CN217019150U - No guide rail wheel walking welding robot - Google Patents
No guide rail wheel walking welding robot Download PDFInfo
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- CN217019150U CN217019150U CN202121967480.0U CN202121967480U CN217019150U CN 217019150 U CN217019150 U CN 217019150U CN 202121967480 U CN202121967480 U CN 202121967480U CN 217019150 U CN217019150 U CN 217019150U
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Abstract
The utility model relates to a guide-rail-free wheel walking type welding robot, and belongs to the technical field of welding robots. Comprises a welding robot body and a moving part; the moving part comprises a first supporting plate and a roller, one end of the roller is provided with a corresponding sixth servo motor, a wheel rotating assembly is arranged on the first supporting plate, the welding robot body comprises a chassis, a first shaft joint, a second shaft joint, a third shaft joint, a fourth shaft joint, a fifth shaft joint and a welding gun, the chassis is located on the first supporting plate, the first shaft joint rotates around a vertical axis, the second shaft joint moves back and forth around the vertical axis, the third shaft joint moves up and down around the axis of the third shaft joint, the fourth shaft joint rotates around the axis of the fourth shaft joint, the fifth shaft joint moves back and forth around the axis of the fifth shaft joint, and the welding gun is connected with the fifth shaft joint. The utility model provides a guide-rail-free wheel walking type welding robot, which can be used for conveniently and accurately adjusting the direction of the welding robot and can be flexibly moved to the welding station of any workshop.
Description
Technical Field
The utility model relates to a guide-rail-free wheel walking type welding robot, and belongs to the technical field of welding robots.
Background
Along with the industrial development welding robot is gradually replacing transmission manual welding, industrial robot is a multipurpose, repeatable programming control, has 6 degrees of freedom in space, belongs to the automation field, and the welding is accurate reliable. Welding quality is good, and is efficient, but welding robot on the market all has linear fixed motion such as guide rail slip table, and equipment in case fixed to the workshop station on not have can dismantle easily, investment quantity, the fund is very big.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a rail-free wheel walking type welding robot, which can accurately adjust the orientation of the welding robot and can flexibly move to any welding station in any workshop.
The utility model provides a guide-rail-free wheel walking type welding robot, which comprises a welding robot body and a moving part, wherein the welding robot body comprises a base and a plurality of wheels; the movable part comprises a first supporting plate and a roller, the welding robot body is located on the first supporting plate, one end of the roller is provided with a corresponding sixth servo motor, a wheel rotating assembly is arranged on the first supporting plate and is connected with the sixth servo motor, the welding robot body comprises a chassis, a first shaft joint, a second shaft joint, a third shaft joint, a fourth shaft joint, a fifth shaft joint and a welding gun, the chassis is located on the first supporting plate, the first shaft joint rotates around a vertical axis, the second shaft joint moves around the vertical axis, the third shaft joint moves up and down around the axis of the third shaft joint, the fourth shaft joint rotates around the axis of the fourth shaft joint, the fifth shaft joint moves around the axis of the fifth shaft joint, and the welding gun is connected with the fifth shaft joint.
The first axle joint is located the chassis top, the second axle joint is located first axle joint top and becomes the axis and distributes, the third axle joint is located second axle joint top and is transverse distribution, the fourth axle joint is located third axle joint top axis and distributes, the fifth axle joint is located fourth axle joint top and is the axis and distributes.
A first servo motor corresponding to the first shaft joint is arranged in the base, and a corresponding first speed reducer is arranged at one end, close to the first servo motor, of the first shaft joint.
The first shaft joint is provided with a first speed reducer, the second shaft joint is provided with a second servo motor, the first speed reducer is arranged at one end, close to the first shaft joint, of the second shaft joint, the second speed reducer corresponding to the second servo motor is arranged on the second shaft joint, the third shaft joint is provided with a third servo motor, the third shaft joint is provided with a third speed reducer corresponding to the third servo motor, and the third shaft joint is provided with a third speed reducer corresponding to the third servo motor.
The fourth shaft joint is close to one end of the third shaft joint and is provided with a fourth servo motor, a fourth speed reducer corresponding to the fourth servo motor is arranged on the fourth shaft joint, a fifth servo motor is arranged at one end of the fifth shaft joint, which is close to the fourth shaft joint, and a fifth speed reducer corresponding to the fifth servo motor is arranged on the fifth shaft joint.
The first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, the sixth servo motor and the wheel rotating assembly are controlled through a PLC.
The utility model has the beneficial effects that:
the utility model provides a rail-free wheel walking type welding robot, which can be used for accurately adjusting the direction of a welding robot and can be flexibly moved to a welding station in any workshop.
Drawings
Fig. 1 is a schematic view of the overall structure of a trackless wheel-walking welding robot according to the present invention.
(1, first supporting plate, 2, roller, 3, chassis, 4, first shaft joint, 5, second shaft joint, 6, third shaft joint, 7, fourth shaft joint, 8, fifth shaft joint, 9, welding gun)
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1: the utility model provides a trackless wheel walking type welding robot, which comprises a welding robot body and a moving part, wherein the moving part is arranged on the welding robot body; the moving part comprises a first supporting plate 1 and a roller 2, the welding robot body is positioned on the first supporting plate 1, one end of the roller 2 is provided with a corresponding sixth servo motor, the first supporting plate 1 is provided with a wheel rotating component, the wheel rotating assembly is connected with a sixth servo motor, the welding robot body comprises a chassis 3, a first shaft joint 4, a second shaft joint 5, a third shaft joint 6, a fourth shaft joint 7, a fifth shaft joint 8 and a welding gun 9, the chassis 3 is positioned on the first supporting plate 1, the first shaft joint 4 rotates around a vertical axis, the two-axis joint 5 moves back and forth around a vertical axis, the third-axis joint 6 moves up and down around the axis thereof, the fourth shaft joint 7 rotates around the axis of the fourth shaft joint, the fifth shaft joint 8 moves back and forth around the axis of the fifth shaft joint, and the welding gun 9 is connected with the fifth shaft joint 8.
According to the utility model, a first shaft joint 4 is positioned at the top of a chassis 3, a second shaft joint 5 is positioned at the top of the first shaft joint 4 and distributed in an axial line manner, a third shaft joint 6 is positioned at the top of the second shaft joint 5 and distributed in a transverse manner, a fourth shaft joint 7 is positioned at the top of the third shaft joint 6 and distributed in an axial line manner, and a fifth shaft joint 8 is positioned at the top of the fourth shaft joint 7 and distributed in an axial line manner.
A first servo motor corresponding to a first shaft joint 4 is arranged in a base 3, and a corresponding first speed reducer is arranged at one end, close to the first servo motor, of the first shaft joint 4.
According to the utility model, a second servo motor is arranged at one end of a second shaft joint 5 close to a first shaft joint 4, a second speed reducer corresponding to the second servo motor is arranged on the second shaft joint 5, a third servo motor is arranged at one end of a third shaft joint 6 close to the second shaft joint 5, and a third speed reducer corresponding to the third servo motor is arranged on the third shaft joint 6.
According to the utility model, a fourth servo motor is arranged at one end, close to a third shaft joint 6, of a fourth shaft joint 7, a fourth speed reducer corresponding to the fourth servo motor is arranged on the fourth shaft joint 7, a fifth servo motor is arranged at one end, close to the fourth shaft joint 7, of a fifth shaft joint 8, and a fifth speed reducer corresponding to the fifth servo motor is arranged on the fifth shaft joint 8.
According to the utility model, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a fifth servo motor, a sixth servo motor and a wheel rotating assembly are controlled by a PLC.
The working principle is as follows: place welding robot body on first backup pad 1 during the use, PLC drives 2 rotations of gyro wheel through controlling sixth servo motor and removes the welding robot body, PLC control wheel rotating assembly control gyro wheel 2's direction of rotation is passed through 4 circumferential rotation of first servo motor control primary shaft joint, 5 seesaws of second servo motor control secondary shaft joint, the up-and-down motion of third servo motor control third shaft joint 6 by PLC according to the actual production demand, and fourth servo motor control fourth shaft joint 7 rotary motion, the 8 seesaws of fifth servo motor control fifth shaft joint are welded the work piece through welder 9 at last, the reduction gear can be to servo electricity speed reduction be convenient for PLC control servo motor's rotational speed.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should be able to conceive of the present invention without creative design of the similar structural modes and embodiments without departing from the spirit of the present invention, and all such modifications should fall within the protection scope of the present invention.
Claims (6)
1. The utility model provides a no guide rail wheel walking welding robot which characterized in that: comprises a welding robot body and a moving part; the welding robot comprises a chassis, a first shaft joint, a second shaft joint, a third shaft joint, a fourth shaft joint, a fifth shaft joint and a welding gun, wherein the chassis is positioned on the first supporting plate, the first shaft joint rotates around a vertical axis, the second shaft joint moves back and forth around the vertical axis, the third shaft joint moves up and down around the axis, the fourth shaft joint rotates around the axis, the fifth shaft joint moves back and forth around the axis, and the welding gun is connected with the fifth shaft joint.
2. The trackless wheel walking welding robot of claim 1, characterized in that: the first shaft joints are located at the top of the chassis, the second shaft joints are located at the top of the first shaft joints and distributed in an axial line manner, the third shaft joints are located at the top of the second shaft joints and distributed transversely, the fourth shaft joints are located at the top of the third shaft joints and distributed in an axial line manner, and the fifth shaft joints are located at the top of the fourth shaft joints and distributed in an axial line manner.
3. The trackless wheel-walking welding robot of claim 1, wherein: a first servo motor corresponding to the first shaft joint is arranged in the chassis, and a corresponding first speed reducer is arranged at one end, close to the first servo motor, of the first shaft joint.
4. The trackless wheel-walking welding robot of claim 3, wherein: the servo motor is characterized in that a second servo motor is arranged at one end, close to the first shaft joint, of the second shaft joint, a second speed reducer corresponding to the second servo motor is arranged on the second shaft joint, a third servo motor is arranged at one end, close to the second shaft joint, of the third shaft joint, and a third speed reducer corresponding to the third servo motor is arranged on the third shaft joint.
5. The trackless wheel-walking welding robot of claim 4, wherein: the fourth shaft joint is close to one end of the third shaft joint and is provided with a fourth servo motor, a fourth speed reducer corresponding to the fourth servo motor is arranged on the fourth shaft joint, a fifth servo motor is arranged at one end of the fifth shaft joint, which is close to the fourth shaft joint, and a fifth speed reducer corresponding to the fifth servo motor is arranged on the fifth shaft joint.
6. The trackless wheel-walking welding robot of claim 5, wherein: the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, the sixth servo motor and the wheel rotating assembly are controlled by a PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121967480.0U CN217019150U (en) | 2021-08-20 | 2021-08-20 | No guide rail wheel walking welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121967480.0U CN217019150U (en) | 2021-08-20 | 2021-08-20 | No guide rail wheel walking welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217019150U true CN217019150U (en) | 2022-07-22 |
Family
ID=82411573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121967480.0U Active CN217019150U (en) | 2021-08-20 | 2021-08-20 | No guide rail wheel walking welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217019150U (en) |
-
2021
- 2021-08-20 CN CN202121967480.0U patent/CN217019150U/en active Active
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