CN209969920U - Novel robot device for two-intersection conical welding - Google Patents
Novel robot device for two-intersection conical welding Download PDFInfo
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- CN209969920U CN209969920U CN201920408808.1U CN201920408808U CN209969920U CN 209969920 U CN209969920 U CN 209969920U CN 201920408808 U CN201920408808 U CN 201920408808U CN 209969920 U CN209969920 U CN 209969920U
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Abstract
The utility model relates to a be used for two to run through a novel robot device of circular cone welding. At present, partial semi-automation and automatic welding robots exist, because the gesture of a welding gun needs to be controlled and the movement track needs to be controlled in the working process, the welding robots have the defects of multiple degrees of freedom, complex structure, difficult control, high cost and the like under the general condition, and therefore the welding robots are not well developed and applied. The utility model relates to a be used for two to run through friendship circular cone welding novel robot device, wherein: one end of the first rotating shaft is connected with the external rack through the first revolute pair, the other end of the first rotating shaft is connected with the first sliding rod through the first sliding pair, one end of the connecting rod is connected with the first sliding rod through the second revolute pair, the other end of the connecting rod is connected with the second sliding rod through the third revolute pair, the other end of the second sliding rod is connected with the second rotating shaft through the second sliding pair, and the welding gun guide device is fixedly connected to the first sliding rod. The device has the advantages that: simple structure, convenient control and wide application range.
Description
Technical Field
The utility model relates to a welding robot device provides a novel welding robot device for two intersecting circular cones.
Background
The pressure container is widely applied to the fields of industry, agriculture, construction, chemical industry and the like, particularly the petrochemical field, and accounts for about 50 percent of the total use amount of the pressure container. Pressure vessels are also used in a wide range of applications in the industrial sector, such as various energy stores in construction machines, auxiliary machines for various power machines, various gas and liquid gas storage tanks for cities and enterprises, various large-scale engineering pipelines, etc. The pressure container plays an important role in industrial production and life, and is an important component of national economy.
The intersecting form of the rotary bodies is widely applied in many fields, particularly industries such as power plants, petrochemical industry, shipbuilding, pressure vessels, buildings and the like, and the mass production is achieved, so that the improvement of the processing efficiency and the quality are put in important positions in the industries. The two cones are intersected in a form of intersecting with a revolving body, a formed welding line is a space curve, welding is difficult to achieve, at present, welding of the welding line is mainly completed manually, the manual welding working environment is severe, the production period is long, the working efficiency is low, the welding quality is difficult to guarantee, and a welding robot aiming at the welding line is urgently needed to be developed. At present, partial semi-automatic and automatic welding robots, such as a saddle intersecting line welding robot designed by Beijing aerospace university, have the defects of multiple degrees of freedom, complex structure, difficult control, higher cost and the like under the general condition because the posture and the motion trail of a welding gun are controlled in the working process, so that the welding robot is not well developed and applied.
Disclosure of Invention
Technical problem to be solved
The object of the utility model is mainly to provide a be used for two to pass through the novel robot device of intersection cone welding for above-mentioned technical problem.
(II) technical scheme
The technical scheme of the utility model: a novel robot device for welding two intersecting cones comprises a first rotating pair, a first moving pair, a first rotating shaft, a first sliding rod, a second rotating pair, a connecting rod, a welding gun guide device, a second sliding rod, a third rotating pair, a second rotating shaft, a fourth rotating pair, a second moving pair, a first cone to be welded and a second cone to be welded; wherein: one end of the first rotating shaft is connected with the external machine frame through the first rotating pair, the other end of the first rotating shaft is connected with the first sliding rod through the first moving pair, one end of the connecting rod is connected with the first sliding rod through the second rotating pair, the other end of the connecting rod is connected with the second sliding rod through the third rotating pair, the other end of the second sliding rod is connected with the second rotating shaft through the second moving pair, the other end of the second rotating shaft is connected with the external machine frame through the fourth rotating pair, the welding gun guide device is fixedly connected to the first sliding rod, the first cone to be welded is placed on the external machine frame, and the second cone to be welded.
A novel robotic device for two-through-intersection cone welding, wherein: the rotating axis of the first rotating pair is parallel to the rotating axis of the second rotating pair.
A novel robotic device for two-through-intersection cone welding, wherein: and the rotation axes of the third rotating pair and the fourth rotating pair are parallel to each other.
A novel robotic device for two-through-intersection cone welding, wherein: the rotating axis of the second rotating pair, the rotating axis of the third rotating pair and the tail end of the welding gun guiding device point to the three and intersect at one point.
A novel robotic device for two-through-intersection cone welding, wherein: the rod lengths of the first sliding rod, the connecting rod and the second sliding rod can be adjusted, and an included angle formed by a rotating axis of the first revolute pair on the first rotating shaft and a sliding axis of the first sliding pair, an included angle formed by a rotating axis of the second revolute pair on the first sliding rod and a sliding axis of the first sliding pair, an included angle formed by a rotating axis of the fourth revolute pair on the second rotating shaft and a sliding axis of the second sliding pair, and an included angle formed by a rotating axis of the third revolute pair on the second sliding rod and a sliding axis of the second sliding pair can be adjusted.
(III) advantageous effects
The utility model has the advantages that: the utility model aims at overcoming the not enough of prior art and providing a novel robot mechanism that is used for just running through, runs through to one side, runs through cone welding partially, and this type of mechanism has advantages such as simple structure, control convenience, range of application are wide.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further explained with reference to the drawings.
Drawings
Fig. 1 is a schematic view of a schematic structure of one embodiment of the welding robot apparatus of the present invention.
Fig. 2 is a schematic view of one embodiment of the installation of the device of the present invention for two-intersection cone welding.
Reference numerals: the welding gun comprises a first rotating pair 1, a first moving pair 2, a first rotating shaft 3, a first sliding rod 4, a second rotating pair 5, a connecting rod 6, a welding gun guide device 7, a second sliding rod 8, a third rotating pair 9, a second rotating shaft 10, a fourth rotating pair 11, a second moving pair 12, a first cone to be welded 13 and a second cone to be welded 14.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Embodiment 1, please refer to fig. 1-2, a novel robot device for two-intersection cone welding, which includes a first rotating pair 1, a first moving pair 2, a first rotating shaft 3, a first sliding rod 4, a second rotating pair 5, a connecting rod 6, a welding gun guide device 7, a second sliding rod 8, a third rotating pair 9, a second rotating shaft 10, a fourth rotating pair 11, a second moving pair 12, a first cone 13 to be welded, and a second cone 14 to be welded; wherein: one end of a first rotating shaft 3 is connected with an external machine frame through a first rotating pair 1, the other end of the first rotating shaft 3 is connected with a first sliding rod 4 through a first moving pair 2, one end of a connecting rod 6 is connected with the first sliding rod 4 through a second rotating pair 5, the other end of the connecting rod 6 is connected with a second sliding rod 8 through a third rotating pair 9, the other end of the second sliding rod 8 is connected with a second rotating shaft 10 through a second moving pair 12, the other end of the second rotating shaft 10 is connected with the external machine frame through a fourth rotating pair 11, a welding gun guide device 7 is fixedly connected to the first sliding rod 4, a first cone to be welded 13 is placed on the external machine frame, and a second cone to be welded 14 is.
Example 2, please refer to fig. 1, a novel robotic device for two-pass, intersecting-cone welding, wherein: the rotation axis of the first revolute pair 1 is parallel to the rotation axis of the second revolute pair 5. The rest is the same as example 1.
Embodiment 3, please refer to fig. 1 and 2, a novel robotic device for two-intersection conical welding, wherein: the rotation axes of the third revolute pair 9 and the fourth revolute pair 11 are parallel to each other. The rest is the same as example 1.
Example 4, please refer to fig. 2, a novel robotic device for two-pass, intersecting-cone welding, wherein: the rotating axis of the second rotating pair 5, the rotating axis of the third rotating pair 9 and the tail end pointing direction of the welding gun guide device 7 intersect at one point. The rest is the same as example 1.
Example 5, referring to fig. 1 and 2, a novel robotic device for two-pass, intersecting-cone welding, wherein: the rod lengths of the first sliding rod 4, the connecting rod 6 and the second sliding rod 8 can be adjusted, and an included angle formed by a rotating axis of the first revolute pair 1 on the first rotating shaft 3 and a sliding axis of the first revolute pair 2, an included angle formed by a rotating axis of the second revolute pair 5 on the first sliding rod 4 and a sliding axis of the first revolute pair 2, an included angle formed by a rotating axis of the fourth revolute pair 11 on the second rotating shaft 10 and a sliding axis of the second revolute pair 12 and an included angle formed by a rotating axis of the third revolute pair 9 on the second sliding rod 8 and a sliding axis of the second revolute pair 12 can be adjusted. The rest is the same as example 1.
The working principle is as follows:
the device is used for one of installation embodiments when two intersecting cones are welded, the rotating axis of the rotating shaft I3 is superposed with the axis of the cone II 14 to be welded, and the rotating axis of the rotating shaft II 10 is superposed with the axis of the cone I13 to be welded; the included angle formed by the rotating axis of the first rotating pair 1 on the first rotating shaft 3 and the sliding axis of the first moving pair 2, the included angle formed by the rotating axis of the second rotating pair 5 on the first sliding rod 4 and the sliding axis of the first moving pair 2 after adjustment are both equal to half of the taper angle of the second cone to be welded 14, the included angle formed by the rotating axis of the fourth rotating pair 11 on the second rotating shaft 10 and the sliding axis of the second moving pair 12 and the included angle formed by the rotating axis of the third rotating pair 9 on the second sliding rod 8 and the sliding axis of the second moving pair 12 after adjustment are both equal to half of the taper angle of the first cone to be welded 13.
Because the degree of freedom of the mechanism is equal to one, the welding gun can move along the intersecting line between the two conical surfaces to be welded only by driving the first rotating shaft 3 or the second rotating shaft 10.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A novel robot device for two-intersection cone welding comprises a first revolute pair (1), a first moving pair (2), a first rotating shaft (3), a first sliding rod (4), a second revolute pair (5), a connecting rod (6), a welding gun guiding device (7), a second sliding rod (8), a third revolute pair (9), a second rotating shaft (10), a fourth revolute pair (11), a second moving pair (12), a first cone to be welded (13) and a second cone to be welded (14); the method is characterized in that: one end of a first rotating shaft (3) is connected with an external rack through a first revolute pair (1), the other end of the first rotating shaft (3) is connected with a first sliding rod (4) through a first moving pair (2), one end of a connecting rod (6) is connected with the first sliding rod (4) through a second revolute pair (5), the other end of the connecting rod (6) is connected with a second sliding rod (8) through a third revolute pair (9), the other end of the second sliding rod (8) is connected with a second rotating shaft (10) through a second moving pair (12), the other end of the second rotating shaft (10) is connected with the external rack through a fourth revolute pair (11), a welding gun guide device (7) is fixedly connected to the first sliding rod (4), a first cone to be welded (13) is placed on the external rack, and a second cone to be welded (14) is placed on the first cone to be welded.
2. The novel robotic device for two-pass, intersecting-cone welding according to claim 1, wherein: the rotating axis of the first revolute pair (1) is parallel to the rotating axis of the second revolute pair (5).
3. The novel robotic device for two-pass, intersecting-cone welding according to claim 1, wherein: the rotation axes of the third revolute pair (9) and the fourth revolute pair (11) are parallel to each other.
4. The novel robotic device for two-pass, intersecting-cone welding according to claim 1, wherein: the rotating axis of the second rotating pair (5), the rotating axis of the third rotating pair (9) and the tail end of the welding gun guide device (7) point to intersect at one point.
5. The novel robotic device for two-pass, intersecting-cone welding according to claim 1, wherein: the rod lengths of the first sliding rod (4), the connecting rod (6) and the second sliding rod (8) can be adjusted, the included angle formed by the rotating axis of the first revolute pair (1) on the first rotating shaft (3) and the sliding axis of the first revolute pair (2), the included angle formed by the rotating axis of the second revolute pair (5) on the first sliding rod (4) and the sliding axis of the first revolute pair (2), the included angle formed by the rotating axis of the fourth revolute pair (11) on the second rotating shaft (10) and the sliding axis of the second revolute pair (12) and the included angle formed by the rotating axis of the third revolute pair (9) on the second sliding rod (8) and the sliding axis of the second revolute pair (12) can be adjusted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920408808.1U CN209969920U (en) | 2019-03-28 | 2019-03-28 | Novel robot device for two-intersection conical welding |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920408808.1U CN209969920U (en) | 2019-03-28 | 2019-03-28 | Novel robot device for two-intersection conical welding |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822269A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | One kind is passed through for two hands over circular cone welding robot device |
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- 2019-03-28 CN CN201920408808.1U patent/CN209969920U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822269A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | One kind is passed through for two hands over circular cone welding robot device |
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