CN2411072Y - Articulated-type arc-welding robot - Google Patents
Articulated-type arc-welding robot Download PDFInfo
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- CN2411072Y CN2411072Y CN 99232490 CN99232490U CN2411072Y CN 2411072 Y CN2411072 Y CN 2411072Y CN 99232490 CN99232490 CN 99232490 CN 99232490 U CN99232490 U CN 99232490U CN 2411072 Y CN2411072 Y CN 2411072Y
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The utility model relates to an articulated arc-welding robot which can realize arc-welding automatic welding. The articulated arc-welding robot is also convenient to carry and move. The articulated arc-welding robot is composed of a welding tool, an articulated arm, an automatic feeding funnel, a running mechanism, a robot controller and a controlling power source. A chip microcomputer is used for control in order to solidify an automatic welding software in the robot controller. The welding tool, the articulated arm, the automatic feeding funnel and the running mechanism are controlled to be mutually matched and move concordantly to realize imitating the welding action of a person's hands and arms. The utility model is matched with an arc-welding power source to realize the automatization of installing and welding long-distance pipelines in oilfield enterprise and chemical industry enterprises.
Description
The utility model relates to a kind of electromechanical integrated product, exactly, relates to a kind of arc welding knuckle type arc welding robot of welding automatically of realizing.This knuckle type arc welding robot mainly uses when the long distance pipeline of oil, chemical enterprise conveying crude oil, natural gas, chemical medium is installed welding, and the long distance pipeline girth joint in the assembling is welded automatically.
At present, in the welding of factory and enterprise is produced, to the automatic welding of pipe fitting girth joint, all adopt welding gun to fix, the mode of pipe fitting rotation is welded automatically.In the prior art, the equipment that can weld automatically pipeline girth weld, mainly contain " " the full-automatic tig arc welding machine of fixed-piping " described in " all-position automatic welder " and " application of microcomputer in the welding " literary composition described in welding handbook first volume welding method and the equipment fascicle.Above-mentioned two kinds of its structures of automatic welder(welding machine) are: be made up of welding head, walking guide rail, control system; In addition, " " arc welding robot " described in welding handbook first volume welding method and the equipment fascicle, its structure is made up of mechanical system, control system, drive system in addition.Wherein mechanical system comprises fuselage, joint type arm, soldering appliance.The microcomputer of control system is divided into two parts, and a part is the master control microcomputer, and another part is from microcomputer or one chip microcomputer.Drive system is generally hydraulic-driven or motorized motions, places separately with the form of power station usually.
Above-mentioned automatic welding device, its mechanical system, control system, drive system all are to have a style of one's own separately.Especially based on the control system of microcomputer, microcomputer generally all is made up of main frame, keyboard, display, input equipment, input/output interface.Switch board is made up of the various templates of input/output interface circuit, power driving circuit and welding torch position control.Automatically welding software is according to welding procedure, programmes in advance and is stored on floppy disk or the hard disk.During welding, under the support of microcomputer system software, call in the calculator memory execution from floppy disk or hard disk.The control signal of microcomputer output is transported to switch board by output interface, through each executive component of power amplification rear drive, welds automatically.The method of such structure and programming mode and reproduction motion has caused not only system complex of automatic welding device, cost an arm and a leg, and machine volume is big, Heavy Weight, is not easy to carry, and is not easy to frequently move in the welding production scene.Above-mentioned automatic welding device, its welding manner all adopts shielded arc welding of tungsten electrode gas, it is lower not only to weld production efficiency, and when welding, the protective gas of the gaseous mixture that needs argon gas, helium or these gases during as welding, buy gas, the transportation gas cylinder causes welding production cost and rises; Gas cylinder, welding wire also are not easy to frequently move in the welding production scene.Adopt the automatic welding device of above-mentioned prior art, be applicable in fixing welding production scene, or at the fixing station weld job of production-lines.
But install in the welding at oil, chemical enterprise long distance pipeline, because the long distance pipeline in the assembling can't rotate, the mode that can only adopt welding gun to center on the long distance pipeline rotation is welded automatically.And the welding mode of production is: after had welded at a long distance pipeline girth joint place, mobile welding equipment welded to next long distance pipeline girth joint place again, and welding equipment need frequently move in the welding production scene.Obviously, adopt existing welding gun to fix, the automatic welding manner of pipe fitting rotation can not weld automatically to pipeline girth weld.Again because welding production scene majority is areas such as the Plain, desert, hills away from the city, adopt the automatic welding device of above-mentioned prior art, carry out the long distance pipeline girth joint and weld automatically, also be subjected to the restriction of following several reasons: be not easy to the frequent automatic welding device that moves and carry in the welding production scene; Can not or be not easy to be filled to argon gas, be not easy to carry and mobile gas cylinder; Weld seam all adopts shielded arc welding of tungsten electrode gas, needs newly-increased argon gas expense and the round transport expense bought, and has increased the welding production cost; Shielded arc welding of tungsten electrode gas welding production efficiency is lower, has prolonged the construction period of long distance pipeline installing engineering.Owing to the restriction that is subjected to above-mentioned reason, make the long distance pipeline assembling welding of oil, chemical enterprise can not implement automatic welding.So, in decades, in oil, the welding of chemical enterprise long distance pipeline, all be to adopt the manual electric arc welding welding.And adopt the manual electric arc welding welding, and not only production welding condition is poor, and labor strength is big, and the welding quality fluctuation is big, is subject to the influence of workman's technology status, mental emotion.
The utility model is at the automatic welding device that adopts prior art, at oil, chemical enterprise long distance pipeline the deficiency that exists in the welding is installed, with the needs of implementing the automatic welding of long distance pipeline, provide a kind of and be easy to carry, be convenient at the frequently mobile knuckle type arc welding robot in welding production scene, its main purpose is: realize welding automatically in the long distance pipeline welding is produced.
Another purpose of the present utility model is: mainly use covered electrode as conductive electrode and filling metal, when improving welding production efficiency, reduce long distance pipeline welding production cost, the construction period of shortening long distance pipeline installing engineering.
Above-mentioned purpose of the present utility model is achieved in that by soldering appliance, joint type arm, automatic feeding funnel, walking mechanism, robot controller, control power supply forms knuckle type arc welding robot.Wherein, joint type arm, walking mechanism, robot controller are modular structure, can select the modular unit assembling of each specification according to the diameter of welding manner, welded pipe line, the number of plies of weld seam welding.During the welding production operation, knuckle type arc welding robot is quick installed on the pipeline to be welded, start knuckle type arc welding robot, under the control of the automatic welding software that in robot controller, solidifies, knuckle type arc welding robot is realized walking, with the welding action of imitation staff and arm, as conductive electrode with fill metal, the cooperation Arc Welding Power welds automatically with covered electrode or welding wire.The welding of pipeline girth weld finishes, and linear joint type arc welding robot welds automatically to next pipeline girth weld place, realizes that in the mode of similar streamline production operation the long distance pipeline girth joint welds automatically.
Adopt knuckle type arc welding robot of the present utility model, split is in light weight, be easy to carry, and after the assembling, compact conformation is convenient to frequently move in the welding production scene; Can change the composition of knuckle type arc welding robot according to the diameter of welded pipe line, the number of plies of weld seam welding, establishment welding control program is produced welding and is had flexibility fast; Automatically the main covered electrode that uses in the welding has improved welding production efficiency, has reduced the welding production cost; Realized the long distance pipeline welding production automation, helped improving welding productive labor condition, the workman has been freed from onerous toil, reduce working strength of workers, help improving the welding quality of production, raise labour productivity, reduce the dependence of the welding quality of production workman's technology; To be solidificated in the automatic welding control software in the robot controller, the control knuckle type arc welding robot welds automatically, reduced the price of knuckle type arc welding robot, this is had than the project of high-tech content can be widely used and promote at factory and enterprise.
Below in conjunction with accompanying drawing embodiment of the present utility model is specifically described, wherein:
Fig. 1 adopts revolute robot's front view of the present utility model.
Fig. 2 adopts knuckle type arc welding robot front view of the present utility model.
Revolute robot shown in Figure 1 is the modular construction revolute robot, is made up of joint type arm 3, fuselage 4, walking mechanism 5, robot controller 6,7 five parts of control power supply.Wherein joint type arm 3, walking mechanism 5, robot controller 6 are modular structure, can select the module assembling of each specification according to the mode of production operation.Concrete structure is: walking mechanism is directly installed on the production operation scene, or has a style of one's own on the production operation object; Fuselage is installed on the walking mechanism, the joint type arm is installed on the fuselage, mounting robot controller on the shoulder of joint type arm, more than three be combined into one; Control power supply be one separately, be installed in walking mechanism on, be connected with robot controller by cable.The revolute robot is divided into three splits, and split is in light weight, be easy to carry, and after the assembling, compact conformation, is convenient to frequent moving.
Robot controller 6 shown in Figure 1 is made up of SCM system, input interface circuit, power output drive circuit.Among the embodiment, the singlechip chip of SCM system selects 8031 for use, and EingangsAusgangsSchnittstelle able to programme selects 8255 for use, and address latch is selected 74LS373 for use, and address decoder is selected 74LS138 for use, and memory under program selects 2764 for use.Four groups of input interface circuits, with one group be example, photoelectric coupling is isolated and to be selected 4N25 for use, the input port Photoelectric Detection is selected TIO20 for use, the input socket is selected single-row three-pin socket for use.Ten groups of power output drive circuits, with one group be example, photoelectric coupling is isolated and to be selected two 4N25 for use, 74LS06 and 74LS07 are selected in integrated driving for use, power amplifier tube is selected four TIP126 for use, the switch control valve is selected TIP127 for use, output socket is selected single-row five pin sockets for use.Two indicator lamps are set, and one is inserted SCM system, and one is inserted the power output drive system.Startup, stop button control robot controller are set.With SCM system, the input interface circuit of four groups of photoelectric detectors, and two groups of biserial 20 pin sockets are produced on the main circuit board.The power output drive circuit of two groups of direct current generators and two groups of switch controls and nine groups of stepper motors is all distinguished independent production unit circuit board.For making the element circuit plate have commutativity, convenient for maintaining.Two groups of direct current generators and two groups of switch control power output drive circuit boards are all pressed stepper motor power driving circuit plate and are made.The element circuit plate of two groups of direct current generators, two groups of switch controls, nine groups of stepper motors is installed in respectively on the auxiliary circuit plate at each executive component place.Behind selected singlechip chip, EingangsAusgangsSchnittstelle, address latch, address decoder, memory under program, address bus, data/address bus, control bus, chip selection signal connect, and the professional and technical personnel can connect in accordance with regulations.Only address assignment and input interface, the power output driver element circuit to input/output interface 8255 able to programme explains.8255 each road input, output port are all isolated through photoelectric coupling and are connected with peripheral circuit.8255 PA0, PA1 mouth connect the material toggling stepper motor, and PA2, PA3 mouth are picked the material stepper motor, PA4, PA5 mouth catcher wrist direct current generator, and PA6, PA71 connect the walking direct current generator.PB0, PB1 mouth connect the shoulder stepper motor, and PB2, PB3 mouth connect big arm stepper motor, and PB4, PB5 mouth connect the forearm stepper motor, PB6, PB7 mouth catcher wrist stepper motor.The PC0 mouth inserts the driving power loop of shoulder stepper motor and wrist stepper motor, does switch control; The PC1 mouth inserts big arm stepper motor, and switch control is done in the driving power loop of forearm stepper motor; The control of PC2 mouth switch inserts the pusher electromagnet, the PC4 mouth inserts shoulder photoelectric coupling detector, the PC5 mouth inserts big arm photoelectric coupling detector, the PC6 mouth inserts the rotational angle that the forearm photoelectric detector detects each joint shaft respectively, the PC7 mouth inserts the arc voltage photoelectric detector and detects arc voltage, and Arc Welding Power control is reserved in 8255 PC3 mouth switch control.Power output driver element circuit board all has identical circuit structure.With control shoulder stepper motor is example: the signal of 8255 PB0 mouth output meets photoelectric coupling 4N25, and the signal after isolating connects the unit of integrated driving 74LS06 and the unit of 74LS07.The signal of PB1 mouth output meets another photoelectric coupling 4N25, and the signal after isolating connects another unit of integrated driving 74LS06 and another unit of 74LS07.The output signal of four unit promotes four power amplifier tube TIP126 respectively, and the electric current after the amplification directly drives the shoulder stepper motor and rotates.The signal of PC0 mouth output meets photoelectric coupling 4N25, and the signal after isolating connects the unit of integrated driving 74LS06, its output signal pull switch control valve TIP127, and control shoulder stepper motor inserts high voltage.During the control direct current generator, the 74LS06 in the power output driver element circuit board is changed to 74LS07 gets final product.The two-way that two groups of switches are controlled in the optional power output driver element circuit board gets final product.The control scheme is based on the full software open loop control of single-chip microcomputer.By the automatic welding software control of solidifying, robot controller has two kinds of functions: make Programmable Logic Controller automatic welding process is done sequential control successively; In each operation, executive component is done small-signal output control, acceleration, deceleration, commutation, the phase sequence of making stepper motor distributed, the control of just changeing, reverse, the direct current generator control of just changeing, reverse, the pusher electromagnet is switched on, is cut off the power supply and control.Robot controller also has another kind of function: input signal is imported SCM system through input interface circuit, the control signal of SCM system output, directly drive stepper motor through the power output drive circuit, or drive directly driving direct current generator, or directly control the pusher electromagnet through the power output drive circuit through power output.
Control power supply 7 adopts two group storage batteries to power respectively, one group of battery confession SCM system that voltage is 6V, one group of battery confession input interface circuit, power output drive circuit that voltage is 18V is separated SCM system and input interface circuit, power output drive circuit from circuit.
As shown in Figure 2, be matrix with revolute robot shown in Figure 1, soldering turret 2 is installed on joint type arm 3, automatic feeding funnel 4 is installed in the fuselage position, forms knuckle type arc welding robot.Need do simple adjustment during the welding assembled in situ: automatic feeding funnel 4 is installed in the position on the vehicle frame, can be by the micromatic setting adjustment.Because in the self check that resets of joint type arm 3 before welding, relative position between shoulder 10 and big arm 20, big arm 20 and forearm 30, forearm 30 and wrist 40 and the soldering turret 2, reset to predetermined angular respectively, soldering turret 2 is the definite value constant of a design from the distance of shoulder joint nodal axisn.Be installed in the position deviation of pipeline to be welded according to circular guideway,, make the movement locus of soldering turret 2 aim at weld seam indirectly by adjusting micromatic setting.Knuckle type arc welding robot is rotation along guide rail around pipeline, forms the annular weld seam.
Soldering turret 2 shown in Figure 2 is referred to form by soldering turret frame, pincers.Pincers refer to be processed into pincer, and there is a V-shaped groove mouth front portion that pincers refer to, and there is an installing hole at the middle part, and there is a pan at the rear portion.Add man-hour, the distance between pan and the installing hole is the twice of distance between installing hole and the V-shaped groove mouth.Soldering turret 2 is installed on the lead ring of wrist 40, and the pan that pincers refer to is connected with the brace hinge.
In the percutaneous electrode operation of getting it filled: before the welding, the covered electrode dress is held frame and is filled covered electrode in advance, puts into bulk tank.The shoulder stepper motor of installing in the shoulder 10 drives the shoulder joint nodal axisn through the shoulder decelerator; The big arm stepper motor of installing in the big arm 20 drives the elbow joint axle through big arm decelerator; The forearm stepper motor of installing in the forearm 30 drives the wrist joint axle through the forearm decelerator, all rotate by predetermined separately angle value, make between the shoulder 10 and big arm 20 of joint type arm 3, the mutual alignment between big arm 20 and the forearm 30, between forearm 30 and wrist 40 and the soldering turret 2, reset to predetermined angular respectively, make pincers refer to accurately stop at the percutaneous electrode position of getting it filled; Immediately, wrist stepper motor forward rotation is through drive screw, transmission nut, brace transmission, and handling tongs refers to open; The material toggling stepper motor drives turning cylinder, the rotation of material toggling dish through the material toggling decelerator, makes covered electrode aim at the discharging opening of bulk tank; The action of pusher electromagnet and charging ram is released covered electrode in the bulk tank and is made it expose 20 millimeters; The feeding stepper motor is through the final stage gear of feeding decelerator, drives bulk tank to the motion of joint type orientation arm, and covered electrode is sent in pincers on the joint type arm refer to; Wrist stepper motor backward rotation is through drive screw, transmission nut, brace transmission, and handling tongs refers to closure, clamps covered electrode; Feeding stepper motor backward rotation drives bulk tank to the direction motion that resets through the final stage gear of feeding gear decelerator, and covered electrode is drawn out of bulk tank.
At welding sequence: the shoulder stepper motor of installing in the shoulder 10 drives the shoulder joint nodal axisn through the shoulder decelerator; The big arm stepper motor of installing in the big arm 20 drives the elbow joint axle through big arm decelerator; The forearm stepper motor of installing in the forearm 30 drives the wrist joint axle through the forearm decelerator, all cooperatively interacts by predetermined separately rotating angle, coordinates to rotate.Make joint type arm 3 at the volley, shoulder 10 and big arm 20, big arm 20 and mutual alignment between forearm 30, forearm 30 and wrist 40 and the soldering turret 2 keep the angle of being scheduled to, the covered electrode tracking weld seam of maintenance soldering turret 2 clampings respectively; Simultaneously, according to welding procedure, the wrist stepper motor is done small rotation by lead ring operation soldering turret 2, and wrist direct current generator operation soldering turret 2 is done small reciprocating motion, and the arc welding needed welding action of welding has automatically been synthesized in above-described three motions.
At another embodiment, because the requirement of welding procedure, pipe welding seam adopts with tungsten argon arc protection weldering welded seam bottom, and the welding manner of covered electrode welding middle level and capping is to reduce the welding production cost.With the knuckle type arc welding robot is matrix, and the soldering turret of installing on the joint type arm 32 is changed the outfit is welding torch 2, increases a joint type arm 8, and wire feeder 9 is installed on the joint type arm 8, forms the knuckle type arc welding robot that adopts tungsten argon arc protection weldering.
Welding torch 2 is made up of rifle body, sealing ring, ceramic nozzle.Welding torch 2 is installed on the lead ring of wrist 40, does small rotation and reciprocating motion by lead ring operation welding torch 2.
Wire feeder 9 by feeding stepper motor, reduction gearing, wire pushing roller, lead mouth and form.The feeding stepper motor drives the wire pushing roller wire feed through reduction gearing, causes welding bead through leading mouth.
Getting the welding wire operation: the dress in the automatic feeding funnel 4 is held and is loaded onto welding wire on the frame in advance, puts into bulk tank.In the welding, treat that welding wire has extracted after, can change the outfit fast.The material toggling stepper motor drives dress and holds the frame rotation, sends welding wire and causes wire feeder 9.
At welding sequence: by the knuckle type arc welding robot control software control of solidifying, the welding torch 2 on the joint type arm 3, the wire feeder 9 on the joint type arm 8 all arrives weld seam.According to welding procedure, the welding torch of installing on the joint type arm 32, do small rotation and reciprocating motion by the wrist stepper motor by lead ring operation welding torch 2, the wrist direct current generator of installing on the joint type arm 8 is done small reciprocating motion and is sent welding wire by lead ring operation wire feeder 9.The needed welding action of tungsten argon arc protection weldering welding has been synthesized in the above motion.
To above two routine embodiment, on the PC microcomputer, according to the structural parameters of joint type arm and the requirement of welding production operation technology, coding emulation joint type arm motion, the angular movement data of each joint shaft of calculating joint type arm.According to the data of emulation and calculating, write automatic welding control program, cross assembly, debugging be the welding control program automatically.Compilation, the automatic welding control that debugging is correct are solidificated in the robot controller, finish the exploitation that knuckle type arc welding robot welds control software automatically.After the structural parameters change of joint type arm and welding production operation technology make improvements, can revise automatic welding control program, after compilation, debugging correctly, again be solidificated in the robot controller, finish the exploitation of knuckle type arc welding robot control software once more, make the welding production operation flexibility of knuckle type arc welding robot.
During the welding production operation, knuckle type arc welding robot is quick installed on the pipeline to be welded, people's controller buttons starts the machine, by the automatic welding software control of solidifying in the robot controller, knuckle type arc welding robot by joint type arm self check return, joint type arm ignite the motion of electric arc, walking mechanism and the continuous welding of joint type arm, joint type arm receive arc, the blow-out of joint type arm, joint type arm return operation successively order carry out.Realize the welding action of knuckle type arc welding robot walking and imitation staff and arm,, cooperate Arc Welding Power to weld automatically with covered electrode or welding wire.Because the main covered electrode that uses when realizing welding automatically, has reduced the welding production cost.
Above-described only is to adopt the utility model principle, realizes the optimization embodiment of the pipeline welding production automation.Should be pointed out that for a person skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also make some modification and improvement,, also should be considered as belonging to protection domain of the present utility model so that develop other electromechanical integrated product.
Claims (10)
1. knuckle type arc welding robot, described knuckle type arc welding robot comprises soldering appliance, the joint type arm, it is characterized in that also having walking mechanism, automatic feeding funnel, robot controller, the control power supply, the joint type arm, walking mechanism, robot controller is a modular structure, can according to welding produce needs, change the composition of knuckle type arc welding robot, concrete structure is: it is a split that walking mechanism is installed on the pipeline that needs welding, on the vehicle frame of walking mechanism automatic feeding funnel is installed, the joint type arm is installed on the automatic feeding funnel, the shoulder mounting robot controller of joint type arm; soldering appliance is installed on the forearm; above four are combined as a split; it is a split that the control power supply is installed on the vehicle frame of walking mechanism; is connected with robot controller by cable; knuckle type arc welding robot is divided into three splits; split is in light weight; be easy to carry; after the assembling; compact conformation; be convenient to frequent moving; under robot controller control; soldering appliance; joint type arm; walking mechanism cooperatively interacts; coordination; realize the welding action of walking and imitation hand and arm; keep the joint type arm to move by given movement locus, the cooperation Arc Welding Power welds automatically.
2. knuckle type arc welding robot according to claim 1 is characterized in that the control knuckle type arc welding robot welds automatically to be solidificated in the automatic welding software in the robot controller.
3. knuckle type arc welding robot according to claim 1 is characterized in that mainly using covered electrode and welding wire as conductive electrode and filling metal.
4. knuckle type arc welding robot according to claim 1, it is characterized in that wrist is by the wrist stepper motor, drive screw, transmission nut, brace, guide ring, rotating ring, stop ring, the wrist direct current generator, gear, tooth bar, casing is formed, the wrist stepper motor is installed on the casing, its output shaft and drive screw connect, drive screw screws in transmission nut, transmission nut is sleeved in the rotating ring, two symmetrical planes of transmission nut are processed with keyway, be slidingly connected by feather key with rotating ring, being processed with screw on another symmetrical plane is connected with the brace hinge, moving ring sleeve is contained in the guide ring, lead ring is sleeved in the stop ring, and guide ring and stop ring are coaxial to be assemblied on the casing, and the wrist direct current generator is installed on the casing, gear of installing on its output shaft and tooth bar engagement, an end of tooth bar and wrist stepper motor connect.
5. knuckle type arc welding robot according to claim 1; It is characterized in that the joint type arm is by shoulder; Big arm; Forearm; Wrist forms; Between shoulder and the big arm by the shoulder joint pivot hinge; Between big arm and the forearm by the elbow joint pivot hinge; Between forearm and the wrist by the wrist joint pivot hinge; By nut check; Shoulder; Big arm; Forearm is modular structure; By boxboard; Support column; Screw; Protective cover; Stepper motor; Decelerator; Photoelectric detector forms; Reduction case and reducer gear assembling are made into decelerator; Stepper motor is installed on the reduction case; Locating hole on boxboard and the protective cover is sleeved on the body of stepper motor; Pass through support column; Screw and reduction case combine as a whole and consist of respectively shoulder; Big arm and forearm; Hinged support is installed on the arm; Photoelectric coupling detector and power output driver element circuit board all are installed on the reduction case; Radial ball bearing is installed at reducing gear wheel shaft place; Radial ball bearing supporting joint shaft; The gear of stepper motor axle head and the engagement of decelerator one-level gear; The reducer final stage gear output shaft namely is each joint shaft; Gear in the decelerator; Adopt the biserial gear; The back lash mechanism that disappears of screw fastening is at the other photoelectric coupling detector of installing of the final reduction gear of decelerator.
6. knuckle type arc welding robot according to claim 1, it is characterized in that automatic feeding funnel is by bulk tank, the material toggling decelerator, the material toggling stepper motor, the pusher electromagnet, charging ram, the feeding stepper motor, the feeding decelerator, driving rack is formed, there is one in the bulk tank by turning cylinder, hold frame with the covered electrode dress that the hard-wired material toggling dish at the turning cylinder two ends is formed, one end of turning cylinder is a shaft with key way, one end of bulk tank is installed the material toggling decelerator, the final reduction gear center of material toggling decelerator is processed with keyway, connect with the keyway slip of turning cylinder, evenly be processed with the circular hole of placing covered electrode on the circumference of material toggling dish, the material toggling stepper motor is installed on the casing of material toggling decelerator, pusher electromagnet and charging ram, the gear of material toggling stepper motor axle head and material toggling decelerator one-level gears engaged, the driving bulk tank rotates, the end cap of the other end of bulk tank is connected with bulk tank with the form of hinge, along the feeding stepper motor is arranged on the axis of bulk tank, the feeding decelerator, feeding stepper motor and the connection of feeding decelerator are installed on the walking mechanism, the driving rack of installing on the bulk tank, with the final reduction gear engagement of feeding decelerator, the gear in the decelerator adopts the biserial gear, the back lash mechanism that disappears that screw is fastening.
7. knuckle type arc welding robot according to claim 1, it is characterized in that walking mechanism is by the active magnet-wheel, vehicle frame, the walking direct current generator, the walking decelerator, auxiliary wheel, guide rail is formed, its concrete structure is that guide rail is two parts in split punishment, the employing bolt connects, the transverse shape at split place is the square shape of not sealing fully on one side, be protruding V font with the shape of not sealing relative limit, limit fully, vehicle frame is installed in the guide rail that goes in ring, two active magnet-wheels are installed in parallel in the two ends of vehicle frame, auxiliary wheel and the initiatively coaxial installation of magnet-wheel, the walking decelerator is contained in two initiatively ends of magnet-wheel, and with initiatively magnet-wheel is vertical, the output shaft at two ends and active magnet-wheel connect respectively, the walking direct current generator is installed in the middle part of vehicle frame, its longitudinal axis is with initiatively magnet-wheel is parallel, and the gear of walking direct current generator axle head and the input gears engaged at walking decelerator middle part drive initiatively magnet-wheel and auxiliary wheel in the same way.
8. knuckle type arc welding robot according to claim 1, it is characterized in that robot controller comprises SCM system and input/output interface circuit, have power output and drive amplifying circuit, its physical circuit is: SCM system is by singlechip chip, EingangsAusgangsSchnittstelle, address latch, address decoder, memory under program, the input and output socket, main circuit board is formed, input interface circuit is isolated by photoelectricity, Photoelectric Detection, input socket is formed, output interface and power driving circuit are isolated by photoelectricity, integrated driving, power amplification, accessory power outlet, the element circuit plate is formed, SCM system, the photoelectric detector input interface circuit, biserial 20 pin sockets are produced on the main circuit board, by twin-string socket parallel cable and input, the output unit circuit board is pegged graft, the power output drive circuit of direct current generator and switch control and stepper motor, all distinguish independent production unit circuit board, be installed in each executive component place.
9. knuckle type arc welding robot according to claim 1, it is characterized in that controlling power supply is that two group storage batteries are powered respectively, one group of battery confession SCM system that voltage is 6V, one group of battery confession input interface circuit, power output drive circuit that voltage is 18V.
10. revolute robot, described revolute robot comprises the joint type arm, fuselage, it is characterized in that also having walking mechanism, robot controller, the control power supply, the joint type arm, walking mechanism, robot controller is a modular structure, can be according to the needs of production operation, change revolute robot's composition, concrete structure is: it is a split that walking mechanism is installed in the production operation scene, on the vehicle frame of walking mechanism fuselage is installed, the joint type arm is installed on the fuselage, the shoulder mounting robot controller of joint type arm; end effector is installed on the forearm; above four are combined as a split; it is a split that the control power supply is installed on the vehicle frame of walking mechanism; is connected with robot controller by cable; the revolute robot is divided into three splits; split is in light weight; be easy to carry; after the assembling; compact conformation; be convenient to frequent moving, under robot controller control, end effector; joint type arm; walking mechanism cooperatively interacts; coordination is realized the action of walking and imitation hand and arm; keep the joint type arm to press given movement locus and move, carry out production operation.
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| CN 99232490 CN2411072Y (en) | 1999-09-02 | 1999-09-02 | Articulated-type arc-welding robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 99232490 CN2411072Y (en) | 1999-09-02 | 1999-09-02 | Articulated-type arc-welding robot |
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| CN2411072Y true CN2411072Y (en) | 2000-12-20 |
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| CN 99232490 Expired - Fee Related CN2411072Y (en) | 1999-09-02 | 1999-09-02 | Articulated-type arc-welding robot |
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| CN105643630A (en) * | 2016-03-22 | 2016-06-08 | 深圳市百事达卓越科技股份有限公司 | Transformation method of oil tank |
| CN105935833A (en) * | 2016-06-14 | 2016-09-14 | 惠州市铠屹精密机械有限公司 | Portable small welding robot |
| CN106077900A (en) * | 2016-06-14 | 2016-11-09 | 苏汉明 | A kind of movable-type intelligent welding robot |
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| CN106736071A (en) * | 2016-12-19 | 2017-05-31 | 深圳市瑞凌实业股份有限公司 | Welding system and welding system control method |
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| CN108436349A (en) * | 2018-05-28 | 2018-08-24 | 柳州金螺机械股份有限公司 | Electrodes in mine hot stove shell robot welding system |
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1999
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| CN104786216A (en) * | 2014-01-17 | 2015-07-22 | 斗山重工业株式会社 | Multi-articulated manipulator |
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| CN106077900A (en) * | 2016-06-14 | 2016-11-09 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN105935833A (en) * | 2016-06-14 | 2016-09-14 | 惠州市铠屹精密机械有限公司 | Portable small welding robot |
| CN106077900B (en) * | 2016-06-14 | 2018-10-16 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN106271165A (en) * | 2016-09-25 | 2017-01-04 | 羊丁 | A kind of linear type steel-pipe welding machine people |
| CN106271166A (en) * | 2016-09-25 | 2017-01-04 | 羊丁 | A kind of running type linear type steel-pipe welding machine people |
| CN106271165B (en) * | 2016-09-25 | 2018-08-24 | 南宁市华隆五金家具有限公司 | A kind of linear type steel-pipe welding machine people |
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| CN106736071A (en) * | 2016-12-19 | 2017-05-31 | 深圳市瑞凌实业股份有限公司 | Welding system and welding system control method |
| CN110831745A (en) * | 2017-03-29 | 2020-02-21 | 本田技研工业株式会社 | Bonding system and bonding method |
| CN107363447A (en) * | 2017-09-22 | 2017-11-21 | 苏州科易特自动化科技有限公司 | A kind of automatic welding tubular object extruding equipment |
| CN108582050A (en) * | 2018-05-08 | 2018-09-28 | 重庆工业职业技术学院 | A kind of control system of Multi-freedom-degreemanipulator manipulator |
| CN108436349A (en) * | 2018-05-28 | 2018-08-24 | 柳州金螺机械股份有限公司 | Electrodes in mine hot stove shell robot welding system |
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