CN208575456U - A kind of multi-freedom robot welding and clamping device - Google Patents
A kind of multi-freedom robot welding and clamping device Download PDFInfo
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- CN208575456U CN208575456U CN201821293411.4U CN201821293411U CN208575456U CN 208575456 U CN208575456 U CN 208575456U CN 201821293411 U CN201821293411 U CN 201821293411U CN 208575456 U CN208575456 U CN 208575456U
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- vertically movable
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- movement frame
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Abstract
The utility model discloses a kind of multi-freedom robot welding and clamping device, vertically movable vertical driving mechanism is carried out on bracket including bracket, movement frame, driving movement frame and for driving movement frame to carry out the swing driving mechanism of pitch movement；Wherein, the movement frame is rotatably connected on bracket, and movement frame is equipped with clamping bench, and the bottom of movement frame is equipped with the rotating drive mechanism for driving clamping bench to rotate；The side of the movement frame is equipped with vertically movable frame, and the power output member of the vertical driving mechanism is connect with vertically movable frame, and the movement frame is connected on vertically movable frame close to the side of vertically movable frame by rotational structure.The utility model be able to drive workpiece rotated, pitching movement and vertical motion, so that the position to workpiece is changed, it is ensured that robot accurately can carry out welding processing in each position to workpiece, and improve welding efficiency.
Description
Technical field
The utility model relates to a kind of welding and clamping devices, and in particular to multi-freedom robot welding and clamping device.
Background technique
It when carrying out welding processing to workpiece, needs by clamping workpiece on welder, then by robot to workpiece
Carry out corresponding soldering.During welding processing, although robot can with multi-angle process workpiece, such as
Immovably for clamping on welder, robot inevitably will appear processing blind area to the processing of workpiece to fruit workpiece, lead to nothing
Method completes welding processing in high quality.Utility model file " a kind of Spin welding tipping that Authorization Notice No. is CN205496838U
Set ", it is rotatable to specifically disclose one kind, and the welder of pitching movement can be carried out, it, can root when workpiece carries out welding processing
According to actual processing, the movement that workpiece carries out multi-angle is controlled, consequently facilitating robot carries out welding processing to workpiece, but still
It has the disadvantage that welder can only carry out rotation and pitching movement, the movement of vertical direction can not be carried out；Work as clamping workpiece
When its height after welder is higher or lower, robot will appear can not bottom end to workpiece and top processed
Situation allows the robot to carry out welding processing to the end of workpiece, but when the volume of workpiece is larger, will lead to and processing
The moving range of robot increases in the process, this undoubtedly reduces the welding processing precision to workpiece.
Utility model content
The utility model aim is to overcome the deficiencies of the prior art and provide a kind of multi-freedom robot welding clamping dress
Set, the device be able to drive workpiece rotated, pitching movement and vertical motion, so that the position to workpiece is changed,
Ensure that robot accurately can carry out welding processing in each position to workpiece, and improves welding efficiency.
The purpose of this utility model is achieved through the following technical solutions:
A kind of multi-freedom robot welding and clamping device, which is characterized in that including bracket, movement frame, driving movement frame
Vertically movable vertical driving mechanism is carried out on bracket and for driving the swing of movement frame progress pitch movement to drive
Motivation structure；Wherein, the movement frame is rotatably connected on bracket, and movement frame is equipped with clamping bench, and the bottom of movement frame is equipped with
Rotating drive mechanism for driving clamping bench to rotate；The side of the movement frame is equipped with vertically movable frame, the vertical driving
The power output member of mechanism is connect with vertically movable frame, and the movement frame is connected close to the side of vertically movable frame by rotational structure
It connects on vertically movable frame；The swing driving mechanism is by the motor and toothed chain transmission mechanism structure that are arranged on vertically movable frame
It include driving gear, driven gear and the chain being looped around between driving gear and driven gear at, the toothed chain transmission mechanism,
The connection of the main shaft of the driving gear and motor, the driven gear are connect with the rotational structure on movement frame.
The working principle of above-mentioned multi-freedom robot welding and clamping device is:
Firstly, by clamping workpiece to be processed on clamping bench；Then according to the volume size of workpiece and to be processed
The positional relationship of position and robot, it is respectively or same by vertical driving mechanism, rotating drive mechanism and swing driving mechanism
When driving movement frame (clamping bench) move up and down, rotate and pitch movement, the position of workpiece is adjusted, from
And allow the robot to better and more conveniently carry out welding processing to workpiece, it is ensured that the welding of each Working position on workpiece
Uniform quality improves the machining accuracy of workpiece.
One preferred embodiment of the utility model, wherein the rotational structure includes fixed connecting rod and is respectively set
Bearing assembly on movement frame and vertically movable frame；One end of the fixed connecting rod is fixedly connected on movement frame, another
End extends on vertically movable frame after sequentially passing through the bearing assembly on movement frame and vertically movable frame, and fixes with driven gear
Connection.The pitch movement of movement frame is driven by the setting of fixed connecting rod, structure is simple；The setting of bearing assembly
Be conducive to the rotation of fixed connecting rod.
A preferred embodiment of the invention, wherein the vertically movable frame includes transverse plate and is arranged in transverse plate two
The motor of the vertical plate of side, the swing driving mechanism is arranged on transverse plate, and the bearing assembly is positioned close to movement frame
Side vertical plate on.
Preferably, the vertical driving mechanism is made of vertical driving motor and lead screw transmission mechanism, wherein the silk
The screw rod of thick stick transmission mechanism is connect with the main shaft of vertical driving motor, the nut of lead-screw drive mechanism and separate movement frame side
Vertical plate is fixedly connected.Such vertically movable frame is set, convenient for the connection with movement frame and vertical driving mechanism, and is tied
Structure is simple.
A preferred embodiment of the invention is equipped with guard box, the vertically movable frame, swing in vertically movable frame corresponding position
Driving mechanism and vertical driving mechanism are arranged in guard box, and the corresponding position of the guard box and fixed connecting rod is equipped with perpendicular
To slide slot, the vertical driving motor is arranged at the top of guard box.By the setting of guard box, so that vertically movable
Frame, swing driving mechanism and vertical driving mechanism and movement frame separate, so as to workpiece carry out welding processing when pair
Its components is protected, and the combustible materials such as Mars often occurs in when welding processing, guard box can by these dangerous substances every
It opens, all there is good protecting effect to staff and device.
A preferred embodiment of the invention is equipped with vertical guiding mechanism, the vertical guiding between the movement frame and bracket
The side opposite with vertically movable frame is arranged in mechanism；Wherein, the vertical guiding mechanism include the guide rail being arranged on bracket,
With the sliding block and guide plate of guide rail, the guide plate is fixed on sliding block；The movement frame is rotatably connected on cunning
On andante.By the setting of vertical guiding mechanism, so that movement frame is more stable and accurate in the movement of vertical direction, meanwhile,
By the setting of guide plate, convenient for the connection of movement frame.
A preferred embodiment of the invention, wherein the movement frame includes support plate and is arranged in support plate two sides
Connecting plate；Wherein the connecting plate of side is connect by rotational structure with vertically movable frame, and the connecting plate and guide plate of the other side turn
Dynamic connection, the clamping bench are arranged on support plate.Such movement frame is arranged to be convenient for connecting with bracket and vertically movable frame,
And structure is simple.
A preferred embodiment of the invention, the rotating drive mechanism include rotational drive motor and toothed belt transmission machine
Structure, wherein the bottom of the support plate is equipped with fixed frame, and the rotational drive motor is mounted on fixed frame, the synchronous belt
Transport mechanism includes driving wheel, driven wheel and the synchronous belt being looped around between driving wheel and driven wheel, the driving wheel with turn
The power output axis connection of dynamic driving motor, the driven wheel are arranged in the lower section corresponding position of clamping bench and by transmission shafts and dress
Press from both sides platform connection.By the way that such rotating drive mechanism is arranged, convenient for driving clamping bench rotation to pass through so that workpiece rotates
Synchronous belt drive mechanism is set, can be avoided rotating drive mechanism and directly drive clamping bench rotation, reduce rotating drive mechanism
Power output shaft torque, to be conducive to extend the service life of rotating drive mechanism.
Preferably, the bottom of the support plate is additionally provided with device for fixing screen on headrest, which is equipped with transition driving member；
The transition driving member includes turning with the matched transition driving wheel of driving wheel, with the matched transition driven wheel of driven wheel and transition
Moving axis, the transition driving wheel and transition driven wheel are arranged in transition rotation axis, and the transition rotation axis is rotatably connected on
On device for fixing screen on headrest；The synchronous belt is looped around between driving wheel and transition driving wheel, the driven wheel and transition driven wheel it
Between be surrounded with transition synchronous belt.The further transmitting that power is carried out by transition rotating member, is more conducive to rotational drive motor
Power be transmitted in clamping bench, especially when the weight of workpiece is larger, can effectively be mitigated by multistage power transmitting
The burden of rotational drive motor.
Preferably, the fixed frame includes the top plate and bottom plate connecting with support plate bottom and is arranged in top plate and bottom plate
Between support plate, the bottom plate is equipped with avoid holes, and the rotational drive motor is fixed at the bottom of bottom plate, and rotates
The power output shaft of driving motor is upwardly extended across avoid holes.By the way that such fixed frame is arranged convenient for rotational drive motor
It is fixed, it is also convenient for the power output axis connection of driving wheel and rotational drive motor.
The utility model has the advantages that compared with prior art
1, the utility model be able to drive workpiece rotated, pitching movement and vertical motion, thus to the position of workpiece
It sets and is changed, it is ensured that robot accurately can carry out welding processing in each position to workpiece, and improve welding efficiency.
2, movement frame is driven to move up and down by vertical driving mechanism, so that changing movement frame carries out pitch fortune
Oscillation center when dynamic, can be effectively reduced the amplitude of fluctuation of workpiece when workpiece height is higher, be conducive to shorten robot
Shift motion, to improve the processing efficiency and machining accuracy of workpiece.
Detailed description of the invention
Fig. 1-Fig. 3 is the knot of one of embodiment of the multi-freedom robot welding and clamping device of the utility model
Structure schematic diagram, wherein Fig. 1 is perspective view, and Fig. 2 is main view (guard box is not shown), and Fig. 3 is the not shown solid of guard box
Figure.
Fig. 4-Fig. 5 is the structural schematic diagram of movement frame and rotating drive mechanism, wherein Fig. 4 is side view, and Fig. 5 is vertical
Body figure.
Fig. 6-Fig. 7 is the structural schematic diagram of movement frame, wherein Fig. 6 is side view, and Fig. 7 is perspective view.
Specific embodiment
The utility model is further described below with reference to embodiment and attached drawing, but the embodiments of the present invention is not
It is only limitted to this.
Referring to Fig. 1-Fig. 7, the multi-freedom robot welding and clamping device of the present embodiment, which is characterized in that including bracket
7, movement frame 2, driving movement frame 2 carried out on bracket 7 vertically movable vertical driving mechanism and for drive movement frame 2 into
The swing driving mechanism of row pitch movement；Wherein, the movement frame 2 is rotatably connected on bracket 7, and is set on movement frame 2
There is clamping bench 1, the bottom of movement frame 2 is equipped with the rotating drive mechanism for driving clamping bench 1 to rotate；The one of the movement frame 2
Side is equipped with vertically movable frame 13, and the power output member of the vertical driving mechanism is connect with vertically movable frame 13, the movement frame 2
Side close to vertically movable frame 13 is connected on vertically movable frame 13 by rotational structure；The swing driving mechanism is by being arranged
Motor 12 on vertically movable frame 13 and toothed chain transmission mechanism are constituted, the toothed chain transmission mechanism include driving gear 14, from
Moving gear 15 and the chain being looped around between driving gear 14 and driven gear 15, the master of the driving gear 14 and motor 12
Axis connection, the driven gear 15 are connect with the rotational structure on movement frame 2.
- Fig. 3 referring to fig. 2, the rotational structure include fixed connecting rod and are separately positioned on movement frame 2 and vertically movable
Bearing assembly 16 on frame 13；One end of the fixed connecting rod is fixedly connected on movement frame 2, and the other end sequentially passes through movement
It is extended to after bearing assembly 16 on frame 2 and vertically movable frame 13 on vertically movable frame 13, and be fixedly connected with driven gear 15.
The pitch movement of movement frame 2 is driven by the setting of fixed connecting rod, structure is simple；Bearing assembly 16 is provided with
Conducive to the rotation of fixed connecting rod.
- Fig. 3 referring to fig. 2, the vertically movable frame 13 is including transverse plate 17 and the vertical of 17 two sides of transverse plate is arranged in
Plate 18, the motor 12 are arranged on transverse plate 17, and the bearing assembly 16 is positioned close to the vertical plate of the side of movement frame 2
On 18.
- Fig. 3 referring to fig. 2, the vertical driving mechanism are made of vertical driving motor 5 and lead screw transmission mechanism, wherein
The screw rod of the lead-screw drive mechanism is connect with the main shaft of vertical driving motor 5, the nut of lead-screw drive mechanism and separate movement
The vertical plate 18 of 2 side of frame is fixedly connected.Such vertically movable frame 13 is set, is convenient for and movement frame 2 and vertical driving machine
The connection of structure, and structure is simple.
Referring to Fig. 1, guard box 6, the vertically movable frame 13, swing driving mechanism are equipped in vertically movable 13 corresponding position of frame
And vertical driving mechanism is arranged in guard box 6, the corresponding position of the guard box 6 and fixed connecting rod, which is equipped with, vertically slides
Slot 3, the vertical driving motor 5 are arranged at the top of guard box 6.By the setting of guard box 6, so that vertically movable frame
13, swing driving mechanism and vertical driving mechanism and movement frame 2 separate, so as to workpiece carry out welding processing when pair
Its components is protected, and the combustible materials such as Mars often occurs in when welding processing, guard box 6 can by these dangerous substances every
It opens, all there is biggish protecting effect to staff and device.
Referring to figures 1-3, vertical guiding mechanism is equipped between the movement frame 2 and bracket 7, the vertical guiding mechanism setting
In the side opposite with vertically movable frame 13；Wherein, the vertical guiding mechanism include the guide rail 9 being arranged on bracket 7, with lead
The matched sliding block 8 of rail 9 and guide plate 10, the guide plate 10 are fixed on sliding block 8；The movement frame 2 is rotatablely connected
On guide plate 10.By the setting of vertical guiding mechanism, so that movement frame 2 is more stable and smart in the movement of vertical direction
Standard, meanwhile, by the setting of guide plate 10, convenient for the connection of movement frame 2.
- Fig. 7 referring to fig. 4, the movement frame 2 include support plate 26 and the connecting plate 19 that 26 two sides of support plate are arranged in；
The support plate 26 is equipped with through-hole 4；Wherein the connecting plate 19 of side is connect by rotational structure with vertically movable frame 13, another
The connecting plate 19 and guide plate 10 of side are rotatablely connected, and the clamping bench 1 is arranged on support plate 26.Such movement frame 2 is set
Convenient for connecting with bracket 7 and vertically movable frame 13, and structure is simple.
- Fig. 5 referring to fig. 4, the rotating drive mechanism include rotational drive motor 11 and synchronous belt drive mechanism,
In, the bottom of the support plate 26 is equipped with fixed frame 25, and the rotational drive motor 11 is mounted on fixed frame 25, the synchronization
Tape transport includes driving wheel 24, driven wheel 20 and the synchronous belt 27 being looped around between driving wheel 24 and driven wheel 20, institute
The power output axis connection of driving wheel 24 Yu rotational drive motor 11 is stated, clamping bench 1 lower section is arranged in the driven wheel 20
It corresponding position and is connect with clamping bench 1 by transmission shaft.By the way that such rotating drive mechanism is arranged, convenient for driving clamping bench 1
Platform rotation, by the way that synchronous belt drive mechanism is arranged, can be avoided rotating drive mechanism and directly drive dress so that workpiece is rotated
Platform 1 rotation of folder, reduces the torque of the power output shaft of rotating drive mechanism, to be conducive to extend rotating drive mechanism
Service life.
The bottom of-Fig. 7 referring to fig. 4, the support plate 26 are additionally provided with device for fixing screen on headrest 22, which is equipped with
Transition driving member；The transition driving member include and the matched transition driving wheel 21 of driving wheel 24, with the matched mistake of driven wheel 20
Driven wheel 23 and transition rotation axis are crossed, the transition driving wheel 21 and transition driven wheel 23 are arranged in transition rotation axis,
The transition rotation axis is rotatably connected on device for fixing screen on headrest 22；The synchronous belt 27 is looped around driving wheel 24 and transition driving wheel
Between 21, transition synchronous belt 28 is surrounded between the driven wheel 20 and transition driven wheel 23.It is moved by transition rotating member
The further transmitting of power, the power for being more conducive to rotational drive motor 11 is transmitted in clamping bench 1, especially when the weight of workpiece
When measuring larger, it can effectively mitigate the burden of rotational drive motor 11 by multistage power transmitting.
Referring to Fig. 6-Fig. 7, the fixed frame 25 includes the top plate 31 connecting with 26 bottom of support plate, bottom plate 30 and setting
Support plate 29 between top plate 31 and bottom plate 30, the bottom plate 30 are equipped with avoid holes, and the rotational drive motor 11 is fixed
The bottom of bottom plate 30 is set, and the power output shaft of rotational drive motor 11 is upwardly extended across avoid holes.By the way that this is arranged
The fixed frame 25 of sample is convenient for the fixation of rotational drive motor 11, is also convenient for the power output shaft of driving wheel Yu rotational drive motor 11
Connection.
Referring to Fig. 1-Fig. 7, the working principle of the platform for robot welding of the present embodiment is:
Firstly, by clamping workpiece to be processed on clamping bench 1；Then according to the volume size of workpiece and to be processed
The positional relationship of position and robot, it is respectively or same by vertical driving mechanism, rotating drive mechanism and swing driving mechanism
When driving movement frame 2 (clamping bench 1) move up and down, rotate and pitch movement, the position of workpiece is adjusted,
So that robot better and more conveniently can carry out welding processing to workpiece, it is ensured that the weldering of each Working position on workpiece
Uniform quality is connect, the machining accuracy of workpiece is improved.
Above-mentioned is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above content
It limits, change, modification, substitution, combination, the letter made under other any spiritual essence and principles without departing from the utility model
Change, should be equivalent substitute mode, be included within the protection scope of the utility model.
Claims (10)
1. a kind of multi-freedom robot welding and clamping device, which is characterized in that exist including bracket, movement frame, driving movement frame
Vertically movable vertical driving mechanism is carried out on bracket and for driving movement frame to carry out the wobble drive of pitch movement
Mechanism；Wherein, the movement frame is rotatably connected on bracket, and movement frame is equipped with clamping bench, and the bottom of movement frame, which is equipped with, to be used
In the rotating drive mechanism of driving clamping bench rotation；The side of the movement frame is equipped with vertically movable frame, the vertical driving machine
The power output member of structure is connect with vertically movable frame, and the movement frame is connected close to the side of vertically movable frame by rotational structure
On vertically movable frame；The swing driving mechanism is by the motor and toothed chain transmission mechanism structure that are arranged on vertically movable frame
It include driving gear, driven gear and the chain being looped around between driving gear and driven gear at, the toothed chain transmission mechanism,
The connection of the main shaft of the driving gear and motor, the driven gear are connect with the rotational structure on movement frame.
2. multi-freedom robot welding and clamping device according to claim 1, which is characterized in that the rotational structure packet
The bearing assembly for including fixed connecting rod and being separately positioned on movement frame and vertically movable frame；One end of the fixed connecting rod
It is fixedly connected on movement frame, the other end extends to vertical shifting after sequentially passing through the bearing assembly on movement frame and vertically movable frame
In moving frame, and it is fixedly connected with driven gear.
3. multi-freedom robot welding and clamping device according to claim 2, which is characterized in that the vertically movable frame
Including transverse plate and the vertical plates of transverse plate two sides is set, the motor of the swing driving mechanism is arranged on transverse plate,
The bearing assembly is positioned close in the vertical plate of the side of movement frame.
4. multi-freedom robot welding and clamping device according to claim 3, which is characterized in that the vertical driving machine
Structure is made of vertical driving motor and lead screw transmission mechanism, wherein the screw rod of the lead screw transmission mechanism and vertical driving electricity
The main shaft of machine connects, and the nut of lead screw transmission mechanism is fixedly connected with the vertical plate far from movement frame side.
5. multi-freedom robot welding and clamping device according to claim 4, which is characterized in that in vertically movable frame pair
It should locate to be equipped with guard box, the vertically movable frame, swing driving mechanism and vertical driving mechanism are arranged in guard box, institute
The corresponding position for stating guard box and fixed connecting rod is equipped with vertical slide slot, and the vertical driving motor is arranged at the top of guard box
Portion.
6. multi-freedom robot welding and clamping device according to claim 1, which is characterized in that the movement frame and branch
Vertical guiding mechanism is equipped between frame, which is arranged in the side opposite with vertically movable frame；Wherein, described perpendicular
It include the sliding block and guide plate of the guide rail being arranged on bracket and guide rail to guiding mechanism, the guide plate fixation is set
It sets on sliding block；The movement frame is rotatably connected on guide plate.
7. multi-freedom robot welding and clamping device according to claim 6, which is characterized in that the movement frame includes
Support plate and the connecting plate that support plate two sides are set；Wherein the connecting plate of side is connected by rotational structure and vertically movable frame
It connects, the connecting plate and guide plate of the other side are rotatablely connected, and the clamping bench is arranged on support plate.
8. multi-freedom robot welding and clamping device according to claim 7, which is characterized in that the rotate driving machine
Structure includes rotational drive motor and synchronous belt drive mechanism, wherein the bottom of the support plate is equipped with fixed frame, the rotation
Driving motor is mounted on fixed frame, the synchronous tape transport include driving wheel, driven wheel and be looped around driving wheel and
The power output axis connection of synchronous belt between driven wheel, the driving wheel and rotational drive motor, the driven wheel setting exist
It the lower section corresponding position of clamping bench and is connect with clamping bench by transmission shaft.
9. multi-freedom robot welding and clamping device according to claim 8, which is characterized in that the bottom of the support plate
Portion is additionally provided with device for fixing screen on headrest, which is equipped with transition driving member；The transition driving member includes and driving wheel
The transition driving wheel matched, with the matched transition driven wheel of driven wheel and transition rotation axis, the transition driving wheel and transition from
Driving wheel is arranged in transition rotation axis, and the transition rotation axis is rotatably connected on device for fixing screen on headrest；The synchronous belt is surround
Between driving wheel and transition driving wheel, transition synchronous belt is surrounded between the driven wheel and transition driven wheel.
10. multi-freedom robot welding and clamping device according to claim 8, which is characterized in that the fixed frame packet
The support plate for including the top plate and bottom plate connecting with support plate bottom and being arranged between top plate and bottom plate, the bottom plate are equipped with
Avoid holes, the rotational drive motor is fixed at the bottom of bottom plate, and the power output shaft of rotational drive motor is passed through and kept away
Hole is allowed to upwardly extend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821293411.4U CN208575456U (en) | 2018-08-10 | 2018-08-10 | A kind of multi-freedom robot welding and clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821293411.4U CN208575456U (en) | 2018-08-10 | 2018-08-10 | A kind of multi-freedom robot welding and clamping device |
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| Publication Number | Publication Date |
|---|---|
| CN208575456U true CN208575456U (en) | 2019-03-05 |
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ID=65512118
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821293411.4U Active CN208575456U (en) | 2018-08-10 | 2018-08-10 | A kind of multi-freedom robot welding and clamping device |
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| Country | Link |
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| CN (1) | CN208575456U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281205A (en) * | 2019-07-04 | 2019-09-27 | 李让勤 | A kind of pincers worker revolution operating platform |
-
2018
- 2018-08-10 CN CN201821293411.4U patent/CN208575456U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281205A (en) * | 2019-07-04 | 2019-09-27 | 李让勤 | A kind of pincers worker revolution operating platform |
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