CN208628720U - A kind of five axis welding manipulators with parallel coordinates - Google Patents
A kind of five axis welding manipulators with parallel coordinates Download PDFInfo
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- CN208628720U CN208628720U CN201820740718.8U CN201820740718U CN208628720U CN 208628720 U CN208628720 U CN 208628720U CN 201820740718 U CN201820740718 U CN 201820740718U CN 208628720 U CN208628720 U CN 208628720U
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- longitudinal movement
- frame
- vertically movable
- welding
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Abstract
The utility model proposes a kind of five axis welding manipulators with parallel coordinates, including chassis, transverse displacement arrangement, vertically movable structure, longitudinal movement structure, control system and teaching machine；The utility model collectively constitutes five axis regulating mechanisms by setting transverse displacement arrangement, vertically movable structure, longitudinal movement structure, harmonic motor and decelerating motor, welding is carried out using five axial drive welding manipulators, it ensure that the completion efficiency of welding, such that weld seam is more beautiful, welding track is more flexible changeable, efficiently solve artificial；Simultaneously use teaching machine, the trend of weld seam can be set in advance in teaching machine, more convenient operation so that will not programming worker can also be walked according to weld seam always adjust welding manipulator movement, effectively increase the use scope of equipment.
Description
Technical field
The utility model relates to machinery fields, particularly relate to a kind of five axis welding manipulators with parallel coordinates.
Background technique
In machinery field, welding is a kind of more commonly used connection type, and with the development of industry, Automated water
Flat raising, more and more factory's selections carry out welding using welding manipulator, and most welding equipments are that will weld
Walk and the work that walks for controlling welding manipulator in a program be set in advance, such drawback be will not the worker of software can not root
Always random adjustment programme is walked according to different weld seams, brings certain difficulty for welding, and most equipment are currently still
It is unidirectional trend or two-way trend, and then limits walking for welding manipulator, carrys out greatly difficult, very big shadow for work belt
Welding efficiency is rung.
Utility model content
The utility model proposes a kind of five axis welding manipulators with parallel coordinates, by setting transverse displacement arrangement,
Vertically movable structure, longitudinal movement structure, harmonic motor and decelerating motor collectively constitute five axis regulating mechanisms, use five axial zones
Dynamic welding manipulator carries out welding, ensure that the completion efficiency of welding, make weld seam is more beautiful, welding track more
Add flexible and changeable, efficiently solves artificial；Teaching machine is used simultaneously, the trend of weld seam can be set in advance in teaching machine,
More convenient operation so that will not programming worker can also be walked according to weld seam always adjust welding manipulator movement,
Effectively increase the use scope of equipment.
The technical solution of the utility model is achieved in that
A kind of five axis welding manipulators with parallel coordinates, comprising: chassis, transverse displacement arrangement, vertically movable structure,
Vertically move structure, control system and teaching machine；
The transverse displacement arrangement is set on the chassis；
The vertically movable structure setting is on the transverse displacement arrangement；
The longitudinal movement structure setting is in the vertically movable structure；
One end of the longitudinal movement structure is provided with wire-feed motor, and the other end of the longitudinal movement structure passes through electronic knot
Structure is provided with welding manipulator, and the wire-feed motor is connect with the welding manipulator；
The transverse displacement arrangement, vertically movable structure, longitudinal movement structure, wire-feed motor, electric structure, welding manipulator
And teaching machine is connect with the control system.
Further,
The transverse displacement arrangement includes horizontal slide rail, horizontal leading screw, transverse shifting frame, the first pneumatic device；
The horizontal slide rail is set on the chassis, and the horizontal leading screw is set in the horizontal slide rail, the cross
It is set in the horizontal slide rail to movable stand, while the transverse shifting frame is set in the horizontal leading screw, described first
Pneumatic device is connect with the transverse shifting frame；
The vertically movable structure setting is on the transverse shifting frame；
First pneumatic device is connect with the control system.
Further, the vertically movable structure includes vertically movable frame, vertical lead screw, the second pneumatic device；
Vertical rails are provided on the transverse shifting frame, the vertical lead screw is set in the vertical rails, described
Vertically movable erection is placed in the vertical rails, and the vertically movable frame is set on the vertical lead screw simultaneously；
Second pneumatic device is connect with the vertically movable frame；
Second pneumatic device is connect with the control system.
Further, the longitudinal movement structure includes longitudinal movement frame, longitudinal leadscrew and third pneumatic device；
Longitudinal movement sliding rail is provided on the vertically movable frame, the longitudinal leadscrew is set to the longitudinal movement sliding rail
Interior, the longitudinal movement erection is placed in the longitudinal movement sliding rail, and the longitudinal movement frame is set in longitudinal silk simultaneously
On thick stick；
The third pneumatic device is connect with the longitudinal movement frame；
The third pneumatic device is connect with the control system.
Further, the electric structure includes decelerating motor, harmonic motor, and the harmonic motor is longitudinally disposed at described vertical
To the end of movable stand, the decelerating motor is vertically arranged on the output shaft of the harmonic motor, the decelerating motor and humorous
Wave motor is connect with control system.
Further, the welding manipulator includes mechanical arm and welding rod clamping part, and described mechanical arm one end is set to described
On the output shaft of decelerating motor, the welding rod clamping part is set to the other end of the mechanical arm, the welding rod clamping part setting
There is controller, the controller is connect with the control system.
Further, lateral drag chain is additionally provided on the chassis, one end of the transverse direction drag chain is fixed on the chassis,
The other end of the transverse direction drag chain is fixed on the transverse shifting frame.
Further, vertical drag chain is additionally provided on the transverse shifting frame, the cross is fixed in described vertical drag chain one end
To movable stand bottom, the other end of the drag chain is fixed on the vertically movable frame.
Further, longitudinal drag chain is provided on the longitudinal movement frame, one end of the longitudinal direction drag chain is fixed on described
On vertically movable frame, the other end of the longitudinal direction drag chain is fixed on the longitudinal movement frame.
The utility model is by setting transverse displacement arrangement, vertically movable structure, longitudinal movement structure, harmonic motor and subtracts
Speed motor collectively constitutes five axis regulating mechanisms, carries out welding using five axial drive welding manipulators, ensure that Welder
The completion efficiency of work makes that weld seam is more beautiful, welding track is more flexible changeable, efficiently solves artificial；Use simultaneously is shown
Teach device, the trend of weld seam can be set in advance in teaching machine, more convenient operation so that will not programming worker
The movement that welding manipulator can be walked always to adjust according to weld seam, effectively increases the use scope of equipment.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for ordinary skill customer person, in not making the creative labor property
Under the premise of, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of five axis welding manipulators in the application with parallel coordinates；
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, ordinary skill customer person is not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
In specific embodiment of the utility model, Fig. 1, a kind of five axis welding manipulators with parallel coordinates, packet are seen
It includes: chassis 1, transverse displacement arrangement 2, vertically movable structure 3, longitudinal movement structure 4, control system 8 and teaching machine 9；
Transverse displacement arrangement 2 is set on chassis 1；
Vertically movable structure 3 is set on transverse displacement arrangement 2；
Longitudinal movement structure 4 is set in vertically movable structure 3；
One end of longitudinal movement structure 4 is provided with wire-feed motor 5, and the other end of longitudinal movement structure 4 is set by electric structure 6
It is equipped with welding manipulator 7, wire-feed motor 5 is connect with welding manipulator 7；
Transverse displacement arrangement 2, vertically movable structure 3, longitudinal movement structure 4, wire-feed motor 5, electric structure 6, electroplating equipment wielding machine
Hand 7 and teaching machine 9 are connect with control system 8；
Transverse displacement arrangement 2 is for driving welding manipulator 7 to carry out transverse shifting；
Vertically movable structure 3 is vertically movable for driving welding manipulator 7 to carry out；
Longitudinal movement structure 4 is for driving welding manipulator 7 to be vertically moved；
Wire-feed motor 5 is used to continuously convey welding rod to welding manipulator 7；
Welding manipulator 7 is used to carry out welding to the position that needs weld.
In specific embodiment of the utility model, see that Fig. 1, transverse displacement arrangement 2 include horizontal slide rail 21, horizontal leading screw
22, transverse shifting frame 24, the first pneumatic device 25；
Horizontal slide rail 21 is set on chassis 1, and horizontal leading screw 22 is set in horizontal slide rail 21, and transverse shifting frame 24 is arranged
In in horizontal slide rail 21, while transverse shifting frame 24 is set in horizontal leading screw 22, the first pneumatic device 25 and transverse shifting frame
Chassis 1 is arranged in horizontal slide rail 21 and is sleeved in horizontal leading screw 22 simultaneously, transverse shifting frame 24 has been effectively ensured by 24 connections
Stability when moving ensure that the stability in equipment running process；
Vertically movable structure 3 is set on transverse shifting frame 24；
First pneumatic device 25 is connect with control system 8；
First pneumatic device is for driving transverse shifting frame 24 to be slided along horizontal slide rail 21 and horizontal leading screw 22.
In specific embodiment of the utility model, Fig. 1 is seen, vertically movable structure 3 includes vertically movable frame 35, vertical
Lead screw 33, the second pneumatic device 34；
Vertical rails 32 are provided on transverse shifting frame 24, vertical lead screw 33 is set in vertical rails 32, vertically movable
Frame 35 is set in vertical rails 32, and vertically movable frame 35 is set on vertical lead screw 33 simultaneously, simultaneously by vertically movable frame 35
It is arranged in vertical rails 32, is sleeved in vertical lead screw 33 simultaneously, it is steady when carrying out vertically movable effectively increases equipment
It is qualitative, it ensure that the stability of welding, so that welding positioning is more accurate；
Second pneumatic device 34 is connect with vertically movable frame 35；
Second pneumatic device 34 is connect with control system 8；
Second pneumatic device 34 is vertically movable for driving vertically movable frame 35 to carry out.
In specific embodiment of the utility model, Fig. 1 is seen, longitudinal movement structure 4 includes longitudinal movement frame 45, Zong Xiangsi
Thick stick 42 and third pneumatic device 41；
Longitudinal movement sliding rail 43 is provided on vertically movable frame 35, longitudinal leadscrew 42 is set in longitudinal movement sliding rail 43,
Longitudinal movement frame 45 is set in longitudinal movement sliding rail 43, and longitudinal movement frame 45 is set on longitudinal leadscrew 42 simultaneously, Zong Xiangyi
Moving frame 45 is arranged in longitudinal movement sliding rail 43 simultaneously and is sleeved on longitudinal leadscrew 42, and equipment has been effectively ensured and has been indulged
To stability when movement, it ensure that the stability that ensure that welding while the stable operation of equipment, then ensure that weld seam
Aesthetics so that welding complete it is more preferable；
Third pneumatic device 41 is connect with longitudinal movement frame 45；
Third pneumatic device 41 is connect with control system 8；
Third pneumatic device 41 is for driving longitudinal movement frame 45 to be vertically moved.
In specific embodiment of the utility model, see that Fig. 1, electric structure 6 include decelerating motor 62, harmonic motor 61,
Harmonic motor 61 is longitudinally disposed at the end of longitudinal movement frame 45, and decelerating motor 62 is vertically arranged to the output shaft of harmonic motor 61
On, decelerating motor 62 and harmonic motor 61 are connect with control system 8；
Welding manipulator 7 is driven to work using harmonic motor 61 and the cooperation of decelerating motor 62.
In specific embodiment of the utility model, see that Fig. 1, welding manipulator 7 include mechanical arm 71 and welding rod clamping part
72,71 one end of mechanical arm is set on the output shaft of decelerating motor 62, and welding rod clamping part 72 is set to the other end of mechanical arm 71,
Welding rod clamping part 72 is provided with controller 73, and controller 73 is connect with control system 8；
Mechanical arm 71 is flexible and changeable, can carry out way moving, to drive welding rod to carry out two-way welding, so that entire machine
Device walks to form five axis trend.
In specific embodiment of the utility model, Fig. 1 is seen, lateral drag chain 23, lateral drag chain 23 are additionally provided on chassis 1
One end be fixed on chassis 1, the other end of lateral drag chain 23 is fixed on transverse shifting frame 24；
Vertical drag chain 31 is additionally provided on transverse shifting frame 24, the bottom of transverse shifting frame 24 is fixed in vertical 31 one end of drag chain
Portion, the other end of vertical drag chain 31 are fixed on vertically movable frame 35；
It is provided with longitudinal drag chain 44 on longitudinal movement frame 45, one end of longitudinal drag chain 44 is fixed on vertically movable frame 35,
The other end of longitudinal drag chain 44 is fixed on longitudinal movement frame 45；
The stability of equipment at runtime is effectively increased using drag chain, guarantees the normal operation of equipment.
This equipment passes through the combination for increasing harmonic motor and decelerating motor, so that equipment increases two axial movements, with
Transverse displacement arrangement 2, vertically movable structure 3 and longitudinal movement structure 4 collectively constitute five axis, to drive welding manipulator 7 to carry out
Welding effectively increases welding efficiency and welding quality so that equipment is more flexible, trend is more stable.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (9)
1. a kind of five axis welding manipulators with parallel coordinates, it is characterised in that: including chassis, transverse displacement arrangement, vertical
Moving structure, longitudinal movement structure, control system and teaching machine；
The transverse displacement arrangement is set on the chassis；
The vertically movable structure setting is on the transverse displacement arrangement；
The longitudinal movement structure setting is in the vertically movable structure；
One end of the longitudinal movement structure is provided with wire-feed motor, and the other end of the longitudinal movement structure is set by electric structure
It is equipped with welding manipulator, the wire-feed motor is connect with the welding manipulator；
The transverse displacement arrangement, vertically movable structure vertically move structure, wire-feed motor, electric structure, welding manipulator and show
Religion device is connect with the control system.
2. as described in claim 1 with five axis welding manipulators of parallel coordinates, it is characterised in that:
The transverse displacement arrangement includes horizontal slide rail, horizontal leading screw, transverse shifting frame, the first pneumatic device；
The horizontal slide rail is set on the chassis, and the horizontal leading screw is set in the horizontal slide rail, described laterally to move
Moving frame is set in the horizontal slide rail, while the transverse shifting frame is set in the horizontal leading screw, and described first is pneumatic
Device is connect with the transverse shifting frame；
The vertically movable structure setting is on the transverse shifting frame；
First pneumatic device is connect with the control system.
3. as claimed in claim 2 with five axis welding manipulators of parallel coordinates, it is characterised in that: the vertically movable knot
Structure includes vertically movable frame, vertical lead screw, the second pneumatic device；
Vertical rails are provided on the transverse shifting frame, the vertical lead screw is set in the vertical rails, described vertical
Movable stand is set in the vertical rails, and the vertically movable frame is set on the vertical lead screw simultaneously；
Second pneumatic device is connect with the vertically movable frame；
Second pneumatic device is connect with the control system.
4. as claimed in claim 3 with five axis welding manipulators of parallel coordinates, it is characterised in that: the longitudinal movement knot
Structure includes longitudinal movement frame, longitudinal leadscrew and third pneumatic device；
Longitudinal movement sliding rail is provided on the vertically movable frame, the longitudinal leadscrew is set in the longitudinal movement sliding rail,
The longitudinal movement erection is placed in the longitudinal movement sliding rail, and the longitudinal movement frame is set in the longitudinal leadscrew simultaneously
On；
The third pneumatic device is connect with the longitudinal movement frame；
The third pneumatic device is connect with the control system.
5. as claimed in claim 4 with five axis welding manipulators of parallel coordinates, it is characterised in that: the electric structure packet
Decelerating motor, harmonic motor are included, the harmonic motor is longitudinally disposed at the end of the longitudinal movement frame, and the decelerating motor is perpendicular
To being set on the output shaft of the harmonic motor, the decelerating motor and harmonic motor are connect with control system.
6. as claimed in claim 5 with five axis welding manipulators of parallel coordinates, it is characterised in that: the welding manipulator
Including mechanical arm and welding rod clamping part, described mechanical arm one end is set on the output shaft of the decelerating motor, the electrode carrier
The portion of holding is set to the other end of the mechanical arm, and the welding rod clamping part is provided with controller, the controller and the control
System connection.
7. as claimed in claim 2 with five axis welding manipulators of parallel coordinates, it is characterised in that: also set on the chassis
It is equipped with lateral drag chain, one end of the transverse direction drag chain is fixed on the chassis, and the other end of the transverse direction drag chain is fixed on institute
It states on transverse shifting frame.
8. as claimed in claim 3 with five axis welding manipulators of parallel coordinates, it is characterised in that: the transverse shifting frame
On be additionally provided with vertical drag chain, the bottom of the transverse shifting frame is fixed in described vertical drag chain one end, the drag chain it is another
End is fixed on the vertically movable frame.
9. as claimed in claim 4 with five axis welding manipulators of parallel coordinates, it is characterised in that: the longitudinal movement frame
On be provided with longitudinal drag chain, one end of the longitudinal direction drag chain is fixed on the vertically movable frame, the longitudinal direction drag chain it is another
End is fixed on the longitudinal movement frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820740718.8U CN208628720U (en) | 2018-05-17 | 2018-05-17 | A kind of five axis welding manipulators with parallel coordinates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820740718.8U CN208628720U (en) | 2018-05-17 | 2018-05-17 | A kind of five axis welding manipulators with parallel coordinates |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208628720U true CN208628720U (en) | 2019-03-22 |
Family
ID=65732869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820740718.8U Expired - Fee Related CN208628720U (en) | 2018-05-17 | 2018-05-17 | A kind of five axis welding manipulators with parallel coordinates |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208628720U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110102928A (en) * | 2019-06-05 | 2019-08-09 | 广州市元晟自动化科技有限公司 | A kind of draught fan impeller rush-harvesting and rush-planting welds the control system and method for simplified teaching |
-
2018
- 2018-05-17 CN CN201820740718.8U patent/CN208628720U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110102928A (en) * | 2019-06-05 | 2019-08-09 | 广州市元晟自动化科技有限公司 | A kind of draught fan impeller rush-harvesting and rush-planting welds the control system and method for simplified teaching |
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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 |
Granted publication date: 20190322 Termination date: 20210517 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |