CN210967588U - Six-degree-of-freedom suspension type mechanical arm device for welding - Google Patents
Six-degree-of-freedom suspension type mechanical arm device for welding Download PDFInfo
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- CN210967588U CN210967588U CN201920708679.8U CN201920708679U CN210967588U CN 210967588 U CN210967588 U CN 210967588U CN 201920708679 U CN201920708679 U CN 201920708679U CN 210967588 U CN210967588 U CN 210967588U
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- 238000003466 welding Methods 0.000 title claims abstract description 60
- 239000000725 suspension Substances 0.000 title claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000007306 turnover Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000012815 thermoplastic material Substances 0.000 description 1
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Abstract
The utility model provides a six degrees of freedom suspension type arm devices for welding, includes portal frame, manipulator, workstation and monitored control system, the manipulator sets up at the portal frame lower extreme, the workstation sets up in the manipulator below, monitored control system portal frame lower extreme manipulator side. And placing a product to be welded on the workbench, and starting welding by the manipulator according to the feedback of the monitoring system. The utility model discloses combine six degree of freedom's manipulator and welded structure together, machine welding replaces manual welding, and work efficiency is low when having solved manual welding, welding quality is unstable, problem that administrative cost is high, can carry out weldment work under any environment, has realized the welding automation.
Description
Technical Field
The utility model relates to an arm field especially relates to a six degrees of freedom suspension type arm devices for welding.
Background
Welding is a manufacturing process and technique for joining metals or other thermoplastic materials by heating, high temperature, or high pressure, and is of great importance in the manufacturing industry. At present, welding work of a plurality of enterprises is completed manually, but the mode has the following defects: 1) the labor cost is high, and the technical workers are not easy to culture; 2) manual positioning is inaccurate, and consistency and welding quality of welding spots are not high; 3) the welding working environment is poor, much smoke and dust exist, the heat radiation is large, and workers are easy to hurt the body due to long-term close contact; 4) especially for large-batch products, the welding efficiency is not high.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims at providing a six degree of freedom suspension type arm devices for welding has solved the problem that the welding cost of labor is high, inefficiency, not high quality.
The technical scheme is as follows: the utility model provides a six-freedom suspension type welding mechanical arm device, which comprises a portal frame, a mechanical arm, a workbench and a monitoring system, wherein the mechanical arm is arranged at the lower end of the portal frame, the workbench is arranged below the mechanical arm, and the monitoring system is arranged at the side edge of the mechanical arm at the lower end of the portal frame; the manipulator comprises a manipulator base, a manipulator assembly and a welding device, wherein the manipulator assembly is arranged on the base, and the welding device is arranged at the other end, far away from the base, of the manipulator assembly. And placing a product to be welded on the workbench, and starting welding by the manipulator according to the feedback of the monitoring system.
Further, the manipulator assembly includes base, first pivot, second pivot, first connecting arm, third pivot, fourth pivot, second linking arm, fifth pivot and sixth pivot, first pivot sets up on the base, the second pivot sets up in first pivot, the one end setting of first connecting arm is in the second pivot, the third pivot sets up the other end at first connecting arm, the fourth pivot sets up in the third pivot, the one end setting of second linking arm is in the fourth pivot, the fifth pivot sets up the other end at the second linking arm, the sixth pivot sets up in the fifth pivot. The six-degree-of-freedom manipulator is suitable for welding in almost any track or angle.
Further, welding set is last including welding rifle and collision avoidance sensor, collision avoidance sensor sets up on the welding rifle. The welding device can prevent the product from being collided in the welding process and damaging the product or the equipment.
Furthermore, a visual detection sensor is arranged on the welding gun. The welding parameters are adjusted in real time by tracking the size and the depth of the welding groove, so that the welding quality is ensured.
Further, the workbench comprises a support, a turnover structure, a power structure and a clamp, wherein the turnover structure is arranged on the support, the power structure is arranged on the side edge of the support, and the clamp is arranged on the turnover structure. The product is fixed by the fixture, and the turnover structure is driven by the power structure to turn over at an angle to cooperate with the manipulator to perform welding work.
Furthermore, an electric permanent magnet suction block is arranged on the clamp. The product is fixed or released by magnetic force.
Further, the monitoring system comprises a lens and a camera, and the lens is arranged on the camera. The monitoring system monitors the manipulator to perform welding work and timely reflects the welding work when accidents and other conditions occur.
Above-mentioned technical scheme can find out, the utility model discloses following beneficial effect has: 1) the production efficiency is improved, and continuous work can be realized; 2) the welding quality is high, and the stability is good; 3) the labor environment is improved, and the manual management cost is reduced.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is a perspective view of the manipulator of the present invention;
fig. 3 is a perspective view of the work table of the present invention.
In the figure: the robot comprises a portal frame 1, a manipulator 2, a base 21, a manipulator assembly 22, a first rotating shaft 221, a second rotating shaft 222, a first connecting arm 223, a third rotating shaft 224, a fourth rotating shaft 225, a second connecting arm 226, a fifth rotating shaft 227, a sixth rotating shaft 228, a welding device 23, a welding gun 231, a visual detection sensor 2311, an anti-collision sensor 232, a workbench 3, a support 31, a turnover structure 32, a power structure 33, a clamp 34, an electric permanent magnetic suction block 341, a monitoring system 4, a lens 41 and a camera 42.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example one
As shown in fig. 1, the utility model discloses a perspective view, including portal frame 1, manipulator 2, workstation 3 and monitored control system 4, manipulator 2 sets up at portal frame 1 lower extreme, workstation 3 sets up in manipulator 2 below, monitored control system 4 portal frame 1 lower extreme manipulator 2 sides. Fig. 2 is a perspective view of the robot 2, which includes a base 21, a robot assembly 22, and a welding device 23, wherein the robot assembly 22 is disposed on the base 21, and the welding device 23 is disposed at the other end of the robot assembly 22 away from the base 21.
Example two
The utility model provides a six degrees of freedom suspension type arm devices for welding which characterized in that: including portal frame 1, manipulator 2, workstation 3 and monitored control system 4, manipulator 2 sets up at 1 lower extreme of portal frame, workstation 3 sets up in 2 below manipulators, monitored control system 4 portal frame 1 lower extreme manipulator 2 sides. The manipulator 2 comprises a base 21, a manipulator assembly 22 and a welding device 23, wherein the manipulator assembly 22 is arranged on the base 21, and the welding device 23 is arranged at the other end, far away from the base 21, of the manipulator assembly 22. The manipulator assembly 22 includes a first rotating shaft 221, a second rotating shaft 222, a first connecting arm 223, a third rotating shaft 224, a fourth rotating shaft 225, a second connecting arm 226, a fifth rotating shaft 227 and a sixth rotating shaft 228, the second rotating shaft 222 is disposed on the first rotating shaft 221, one end of the first connecting arm 223 is disposed on the second rotating shaft 222, the third rotating shaft 224 is disposed on the other end of the first connecting arm 223, the fourth rotating shaft 225 is disposed on the third rotating shaft 224, one end of the second connecting arm 226 is disposed on the fourth rotating shaft 225, the fifth rotating shaft 227 is disposed on the other end of the second connecting arm 226, and the sixth rotating shaft 228 is disposed on the fifth rotating shaft 227. The welding device 23 comprises a welding gun 231 and an anti-collision sensor 232, and the anti-collision sensor 232 is arranged on the welding gun 231. The welding gun 231 is provided with a visual detection sensor 2311.
As shown in fig. 3, the workbench 3 is a perspective view, and includes a support 31, an overturning structure 32, a power structure 33, and a clamp 34, wherein the overturning structure 32 is disposed on the support 31, the power structure 33 is disposed at a side of the support 31, and the clamp 34 is disposed on the overturning structure 32. The clamp 34 is provided with an electric permanent magnetic absorption block 341.
The monitoring system 4 includes a lens 41 and a camera 42, and the lens 41 is disposed on the camera 42.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications can be made without departing from the principles of the present invention, and these modifications should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides a six degrees of freedom suspension type arm devices for welding which characterized in that: the automatic detection device comprises a portal frame (1), a mechanical arm (2), a workbench (3) and a monitoring system (4), wherein the mechanical arm (2) is arranged at the lower end of the portal frame (1), the workbench (3) is arranged below the mechanical arm (2), and the monitoring system (4) is arranged at the side edge of the mechanical arm (2) at the lower end of the portal frame (1); the manipulator (2) comprises a base (21), a manipulator assembly (22) and a welding device (23), wherein the manipulator assembly (22) is arranged on the base (21), and the welding device (23) is arranged at the other end, far away from the base (21), of the manipulator assembly (22).
2. The six-degree-of-freedom boom welding robot arm device according to claim 1, wherein: the manipulator assembly (22) comprises a first rotating shaft (221), a second rotating shaft (222), a first connecting arm (223), a third rotating shaft (224), a fourth rotating shaft (225), a second connecting arm (226), a fifth rotating shaft (227) and a sixth rotating shaft (228), wherein the second rotating shaft (222) is arranged on the first rotating shaft (221), one end of the first connecting arm (223) is arranged on the second rotating shaft (222), the third rotating shaft (224) is arranged at the other end of the first connecting arm (223), the fourth rotating shaft (225) is arranged on the third rotating shaft (224), one end of the second connecting arm (226) is arranged on the fourth rotating shaft (225), the fifth rotating shaft (227) is arranged at the other end of the second connecting arm (226), and the sixth rotating shaft (228) is arranged on the fifth rotating shaft (227).
3. The six-degree-of-freedom boom welding robot arm device according to claim 1, wherein: the welding device (23) is provided with a welding gun (231) and an anti-collision sensor (232), and the anti-collision sensor (232) is arranged on the welding gun (231).
4. The six-degree-of-freedom boom welding robot arm device according to claim 3, wherein: and a visual detection sensor (2311) is arranged on the welding gun (231).
5. The six-degree-of-freedom boom welding robot arm device according to claim 1, wherein: workstation (3) are including support (31), flip structure (32), power structure (33) and anchor clamps (34), flip structure (32) set up on support (31), power structure (33) set up on support (31) side, anchor clamps (34) set up on flip structure (32).
6. The six-degree-of-freedom boom welding robot arm device according to claim 5, wherein: and the clamp (34) is provided with an electric permanent magnet attracting block (341).
7. The six-degree-of-freedom boom welding robot arm device according to claim 1, wherein: the monitoring system (4) comprises a lens (41) and a camera (42), wherein the lens (41) is arranged on the camera (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920708679.8U CN210967588U (en) | 2019-05-17 | 2019-05-17 | Six-degree-of-freedom suspension type mechanical arm device for welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920708679.8U CN210967588U (en) | 2019-05-17 | 2019-05-17 | Six-degree-of-freedom suspension type mechanical arm device for welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210967588U true CN210967588U (en) | 2020-07-10 |
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ID=71455984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920708679.8U Expired - Fee Related CN210967588U (en) | 2019-05-17 | 2019-05-17 | Six-degree-of-freedom suspension type mechanical arm device for welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210967588U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743265A (en) * | 2020-12-28 | 2021-05-04 | 浩科机器人（苏州）有限公司 | All-dimensional welding robot for welding production line and working method thereof |
-
2019
- 2019-05-17 CN CN201920708679.8U patent/CN210967588U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743265A (en) * | 2020-12-28 | 2021-05-04 | 浩科机器人（苏州）有限公司 | All-dimensional welding robot for welding production line and working method thereof |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200710 |
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| CF01 | Termination of patent right due to non-payment of annual fee |