CN210388052U - Novel robot device for intersection welding of cylinder and ball - Google Patents
Novel robot device for intersection welding of cylinder and ball Download PDFInfo
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- CN210388052U CN210388052U CN201920408769.5U CN201920408769U CN210388052U CN 210388052 U CN210388052 U CN 210388052U CN 201920408769 U CN201920408769 U CN 201920408769U CN 210388052 U CN210388052 U CN 210388052U
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Abstract
The utility model relates to a be used for cylinder and ball to pass through handing over welded novel robot device. China begins to develop automatic welding equipment in the fifties, and as the automatic welding equipment is started later than developed countries and the foundation is weak, the pressure container welding robot is lagged behind, so that the welding robot is not well developed and applied. The utility model relates to a be used for cylinder and ball to run through handing over welded novel robot device, wherein: one end of the first connecting rod is connected with the slide rod through the second revolute pair, the other end of the first connecting rod is connected with the fourth connecting rod through the third revolute pair, the side link is connected with the external rack through the sixth revolute pair, one end of the third connecting rod is connected with the side link through the seventh revolute pair, and the welding gun guide device is fixedly connected to the slide rod. The utility model aims at overcoming the not enough of prior art and providing a be used for cylinder and ball to run through handing over welded novel robot mechanism, this type of mechanism has advantages such as simple structure, control convenience, range of application are wide.
Description
Technical Field
The utility model relates to a welding robot device provides a novel welding robot device for cylinder and ball pass through.
Background
With the rapid development of welding technology, welding automation and welding intelligence have become the fastest growing parts in the welding industry, and a welding robot is increasingly paid more attention as a typical representative of welding automation.
The pipe truss structure has the characteristics of attractive appearance, good stability, large structural span, high construction speed and the like, and is widely applied to modern buildings such as various stadiums, exhibition centers, waiting buildings and the like. As the shape of the building becomes more and more elegant, the building structure becomes more and more complex, and the construction difficulty becomes more and more difficult. In welding production, the welding seam that cylindrical pipe and ball pegged graft and form is space curve, and the welding has certain degree of difficulty, and the welding of this type of welding seam is mainly accomplished by the manual work at present, and manual welding operational environment is abominable, production cycle is long, work efficiency is low, difficult guarantee welding quality, and the urgent need develops the welding robot to this type of welding seam. China begins to develop automatic welding equipment in the fifties, and as the automatic welding equipment is started later than developed countries and the foundation is weak, the pressure container welding robot is lagged behind, 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 cylinder and ball to pass through handing over welded novel robot device for above-mentioned technical problem.
(II) technical scheme
The technical scheme of the utility model: a novel robot device for intersection welding of a cylinder and a ball comprises a first revolute pair, a rotary shaft, a moving pair, a slide rod, a second revolute pair, a first connecting rod, a third revolute pair, a fourth revolute pair, a second connecting rod, a fifth revolute pair, a connecting rod, a sixth revolute pair, a seventh revolute pair, a third connecting rod, an eighth revolute pair, a fourth connecting rod, a welding gun guide device, a cylinder to be welded and a ball to be welded; wherein: one end of a rotating shaft is connected with an external rack through a first rotating pair, the other end of the rotating shaft is connected with a sliding rod through a moving pair, one end of a first connecting rod is connected with the sliding rod through a second rotating pair, the other end of the first connecting rod is connected with a fourth connecting rod through a third rotating pair, one end of the second connecting rod is connected with the fourth connecting rod through a fourth rotating pair, the other end of the second connecting rod is connected with a connecting frame rod through a fifth rotating pair, the connecting frame rod is connected with the external rack through a sixth rotating pair, one end of the third connecting rod is connected with a connecting frame rod through a seventh rotating pair, the other end of the third connecting rod is connected with the fourth connecting rod through an eighth rotating pair, a welding gun guide device is fixedly connected on the sliding rod, a ball.
A novel robotic device for cylinder to ball intersection welding, wherein: the rotating axis of the first rotating pair is collinear with the sliding rail of the moving pair and is parallel to the rotating axis of the second rotating pair, and the rotating axes of the third rotating pair and the second rotating pair are mutually vertical and are mutually parallel to the rotating axis of the sixth rotating pair.
A novel robotic device for cylinder to ball intersection welding, wherein: the third rotating pair and the sixth rotating pair are respectively arranged at the middle points of the fourth connecting rod and the side link.
A novel robotic device for cylinder to ball intersection welding, wherein: the rotation axes of the fourth rotation pair, the fifth rotation pair, the seventh rotation pair and the eighth rotation pair are parallel to each other and are vertical to the rotation axis of the third rotation pair.
A novel robotic device for cylinder to ball intersection welding, wherein: the rod length of the connecting rod four is equal to that of the connecting rod side, and the rod length of the connecting rod two is equal to that of the connecting rod three.
A novel robotic device for cylinder to ball intersection welding, wherein: the first revolute pair and the second revolute pair can be replaced by a cylindrical pair.
A novel robotic device for cylinder to ball intersection welding, wherein: the rotating axis of the second rotating pair, the extension line of the tail end of the connecting rod and the tail end of the welding gun guiding device point to a point where the two rotating axes intersect.
A novel robotic device for cylinder to ball intersection welding, wherein: the rod lengths of the sliding rod, the first connecting rod, the fourth connecting rod, the second connecting rod, the side link and the third connecting rod can be adjusted.
A novel robotic device for cylinder to ball intersection welding, wherein: the parallelogram mechanism composed of the fourth revolute pair, the fifth revolute pair, the seventh revolute pair and the eighth revolute pair can be replaced by a parallelogram mechanism composed of four ball pairs and two revolute pairs.
(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 be used for cylinder and ball to pass through, pass through to one side, pass through welded novel robot mechanism partially, 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 one embodiment of a welding robot apparatus according to the present invention.
Fig. 2 is a schematic view of one of the installation embodiments of the device of the present invention used for the through welding of the cylinder and the ball.
Reference numerals: the welding device comprises a first rotating pair 1, a rotating shaft 2, a moving pair 3, a sliding rod 4, a second rotating pair 5, a first connecting rod 6, a third rotating pair 7, a fourth rotating pair 8, a second connecting rod 9, a fifth rotating pair 10, a side link 11, a sixth rotating pair 12, a seventh rotating pair 13, a third connecting rod 14, an eighth rotating pair 15, a fourth connecting rod 16, a welding gun guide device 17, a cylinder 18 to be welded and a ball 19 to be welded.
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 intersection welding of a cylinder and a ball, comprising a first revolute pair 1, a rotary shaft 2, a moving pair 3, a slide bar 4, a second revolute pair 5, a first connecting rod 6, a third revolute pair 7, a fourth revolute pair 8, a second connecting rod 9, a fifth revolute pair 10, a connecting rod 11, a sixth revolute pair 12, a seventh revolute pair 13, a third connecting rod 14, an eighth revolute pair 15, a fourth connecting rod 16, a welding gun guide device 17, a cylinder 18 to be welded, and a ball 19 to be welded; wherein: one end of a rotating shaft 2 is connected with an external machine frame through a first rotating pair 1, the other end of the rotating shaft 2 is connected with a sliding rod 4 through a moving pair 3, one end of a first connecting rod 6 is connected with the sliding rod 4 through a second rotating pair 5, the other end of the first connecting rod 6 is connected with a fourth connecting rod 16 through a third rotating pair 7, one end of a second connecting rod 9 is connected with the fourth connecting rod 16 through a fourth rotating pair 8, the other end of the second connecting rod 9 is connected with a connecting rod 11 through a fifth rotating pair 10, the connecting rod 11 is connected with the external machine frame through a sixth rotating pair 12, one end of a third connecting rod 14 is connected with the connecting rod 11 through a seventh rotating pair 13, the other end of the third connecting rod 14 is connected with the fourth connecting rod 16 through an eighth rotating pair 15, a welding gun guide device 17 is fixedly connected on the sliding rod 4, a ball to be welded 19.
Example 2, referring to fig. 1 and 2, a novel robotic device for cylinder to ball intersection welding, wherein: the rotation axis of the first revolute pair 1 is collinear with the slide rail of the sliding pair 3 and is parallel to the rotation axis of the second revolute pair 5, and the rotation axes of the third revolute pair 7 and the second revolute pair 5 are perpendicular to each other and are parallel to the rotation axis of the sixth revolute pair 12. The rest is the same as example 1.
Example 3, please refer to fig. 1 and 2, a novel robotic device for cylinder and ball intersection welding, wherein: the third revolute pair 7 and the sixth revolute pair 12 are respectively placed at the middle points of the fourth connecting rod 16 and the side link 11. The rest is the same as example 1.
Example 4, referring to fig. 1 and 2, a novel robotic device for cylinder to ball intersection welding, wherein: the rotation axes of the fourth rotation pair 8, the fifth rotation pair 10, the seventh rotation pair 13 and the eighth rotation pair 15 are parallel to each other and are perpendicular to the rotation axis of the third rotation pair 7. The rest is the same as example 1.
Example 5, referring to fig. 1 and 2, a novel robotic device for cylinder to ball intersection welding, wherein: the rod length of the link four 16 is equal to that of the link rod 11, and the rod length of the link two 9 is equal to that of the link three 14. The rest is the same as example 1.
Example 6, referring to fig. 1 and 2, a novel robotic device for cylinder to ball intersection welding, wherein: the two kinematic pairs of the first revolute pair 1 and the moving pair 3 can be replaced by a cylindrical pair. The rest is the same as example 1.
Example 7, referring to fig. 1 and 2, a novel robotic device for cylinder to ball intersection welding, wherein: the rotating axis of the second revolute pair 5, the extension line of the tail end of the first connecting rod 6 and the tail end of the welding gun guide device 17 intersect at one point. The rest is the same as example 1.
Example 8, referring to fig. 1 and 2, a novel robotic device for cylinder to ball intersection welding, wherein: the rod lengths of the sliding rod 4, the connecting rod one 6, the connecting rod four 16, the connecting rod two 9, the connecting rod side 11 and the connecting rod three 14 can be adjusted. The rest is the same as example 1.
Example 9, referring to fig. 1 and 2, a novel robotic device for cylinder to ball intersection welding, wherein: the parallelogram mechanism composed of the four revolute pairs 8, the five revolute pairs 10, the seven revolute pairs 13 and the eight revolute pairs 15 can be replaced by a parallelogram mechanism composed of four ball pairs and two revolute pairs. The rest is the same as example 1.
The working principle is as follows:
the axis of the rotating shaft 2 coincides with the axis of the cylinder 18 to be welded, the rod length adjusted by the slide rod 4 is equal to the radius of the cylinder 18 to be welded, the rod length adjusted by the connecting rod two 9 and the connecting rod three 14 is equal to the radius of the ball 19 to be welded, the rod length adjusted by the connecting rod one 6 is equal to the distance from the revolute pair six 12 to the center of the ball 19 to be welded, the adjusted rod length is greater than or equal to the diameter of the ball, the rod length adjusted by the connecting rod four 16 and the connecting rod 11 is greater than or equal to the diameter of the ball, and as the degree of freedom of the mechanism is equal to one, the welding gun can move along the intersecting line between the cylindrical surface to be welded and the spherical surface only by driving.
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 (9)
1. A novel robot device for intersection welding of a cylinder and a ball comprises a first revolute pair (1), a rotary shaft (2), a moving pair (3), a slide rod (4), a second revolute pair (5), a first connecting rod (6), a third revolute pair (7), a fourth revolute pair (8), a second connecting rod (9), a fifth revolute pair (10), a connecting rod (11), a sixth revolute pair (12), a seventh revolute pair (13), a third connecting rod (14), an eighth revolute pair (15), a fourth connecting rod (16), a welding gun guide device (17), a cylinder to be welded (18) and a ball to be welded (19); the method is characterized in that: one end of a rotating shaft (2) is connected with an external frame by a first revolute pair (1), the other end of the rotating shaft (2) is connected with a sliding rod (4) by a moving pair (3), one end of a first connecting rod (6) is connected with the sliding rod (4) by a second revolute pair (5), the other end of the first connecting rod (6) is connected with a fourth connecting rod (16) by a third revolute pair (7), one end of a second connecting rod (9) is connected with a fourth connecting rod (16) by a fourth revolute pair (8), the other end of the second connecting rod (9) is connected with a fifth revolute pair (10) and a side link (11), the side link (11) is connected with the external frame by a sixth revolute pair (12), one end of the third connecting rod (14) is connected with the side link (11) by a seventh revolute pair (13), the other end of the third connecting rod (14) is connected with the fourth connecting rod (16) by an eighth revolute pair (15), a welding gun guide device (17) is fixedly connected on the sliding rod (4, the cylinder (18) to be welded is placed on the ball (19) to be welded.
2. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the rotating axis of the first revolute pair (1) is collinear with the sliding rail of the sliding pair (3) and is parallel to the rotating axis of the second revolute pair (5), and the rotating axes of the third revolute pair (7) and the second revolute pair (5) are perpendicular to each other and are parallel to the rotating axis of the sixth revolute pair (12).
3. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the third revolute pair (7) and the sixth revolute pair (12) are respectively placed at the middle points of the fourth connecting rod (16) and the side link (11).
4. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the rotation axes of the fourth rotation pair (8), the fifth rotation pair (10), the seventh rotation pair (13) and the eighth rotation pair (15) are parallel to each other and are vertical to the rotation axis of the third rotation pair (7).
5. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the rod length of the connecting rod four (16) is equal to that of the connecting rod three (14), and the rod length of the connecting rod two (9) is equal to that of the connecting rod three (11).
6. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the two kinematic pairs of the first revolute pair (1) and the moving pair (3) can be replaced by a cylindrical pair.
7. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the rotating axis of the second rotating pair (5), the extension line of the tail end of the first connecting rod (6) and the tail end of the welding gun guide device (17) point to intersect at one point.
8. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the rod lengths of the sliding rod (4), the connecting rod I (6), the connecting rod IV (16), the connecting rod II (9), the side link rod (11) and the connecting rod III (14) can be adjusted.
9. The novel robotic device for cylinder-to-ball intersection welding according to claim 1, wherein: the parallelogram mechanism formed by the four revolute pairs (8), the five revolute pairs (10), the seven revolute pairs (13) and the eight revolute pairs (15) can be replaced by a parallelogram mechanism formed by four ball pairs and two revolute pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920408769.5U CN210388052U (en) | 2019-03-28 | 2019-03-28 | Novel robot device for intersection welding of cylinder and ball |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920408769.5U CN210388052U (en) | 2019-03-28 | 2019-03-28 | Novel robot device for intersection welding of cylinder and ball |
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| CN210388052U true CN210388052U (en) | 2020-04-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822270A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | It is a kind of to pass through the robot device for handing over welding for cylinder and ball |
| CN113369910A (en) * | 2021-08-13 | 2021-09-10 | 南通嘉蒂体育用品有限公司 | Welding equipment for sports equipment processing |
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2019
- 2019-03-28 CN CN201920408769.5U patent/CN210388052U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822270A (en) * | 2019-03-28 | 2019-05-31 | 南昌大学 | It is a kind of to pass through the robot device for handing over welding for cylinder and ball |
| CN113369910A (en) * | 2021-08-13 | 2021-09-10 | 南通嘉蒂体育用品有限公司 | Welding equipment for sports equipment processing |
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