for passing through third motor and output end respectively in chassis quadrangle
Na Mu wheel, all-around mobile formula chassis, four motorized wheels, wheel use the Mecanum wheel of high-temperature resistant rubber material, movement
Flexibility is high；
2, two group of six shaft mechanical arm work, is cooperated using two sixdegree-of-freedom simulations, and one is used as piece-holder,
Another is easy to operate for welding, and avoids manual operation dangerous；
3, using dual-camera structure, the visual field is provided for operator outside space, it is single to image to complete weld task
Head can adjust visual field direction as needed up and down, and two cameras can be used cooperatively, and one is used to move, and one for welding
It connects.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the schematic view of the front view of the utility model；
Fig. 3 is the bottom views schematic perspective view of the utility model；
Fig. 4 is enlarged structure schematic diagram at A in Fig. 3 of the utility model.
In figure: 1 chassis, 2 six shaft mechanical arms, 201 first mechanical arms, 202 second mechanical arms, 203 third mechanical arms, 204
4th mechanical arm, 205 the 5th mechanical arms, 206 the 6th mechanical arms, 3 welding gun supports, 4 fixture mounts, 5 welding guns, 6 second motors, 7
Fixture, 701 sliding rails, 702 fixture blocks, 703 connecting rods, 704 link blocks, 8 pedestals, 9 support frames, 10 first cameras, 11 second camera shootings
Head, 12 first motors, 13 third motors, 14 Mecanum wheels.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-4 is please referred to, the utility model provides a kind of technical solution: a kind of small space automatic welding device, including
Chassis 1 and six shaft mechanical arms 2, the six shaft mechanicals arm 2 are equipped with two groups at the top of chassis 1, and the six shaft mechanicals arm 2 includes first
Mechanical arm 201, second mechanical arm 202, third mechanical arm 203, the 4th mechanical arm 204, the 5th mechanical arm 205 and the 6th mechanical arm
206, it forms two sixdegree-of-freedom simulations and cooperates；The first mechanical arm 201 is mounted on chassis 1, first machine
Tool arm 201, second mechanical arm 202, third mechanical arm 203, the 4th mechanical arm 204,205 side of the 5th mechanical arm are mounted on
One motor 12, the first mechanical arm 201, second mechanical arm 202, third mechanical arm 203, the 4th mechanical arm the 204, the 5th are mechanical
Arm 205 and the 6th mechanical arm 206 successively dock, and the first mechanical arm 201, second mechanical arm 202, third mechanical arm 203,
4th mechanical arm 204, the 5th mechanical arm 205 and 206 docking location of the 6th mechanical arm pass through first motor 12 and export axis connection,
12 task driven mechanical arm of first motor is adjusted；Top is separately installed with welding gun support 3 on six shaft mechanical arms 2 described in two groups
With fixture mount 4, welding gun 5 is installed in the welding gun support 3, fixture is connected with by the second motor 6 in the fixture mount 4
7, two group of six 2 side of shaft mechanical arm is located on the chassis 1 passes through pedestal 8 and be rotatably equipped with support frame 9, is supported described in two groups
The first camera 10 and second camera 11, the first camera 10 and second camera 11 are movably installed on frame 9 respectively, is used
Dual-camera structure provides the visual field for operator outside space；1 bottom four corners of chassis pass through third motor 13 and output
The output shaft at end is equipped with Mecanum wheel 14.
Specifically, the first mechanical arm 201 is groove type structure, the first mechanical arm 201 is bolted peace
On chassis 1；First mechanical arm 201 is mounted by means of bolts on chassis 1, easy for installation.
Specifically, first camera 10 and second camera 11 are flexibly connected by pin shaft and support frame 9；First
Camera 10 and second camera 11 are flexibly connected by pin shaft and support frame 9, so that the first camera 10 and the second camera shooting
First 11 adjust angle conveniently.
Specifically, the fixture 7 includes that 701, two groups of fixture blocks 702 of sliding rail and connecting rod 703, the sliding rail 701 are mounted on folder
Has 4 bottom of bracket, fixture block 702 described in two groups is slidably connected to sliding rail 701, and the output shaft of second motor 6 passes through connecting rod
703 are movably connected on two groups of fixture blocks 702；It drives connecting rod 703 to rotate by the second motor 6, fixture block 702 is driven by connecting rod 703
By Workpiece clamping.
Specifically, 702 bottom side of fixture block described in two groups is equipped with link block 704, the connecting rod 703 and link block 704
Between pass through pin shaft be flexibly connected；Connecting rod 703 is under the rotary action of the second motor 6, and connecting rod 703 and 704 activity of link block are even
Connect adjusting.
Specifically, corresponding to third motor 13 on the chassis 1 and 14 installation site of Mecanum wheel offers and matches
Groove；The groove structure to match is set, the installation and fixation of third motor 13 and Mecanum wheel 14 are facilitated.
Working principle: device is moved to welding spatial position, adjusts the first camera 10 and the second camera shooting on support frame 9
First 11 position angle is respectively toward to welding position and piece-holder position, under the action of first motor 12, six shaft mechanical arms
2 by welding gun 5 against workpiece welding position, while fixture 7 grips welding workpiece under the action of the second motor 6, welding gun 5
Welding is carried out against workpiece.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of small space automatic welding device, including chassis (1) and six shaft mechanical arms (2), it is characterised in that: six axis
Mechanical arm (2) is equipped with two groups at the top of chassis (1), and the six shaft mechanicals arm (2) includes first mechanical arm (201), the second machinery
Arm (202), third mechanical arm (203), the 4th mechanical arm (204), the 5th mechanical arm (205) and the 6th mechanical arm (206), it is described
First mechanical arm (201) is mounted on chassis (1), the first mechanical arm (201), second mechanical arm (202), third mechanical arm
(203), the 4th mechanical arm (204), the 5th mechanical arm (205) side are mounted on first motor (12), the first mechanical arm
(201), second mechanical arm (202), third mechanical arm (203), the 4th mechanical arm (204), the 5th mechanical arm (205) and the 6th machine
Tool arm (206) successively docks, and the first mechanical arm (201), second mechanical arm (202), third mechanical arm (203), the 4th
Mechanical arm (204), the 5th mechanical arm (205) and the 6th mechanical arm (206) docking location pass through first motor (12) output shaft
It connects, top is separately installed with welding gun support (3) and fixture mount (4), the welding gun branch on six shaft mechanical arms (2) described in two groups
It is equipped on frame (3) welding gun (5), is connected with fixture (7), the chassis by the second motor (6) on the fixture mount (4)
(1) pass through pedestal (8) positioned at two group of six shaft mechanical arm (2) side on to be rotatably equipped with support frame (9), two groups of support frames as described above
(9) the first camera (10) and second camera (11) are movably installed on respectively, chassis (1) bottom four corners pass through
The output shaft of three motors (13) and output end is equipped with Mecanum wheel (14).
2. a kind of small space automatic welding device according to claim 1, it is characterised in that: the first mechanical arm
It (201) is groove type structure, the first mechanical arm (201) is mounted by means of bolts on chassis (1).
3. a kind of small space automatic welding device according to claim 1, it is characterised in that: first camera
(10) it is flexibly connected by pin shaft and support frame (9) with second camera (11).
4. a kind of small space automatic welding device according to claim 1, it is characterised in that: the fixture (7) includes
Sliding rail (701), two groups of fixture blocks (702) and connecting rod (703), the sliding rail (701) are mounted on fixture mount (4) bottom, two groups of institutes
It states fixture block (702) to be slidably connected to sliding rail (701), the output shaft of second motor (6) is flexibly connected by connecting rod (703)
In two groups of fixture blocks (702).
5. a kind of small space automatic welding device according to claim 4, it is characterised in that: fixture block described in two groups
(702) bottom side is equipped with link block (704), is connected between the connecting rod (703) and link block (704) by pin shaft activity
It connects.
6. a kind of small space automatic welding device according to claim 1, it is characterised in that: the chassis (1) on pair
Third motor (13) and Mecanum wheel (14) installation site is answered to offer the groove to match.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821097104.9U CN208496200U (en) | 2018-07-11 | 2018-07-11 | A kind of small space automatic welding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821097104.9U CN208496200U (en) | 2018-07-11 | 2018-07-11 | A kind of small space automatic welding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208496200U true CN208496200U (en) | 2019-02-15 |
Family
ID=65284294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821097104.9U Expired - Fee Related CN208496200U (en) | 2018-07-11 | 2018-07-11 | A kind of small space automatic welding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208496200U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113399877A (en) * | 2021-06-15 | 2021-09-17 | 江苏飞船股份有限公司 | Blind tooth welding set for gear machining |
| CN113560774A (en) * | 2021-08-16 | 2021-10-29 | 南通科钛机器人系统有限公司 | Six axis of robot are with portable welding equipment with guide structure |
| CN114505571A (en) * | 2022-03-04 | 2022-05-17 | 珠海格力电器股份有限公司 | Automatic welding device and method |
-
2018
- 2018-07-11 CN CN201821097104.9U patent/CN208496200U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113399877A (en) * | 2021-06-15 | 2021-09-17 | 江苏飞船股份有限公司 | Blind tooth welding set for gear machining |
| CN113560774A (en) * | 2021-08-16 | 2021-10-29 | 南通科钛机器人系统有限公司 | Six axis of robot are with portable welding equipment with guide structure |
| CN113560774B (en) * | 2021-08-16 | 2022-05-03 | 南通科钛机器人系统有限公司 | Six axis of robot are with portable welding equipment with guide structure |
| CN114505571A (en) * | 2022-03-04 | 2022-05-17 | 珠海格力电器股份有限公司 | Automatic welding device and method |
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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: 20190215 Termination date: 20210711 |