CN211277118U

CN211277118U - Automatic welding robot based on stable movement control

Info

Publication number: CN211277118U
Application number: CN201922309958.XU
Authority: CN
Inventors: 袁军民; 田秀蕊; 袁靖宇
Original assignee: Jiangsu Nuobida Robot Technology Co ltd
Current assignee: Jiangsu Nuobida Robot Technology Co ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-08-18
Anticipated expiration: 2029-12-20

Abstract

An automatic welding robot based on stable movement control comprises a slide rail, wherein a workbench is installed above the slide rail, a bearing wheel at the bottom of the workbench can be driven by a motor to move on the slide rail, so that the workbench can move in a large range in the horizontal direction, a bottom frame is fixedly installed above the workbench, a sliding groove is formed in the inner side of the bottom frame, four supporting frames are slidably connected to the inner side of the sliding groove, a lifting table is fixedly installed above the supporting frames, the supporting frames are driven by oil cylinders, so that the lifting table can be lifted up or lowered down in the vertical direction, a base of the welding robot is installed above the lifting table, the welding robot can rotate at multiple angles by five motors connected to the base and each supporting arm, an optical sensor is installed above a welding gun of the welding robot through a connecting device, and the sensor can position the welding gun, the welding gun is positioned at an ideal position, and the welding seam is scanned, so that the welding quality is improved.

Description

Automatic welding robot based on stable movement control

Technical Field

The utility model relates to a mechanical welding technical field, concretely relates to automatic welding robot based on stabilize mobile control.

Background

Welding, also called fusion and melt welding, is a manufacturing process and technology for joining metal or other thermoplastic materials such as plastics in a heating, high-temperature or high-pressure mode, is an essential processing method in the modern mechanical manufacturing industry, plays an important role in the modern industrial production, and has higher and higher requirements on welding precision and speed along with the social production development, and the common manual welding is difficult to meet the requirements of the social production;

welding robot is the industrial robot who undertakes the welding, collects many-sided knowledge techniques such as machinery, computer, electron, sensor, artificial intelligence in an organic whole, and it has: the welding quality is improved and stabilized, the productivity of enterprises is improved, the production cost is reduced, the welding machine can work in severe environment, and the like, and plays an important role in industrial production;

the welding robot that has now has certain drawback when using, and the welding robot just can not carry out effectual detection to the welding seam, can not guarantee welded quality, and the welding robot is whole can't remove, can not carry out effectual welding to the weldment work piece of major possession, has influenced welding robot's result of use.

SUMMERY OF THE UTILITY MODEL

To solve the problems set forth in the background art described above. The utility model provides an automatic welding robot based on stabilize mobile control, it is wide to have a welding range, and welding quality is stable, characteristics easy and simple to handle.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an automatic welding robot based on stabilize mobility control which characterized in that: the automatic cutting machine comprises a slide rail, a workbench is installed above the slide rail, a first motor is fixedly installed at the bottom of the workbench, a turbine is fixedly installed at an output shaft of the first motor, a worm is connected to the lower portion of the turbine, the worm is rotatably installed below the workbench, rear wheels are fixedly installed at two ends of the worm, the rear wheels are installed on rails of the slide rail, a rotating shaft is rotatably installed at the front side of the bottom of the workbench, front wheels are installed at two ends of the rotating shaft, the front wheels are installed on the rails of the slide rail, a bottom frame is fixedly installed above the workbench through the first screw, sliding grooves are formed in two sides of the bottom frame, are rotatably connected with a support through pulleys, an upper connecting rod is installed at the upper end of the support, a hinge shaft is rotatably connected in the middle of the support, a lower connecting rod is installed at the lower, The upper connecting rod is connected with a connecting oil cylinder, a lifting platform is fixedly mounted above the support, a base is fixedly mounted above the lifting platform through a second screw, a rotary table is rotatably mounted on the right side of the base, a second motor is fixedly mounted above the rotary table, an output shaft of the second motor is rotatably connected with the lower end of a first support arm, the upper end of the first support arm is rotatably connected with an output shaft of a third motor, the right side of the third motor is connected with a fourth motor, an output shaft of the fourth motor is rotatably connected with the left end of the second support arm, a fifth motor is fixedly mounted at the right end of the second support arm, an output shaft of the fifth motor is rotatably connected with the left end of the third support arm, a connecting device is mounted in the middle of the third support arm, an optical sensor is fixedly mounted on the right side of the connecting device, one side of the first gear is connected with a second gear through a synchronous gear in a transmission mode, and the second gear is fixedly installed on an output shaft of the sixth motor.

Preferably, two sides of the workbench are covered on the outer side of the sliding rail in a half-covering mode; and sundries such as welding slag, dust and the like can not enter the sliding groove of the sliding rail, so that the performance of the sliding rail is influenced.

Preferably, the worm wheel is in meshed connection with the worm; the structure has a large transmission ratio, small noise and a compact structure, and can rotate stably.

Preferably, the rear wheel and the front wheel are both cylinders and are symmetrically arranged at two ends of the worm and the rotating shaft respectively; the rear wheel and the front wheel are driven to move through the worm wheel and the worm, and the moving stability is guaranteed.

Preferably, the number of the sliding grooves and the number of the pulleys are four, the number of the supports is four, two ends of the lower connecting rod are rotatably installed at the lower ends of the two parallel supports, two ends of the upper connecting rod are rotatably installed at the upper ends of the two parallel supports, the upper connecting rod and the lower connecting rod are parallel to each other, and the middles of the lower connecting rod and the upper connecting rod are respectively connected with two ends of an oil cylinder; the lifting and the lowering of the lifting platform can be controlled through the oil cylinder, the working range of the welding robot is enlarged, and the production efficiency is improved.

Preferably, a fixing piece is installed on an output shaft of the second motor, and the output shaft of the second motor is fixedly connected with the first support arm.

Preferably, the connection structure of the output shafts of the motor three, the motor four and the motor five is the same as that of the motor two; accessible motor control welding robot body carries out five ascending movements and operations in the direction, has promoted welding robot's working capacity and efficiency in actual work.

Preferably, the optical sensor is installed at the same angle as the welding gun; the welding gun can be positioned at an ideal working position through measurement, the welding quality is detected in real time, the structure of a welding seam is checked, and the production quality is improved.

Compared with the prior art, the beneficial effects of the utility model are that: through installing a plurality of motors on base and each support arm, can reach and make the arm carry out the polylinker, the nimble pivoted purpose of multi-angle, through the measurement of optical sensor to the weld, can ensure welded quality, improve production efficiency, the lift platform of welding robot below passes through the drive of oil pump, can make welding robot rise or reduce, the welded scope has been increased, four bearing wheels are installed to the workstation of lift platform below, can carry out steady motion on the guide rail, the motor of installation at the workstation bottom passes through the worm gear and carries power, this drive mechanism has great drive ratio, and have steady motion, characteristics that the noise is little.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the bottom of the worktable in the present invention;

fig. 3 is a schematic view of a transmission mechanism of a worm gear of the present invention;

fig. 4 is a schematic mechanism diagram of the lifting platform of the present invention;

fig. 5 is a schematic structural view of an output shaft of a motor according to the present invention;

in the figure: 1. a slide rail; 2. a work table; 3. a first motor; 4. a turbine; 5. a worm; 6. a rear wheel; 7. a chassis; 8. a first screw; 9. a pulley; 10. a support; 11. an oil cylinder; 12. a lifting platform; 13. a base; 14. a second screw; 15. a turntable; 16. a second motor; 17. a first support arm; 18. a third motor; 19. a fourth motor; 20. a second support arm; 21. a fifth motor; 22. a third support arm; 23. a welding gun; 24. a first gear; 25. a synchronizing gear; 26. a second gear; 27. a sixth motor; 28. a sliding groove; 29. a fixing member; 30. a rotating shaft; 31. a front wheel; 32. a lower connecting rod; 33. an upper connecting rod; 34. a hinge axis; 35. a connecting device; 36. an optical sensor.

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.

Example 1

Referring to fig. 1-5, the present invention provides the following technical solutions: in order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an automatic welding robot based on stabilize mobility control which characterized in that: the automatic cutting machine comprises a sliding rail 1, a workbench 2 is installed above the sliding rail 1, a first motor 3 is fixedly installed at the bottom of the workbench 2, a turbine 4 is fixedly installed at an output shaft of the first motor 3, a worm 5 is connected below the turbine 4, the worm 5 is rotatably installed below the workbench 2, rear wheels 6 are fixedly installed at two ends of the worm 5, the rear wheels 6 are installed on a track of the sliding rail 1, a rotating shaft 30 is rotatably installed at the front side of the bottom of the workbench 2, front wheels 31 are installed at two ends of the rotating shaft 30, the front wheels 31 are installed on the track of the sliding rail 1, a chassis 7 is fixedly installed above the workbench 2 through a first screw 8, sliding grooves 28 are arranged at two sides of the chassis 7, the sliding grooves 28 are rotatably connected with a support 10 through pulleys 9, an upper connecting rod 33 is installed at the upper end of the support 10, and a hinge shaft 34 is connected with the middle of the support, a lower connecting rod 32 is installed at the lower end of the support 10, the lower connecting rod 32 and the upper connecting rod 33 are connected with a connecting oil cylinder 11, a lifting platform 12 is fixedly installed above the support 10, a base 13 is fixedly installed above the lifting platform 12 through a second screw 14, a rotary table 15 is rotatably installed on the right side of the base 13, a second motor 16 is fixedly installed above the rotary table 15, an output shaft of the second motor 16 is rotatably connected with the lower end of a first support arm 17, the upper end of the first support arm 17 is rotatably connected with an output shaft of a third motor 18, a fourth motor 19 is connected on the right side of the third motor 18, an output shaft of the fourth motor 19 is rotatably connected with the left end of a second support arm 20, a fifth motor 21 is fixedly installed at the right end of the second support arm 20, an output shaft of the fifth motor 21 is rotatably connected with the left end of a third support, an optical sensor 36 is fixedly mounted on the right side of the connecting device 35, a welding gun 23 is mounted at the right end of the supporting arm III 22, a gear I24 is fixedly mounted at the lower end of the rotary table 15, a gear II 26 is connected to one side of the gear I24 in a transmission mode through a synchronous gear 25, and the gear II 26 is fixedly mounted on an output shaft of a motor VI 27.

Specifically, two sides of the workbench 2 are covered on the outer side of the slide rail 1 in a half-covering manner; and the situation that sundries such as welding slag, dust and the like cannot enter the sliding groove of the sliding rail 1 to block the rolling of the bearing wheel is ensured, so that the performance of the sliding rail is influenced.

Specifically, an output shaft of the motor I3 is fixedly connected with a turbine 4, and the turbine 4 is in transmission connection with a worm 5; the structure has a large transmission ratio, small noise and a compact structure, and can rotate stably.

Specifically, the rear wheel 6 and the front wheel 31 are both cylindrical in shape and are symmetrically arranged at two ends of the worm 5 and the rotating shaft 30 respectively; the rear wheel 6 and the front wheel 31 are driven to move by the worm wheel 4 and the worm 5, so that the moving stability is ensured.

Specifically, there are four sliding grooves 28, four pulleys 9, four supports 10, two ends of the lower connecting rod 32 are rotatably mounted at the lower ends of the two parallel supports 10, two ends of the upper connecting rod 33 are rotatably mounted at the upper ends of the two parallel supports 10, the upper connecting rod 33 and the lower connecting rod 32 are parallel to each other, and the middles of the lower connecting rod 32 and the upper connecting rod 33 are respectively connected with two ends of the oil cylinder 11; accessible hydro-cylinder 11 control lift platform 12 risees and reduces, moves on the vertical direction, increases welding robot's working range, makes welding robot can weld higher welding spare, has improved production efficiency.

Specifically, a fixing member 29 is mounted on an output shaft of the second motor 16, and the output shaft of the second motor 16 is fixedly connected with the first support arm 17.

Specifically, the connection structure of the output shafts of the motor three 18, the motor four 19 and the motor five 21 is the same as that of the motor two 16; accessible motor control welding robot body carries out five ascending movements and operations in the direction, has promoted welding robot's working capacity and efficiency in actual work.

Specifically, the optical sensor TH6D-150-CFAA-AB36 is installed at the same angle as the welding gun 23; the laser positioning can be used for compensating production, equipment and operation tolerances in welding, so that a welding gun is in an ideal position, the welding quality is detected in real time, the structure of a welding seam is checked, and the production quality is improved.

The working principle and the using process of the invention are as follows: the motor installed at the bottom of the workbench transmits power by the transmission mechanism of the worm gear and the worm, so that the workbench can move on the sliding rail by virtue of four bearing wheels in the horizontal direction, the lifting platform on the workbench takes an oil pump as power to drive four supporting frames to move in the sliding groove, so that the lifting platform can move in a certain range in the vertical direction, a higher workpiece can be welded by the welding robot, a base of the welding robot is fixedly installed above the lifting platform, the welding robot is installed above the base in a rotating way by virtue of a rotating wheel, the welding robot can rotate in the horizontal direction by virtue of the transmission mechanism of the rotating wheel and the motor six, the welding robot can rotate in the vertical direction by virtue of the transmission mechanism of the motor two and the supporting arm one, and the welding robot can rotate in the three-level direction by virtue of the transmission mechanism of the motor three and the supporting arm one, through the transmission mechanism of the motor IV and the support arm II, the welding robot rotates in the horizontal direction in a circumferential mode, through the transmission mechanism of the motor IV and the support arm III, the welding robot rotates in the vertical direction in five stages, through the scanning and positioning of the optical sensor TH6D-150-CFAA-AB, the welding robot can compensate production, equipment and operation tolerance through the calculation of a computer, a welding gun is in an ideal position, and through the irradiation scanning of laser to a welding seam, the welding robot can detect the welding quality in real time, and the production quality is improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the above embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic welding robot based on stabilize mobility control which characterized in that: including slide rail (1), workstation (2) is installed to slide rail (1) top, the bottom fixed mounting of workstation (2) has motor (3), the output shaft fixed mounting of motor (3) has turbine (4), the below of turbine (4) is connected with worm (5), worm (5) are rotated and are installed in the below of workstation (2), the both ends fixed mounting of worm (5) has rear wheel (6), rear wheel (6) are installed on the track of slide rail (1), the front side of workstation (2) bottom is rotated and is installed pivot (30), front wheel (31) are installed at the both ends of pivot (30), front wheel (31) are installed on the track of slide rail (1), the top of workstation (2) is through screw (8) fixed mounting has chassis (7), the both sides of chassis (7) are equipped with sliding tray (28), the sliding groove (28) is rotatably connected with a support (10) through a pulley (9), an upper connecting rod (33) is installed at the upper end of the support (10), a hinge shaft (34) is rotatably connected in the middle of the support (10), a lower connecting rod (32) is installed at the lower end of the support (10), the lower connecting rod (32) and the upper connecting rod (33) are connected with a connecting oil cylinder (11), a lifting platform (12) is fixedly installed above the support (10), a base (13) is fixedly installed above the lifting platform (12) through a second screw (14), a rotary table (15) is rotatably installed on the right side of the base (13), a second motor (16) is fixedly installed above the rotary table (15), an output shaft of the second motor (16) is rotatably connected with the lower end of a first support arm (17), and the upper end of the first support arm (17) is rotatably connected with an output shaft of a third, the right side of the motor III (18) is connected with a motor IV (19), an output shaft of the motor IV (19) is rotatably connected with the left end of the support arm II (20), the right end of the support arm II (20) is fixedly provided with a motor V (21), an output shaft of the motor V (21) is rotatably connected with the left end of the support arm III (22), a connecting device (35) is installed in the middle of the support arm III (22), an optical sensor (36) is fixedly installed on the right side of the connecting device (35), the right end of the support arm III (22) is provided with a welding gun (23), the lower end of the rotary table (15) is fixedly provided with a gear I (24), one side of the gear I (24) is connected with a gear II (26) through a synchronous gear (25) in a transmission mode, and the gear II (26) is fixedly installed on the output.

2. The automatic welding robot based on the stable movement control as claimed in claim 1, wherein: the two sides of the workbench (2) are covered on the outer side of the sliding rail (1) in a half covering mode.

3. The automatic welding robot based on the stable movement control as claimed in claim 1, wherein: the worm wheel (4) is connected with the worm (5) in a meshed mode.

4. The automatic welding robot based on the stable movement control as claimed in claim 1, wherein: the rear wheel (6) and the front wheel (31) are both cylindrical in shape and are symmetrically arranged at two ends of the worm (5) and the rotating shaft (30) respectively.

5. The automatic welding robot based on the stable movement control as claimed in claim 1, wherein: sliding tray (28) have four, pulley (9) have four, support (10) have four, the both ends of connecting rod (32) are rotated and are installed the lower extreme at parallel two spinal branch framves (10) down, the both ends of going up connecting rod (33) are rotated and are installed the upper end at parallel two spinal branch framves (10), it is parallel to each other with lower connecting rod (32) to go up connecting rod (33), the both ends of connecting cylinder (11) are connected respectively in the middle of connecting rod (32), last connecting rod (33) down.

6. The automatic welding robot based on the stable movement control as claimed in claim 1, wherein: and a fixing piece (29) is arranged on an output shaft of the second motor (16), and the output shaft of the second motor (16) is fixedly connected with the first supporting arm (17).

7. The automatic welding robot based on the stable movement control as claimed in claim 6, wherein: and the connection structures of the output shafts of the motor three (18), the motor four (19) and the motor five (21) are the same as those of the motor two (16).

8. The automatic welding robot based on the stable movement control as claimed in claim 1, wherein: the optical sensor (36) is mounted at the same angle as the welding torch (23).