CN2550115Y - Wheel type full driving car for crawl type full position welding robot - Google Patents
Wheel type full driving car for crawl type full position welding robot Download PDFInfo
- Publication number
- CN2550115Y CN2550115Y CN 02265202 CN02265202U CN2550115Y CN 2550115 Y CN2550115 Y CN 2550115Y CN 02265202 CN02265202 CN 02265202 CN 02265202 U CN02265202 U CN 02265202U CN 2550115 Y CN2550115 Y CN 2550115Y
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Abstract
The utility model discloses a wheel type full driving car for crawl type full position welding robot, which includes a car body and so on. The utility model is characterized in that differential apparatuses are arranged between two pairs of back driving wheels of the car, so that the traction force of the car is largely reinforced in order to satisfy the needs of the traction force when the bar bears fairly heavy load. The steering precision is high. The utility model is absorbed and attached on the steel object that requires welding by a strong absorbing magnetic path formed by a permanent magnetic steel, a yoke iron and a welded work piece. The utility model utilizes a control circuit to emit signals to control an AC (DC) servo motor and direction changing step motor, in order to finish the automatic tracking for the track of the welding seam, wherein, the AC (DC) servo motor characterized by convenient speed regulation and quick reaction is capable of achieving step-less variable speed and assuring accurate moving position of the car.
Description
Technical field
The utility model relates to vehicle, especially relates to a kind ofly adopting back four-wheel drive, front-wheel drive to turn to that the promptly full creeping-type all position welding machine people who drives is wheeled to drive entirely.
Background technology
In industrial production, robot is used for replacing the workman more and more and is engaged in inclement condition, work that labour intensity is big.Such as, welding robot is exactly to follow the tracks of the weld seam on the steel plate under the driving of travelling car and welding.Travelling car mainly adopts dual mode to follow the tracks of weld seam both at home and abroad at present, and a kind of is to allow dolly walk in orbit, and track is identical with the weld seam curve, can reach the purpose of following the tracks of weld seam like this; Also having a kind of is to rely on contour wheel on the dolly to lean against on the copying template identical with the weld seam curve to move, and can follow the tracks of weld seam when dolly is moved.Though this body structure of travelling car of this dual mode is simple, but when carrying out welding operation, need configuration respective track or copying template, many troubles have so not only been increased, make troubles to construction, and give automatically that welding brings limitation, settle the local of track or copying template or on super-huge workpiece, be difficult to weld automatically being not easy to.Drive after the creeping-type all position welding machine people of back four-wheel drive, front-wheel steer is wheeled in that the dolly load is big or when surface of the work was smooth inadequately, back four-wheel drive can't guarantee that because of tractive force is difficult to drive dolly inadequately greatly robot finishes the work according to plan.
Summary of the invention
The purpose of this utility model is to provide a kind of and adopts back four-wheel drive, front-wheel drive to turn to that the promptly full creeping-type all position welding machine people who drives is wheeled to drive entirely, it can be adsorbed on and follow the tracks of seam track on the welding work pieces, and do not need additional configuration track or copying template, and have tractive force big, turn to precision height, advantage that synchronism is good.
The purpose of this utility model is achieved in that the utility model comprises little car body, the front end both sides of little car body are equipped with the front wheel driving deflecting roller, the both sides, rear end are equipped with two pairs of rear drive sprockets, hand over (directly) flow servo motor and decelerator to be installed in above the motor cabinet of little car body, drive bevel gear is fixed on the output shaft of decelerator, by dynamic bevel gear and drive bevel gear engaged transmission, by dynamic bevel gear, back one sprocket wheel is fixed on one differential casing of back, one end of back one jack shaft is fixed on the interior semi-axle bevel gear of back one differential mechanism, the other end is fixed with back one driving wheel, to be back one sprocket wheel be connected with back two left sprocket wheels on being fixed on back two differential casings by rear chain feature, one end of back two jack shafts is fixed on the interior semi-axle bevel gear of back two differential mechanisms, and the other end is fixed with back two driving wheels; Front portion in little car body is equipped with preceding differential mechanism, be connected with preceding sprocket wheel on being fixed on preceding differential casing by preceding chain with back two left sprocket wheels, the back back two right sprocket wheels that link together of two differential mechanisms, on the semi-axle bevel gear before one end of front wheel driving semiaxis is fixed in the differential mechanism, the other end and front wheel driving deflecting roller are fixed; Turn to stepper motor to be fixed on the front portion of motor cabinet, turn to stepper motor to connect steering gear by shaft coupling, the two ends of steering linkage all flexibly connect with an end of knuckle support, the other end and the knuckle of knuckle support are fixed together, be fixed with front-axle beam in dolly body front end both sides, one end of knuckle is movably arranged on the front-axle beam by pivot stud, and the other end is enclosed within the bearing of front wheel driving deflecting roller; On the bottom of little car body, be fixed with magnet steel.
Between back two driving wheels and little car body, resilient suspension is installed; Bottom front at little car body is fixed with preceding magnet steel, is fixed with the back magnet steel in the rear end, bottom, in the bottom center fixed additional magnet steel is arranged; Yoke all is installed above each magnet steel, forms strong magnetic circuit between yoke and welded piece.
The utility model sends signal controlling by control circuit and hands over (directly) flow servo motor and turn to stepper motor, thereby finish seam track from motion tracking, hand over (directly) flow servo motor speed governing convenient, reaction speed is fast, can realize electrodeless variable-speed, can guarantee that the exact position moves, reach the automatic soldering technique requirement of all position welding.Therefore the utlity model has following advantage;
(1) adopt a friendship (directly) flow servo motor to drive four rear drive sprockets and two front wheel driving deflecting rollers, front-wheel had not only play and turns to effect but also have the driving function, promptly adopt full wheel-drive mode, the contact area and the adhesive force that drive wheel and ground have been increased, dolly tractive force is strengthened greatly, can satisfy when the dolly load is big the demand of tractive force, synchronism is also fine;
(2) at the differential mechanism of all having installed between every pair of rear drive sprocket and between the front driving wheel between wheel, thereby realization differential gearing, make the front and back driving wheel of both sides when rotating speed is identical or different, can both obtain power, and do not produce slip between rear drive sprocket and ground can guarantee to turn to the time, improved and turn to precision.
(3) by turning to stepper motor to realize front-wheel steer, turn to the precision height.
(4) the absorption magnetic circuit that the strong magnetic circuit of formation was formed between magnet steel, back magnet steel, additional magnet steel, yoke and welded piece before dolly relied on is adsorbed on the welding work pieces, and is safe, reliable, easy;
(5) resilient suspension is being installed to adapt to irregular workpiece working face between back two driving wheels and little car body, is guaranteeing dolly wheel drive entirely still on irregular workpiece working face.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the vertical view of Fig. 1.
The specific embodiment
The utility model comprises dolly body 9, the front end both sides of dolly body 9 are equipped with a pair of front wheel driving deflecting roller 24, the both sides, rear end are equipped with a pair of back two driving wheels 14 and a pair of back one driving wheel 15, hand over (directly) flow servo motor 1 and decelerator 2 to be installed in above the motor cabinet 4 of dolly body 9, hand over the output shaft of (directly) flow servo motor 1 directly to link to each other with decelerator 2 inputs, drive bevel gear 5 is fixed on the output shaft 3 of decelerator 2, by dynamic bevel gear 6 and drive bevel gear 5 engaged transmission, by dynamic bevel gear 6, back one sprocket wheel 18 is fixed on one differential mechanism, 17 housings of back, on the semi-axle bevel gear after one end of back one jack shaft 22 is fixed in the differential mechanism 17, the other end is fixing with back one driving wheel 15, a pair of semi-axle bevel gear in one differential mechanism 17 of back and the engagement of a pair of bevel planet gear; Back one sprocket wheel 18 is connected with back two left sprocket wheels 20 on being fixed on back two differential mechanisms 16 housings by rear chain 19, and an end of back two jack shafts 35 is fixed on the semi-axle bevel gear in two differential mechanisms 16 of back, the other end with after two driving wheels 14 fix; Front portion in dolly body 9 is equipped with preceding differential mechanism 30, be connected with preceding sprocket wheel 29 on being fixed on preceding differential mechanism 30 housings by preceding chain 28 with back two left sprocket wheels 20, the back back two right sprocket wheels 27 that link together of two differential mechanisms 16, on the semi-axle bevel gear before one end of front wheel driving semiaxis 23 is fixed in the differential mechanism 30, the other end and front wheel driving deflecting roller 24 are fixing; Turn to stepper motor 13 to be fixed on the front portion of motor cabinet 4, turn to stepper motor 13 to connect tooth sector in the steering gear 11 by shaft coupling 12, tooth sector and steering rack engagement, the steering rack two ends are connected with left and right sides steering link 32, the two ends of steering linkage 32 all flexibly connect with an end of knuckle support 34, the other end of knuckle support 34 and knuckle 25 are fixed together, be fixed with front-axle beam 26 in dolly body 9 front end both sides, one end of knuckle 25 is movably arranged on the front-axle beam 26 by pivot stud 33, and the other end is enclosed within the bearing of front wheel driving deflecting roller 24.
Between back two driving wheels 14 and dolly body 9, resilient suspension 21 is installed; Magnet steel 10 before the bottom front of dolly body 9 is fixed with, and are fixed with back magnet steel 8 in the rear end, bottom, in the bottom center fixed additional magnet steel 31 arranged; Yoke 7 all is installed above each magnet steel, forms strong magnetic circuit between yoke 7 and welded piece.
Forming the absorption magnetic circuit that strong magnetic circuit constituted between magnet steel 10, back magnet steel 8 and additional magnet steel 31, yoke 7 and welded piece before the utility model relies on is adsorbed on the steel member of required welding.And send signal controlling by control circuit and hand over (directly) flow servo motor 1 and turn to stepper motor 13, thereby finish seam track from motion tracking.
During use, friendship (directly) flow servo motor 1 of control circuit control and regulation rotating speed is required rotating speed and the torque of dolly input, through decelerator 2 and a pair of drive bevel gear 5, by dynamic bevel gear 6 deceleration break-ins, guarantee the transmission of power of a driving wheel 15 under various moving conditions after two by back one differential mechanism 17 again, meanwhile, back one sprocket wheel 18 gives the back two left sprocket wheels 20 transmission of power by rear chain 19, and two driving wheels 14 after driving two by back two differential mechanisms 16.Give preceding sprocket wheel 29 by preceding chain 28 with transmission of power with the back two right sprocket wheels 27 that back two left sprocket wheels 20 are fixed together, preceding sprocket wheel 29 will change apart from passing to front wheel driving deflecting roller 24 by front wheel driving semiaxis 23 by preceding differential mechanism 30 again, so a friendship (directly) flow servo motor 1 drives two front wheel driving deflecting rollers 24 and four rear drive sprockets 14,15 totally six driving wheels simultaneously, promptly adopt full wheel-drive mode, and owing to disposed differential mechanism, the different transmission of power of rear drive sprocket rotating speed of dolly both sides when can self adaptation turning, and avoid the generation of skidding.For adapting to irregular workpiece working face, between back two driving wheels 14 and dolly body 9, resilient suspension 21 is installed.
Turn to function to finish by front wheel driving deflecting roller 24.Turn to stepper motor 13 that the pulse signal that provides by control circuit is provided, keep motionless or rotate an angle.When turning to, turn to the angular displacement of stepper motor 13 to pass to steering gear 11 by shaft coupling 12, steering gear 11 drives steering linkage 32, by knuckle support 34, knuckle 25 front wheel driving deflecting roller 24 is rotated to the required angle of stub 33 deflections again, realizes the purpose that turns to.
Claims (3)
1, a kind of creeping-type all position welding machine people is wheeled to drive entirely, comprise little car body (9), the front end both sides of little car body (9) are equipped with a pair of front wheel driving deflecting roller (24), the both sides, rear end are equipped with a pair of back two driving wheels (14) and a pair of back one driving wheel (15), hand over (directly) flow servo motor (1) and decelerator (2) to be installed in above the motor cabinet (4) of little car body (9), drive bevel gear (5) is fixed on the output shaft (3) of decelerator (2), by dynamic bevel gear (6) and drive bevel gear (5) engaged transmission, by dynamic bevel gear (6), back one sprocket wheel (18) is fixed on one differential mechanism (17) housing of back, one end of back one jack shaft (22) is fixed on the interior semi-axle bevel gear of back one differential mechanism (17), the other end is fixing with back one driving wheel (15), it is characterized in that: back one sprocket wheel (18) is connected with back two left sprocket wheels (20) on being fixed on back two differential mechanisms (16) housing by rear chain (19), one end of back two jack shafts (35) is fixed on the interior semi-axle bevel gear of back two differential mechanisms (16), and the other end is fixing with back two driving wheels (14); Front portion in little car body (9) is equipped with preceding differential mechanism (30), be connected with preceding sprocket wheel (29) on being fixed on preceding differential mechanism (30) housing by preceding chain (28) with back two left sprocket wheels (20), the back two right sprocket wheels (27) that link together of back two differential mechanisms (16), one end of front wheel driving semiaxis (23) is fixed on the interior semi-axle bevel gear of preceding differential mechanism (30), and the other end and front wheel driving deflecting roller (24) are fixing; Turn to stepper motor (13) to be fixed on the front portion of motor cabinet (4), turn to stepper motor (13) to connect steering gear (11) by shaft coupling (12), the two ends of steering linkage (32) all flexibly connect with an end of knuckle support (34), the other end of knuckle support (34) and knuckle (25) are fixed together, be fixed with front-axle beam (26) in little car body (9) front end both sides, one end of knuckle (25) is movably arranged on the front-axle beam (26) by pivot stud (33), and the other end is enclosed within the bearing of front wheel driving deflecting roller (24) and is fixed with magnet steel on the bottom of little car body.
2, creeping-type all position welding machine people as claimed in claim 1 is wheeled drives entirely, it is characterized in that: between back two rear drive sprockets (14) and little car body (9) resilient suspension (21) is installed.
3, creeping-type all position welding machine people as claimed in claim 1 or 2 is wheeled drives entirely, it is characterized in that: the bottom front at little car body (35) is fixed with preceding magnet steel (10), be fixed with back magnet steel (8) in the rear end, bottom, additional magnet steel (31) arranged in the bottom center fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02265202 CN2550115Y (en) | 2002-06-26 | 2002-06-26 | Wheel type full driving car for crawl type full position welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02265202 CN2550115Y (en) | 2002-06-26 | 2002-06-26 | Wheel type full driving car for crawl type full position welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2550115Y true CN2550115Y (en) | 2003-05-14 |
Family
ID=33731265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02265202 Expired - Fee Related CN2550115Y (en) | 2002-06-26 | 2002-06-26 | Wheel type full driving car for crawl type full position welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2550115Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101654124B (en) * | 2009-08-26 | 2011-04-27 | 清华大学 | Curved surface all-position creeping-type mobile robot mechanism |
| CN101439736B (en) | 2007-11-21 | 2012-05-23 | 中国科学院沈阳自动化研究所 | All-terrain moving robot |
| CN102672315A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Autonomous mobile double-sided double-arc welding robot system |
| CN102689083A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate |
| CN103029539A (en) * | 2011-10-09 | 2013-04-10 | 沈阳理工大学 | Novel driven self-adaptive six-wheeled all-terrain mobile robot |
-
2002
- 2002-06-26 CN CN 02265202 patent/CN2550115Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101439736B (en) | 2007-11-21 | 2012-05-23 | 中国科学院沈阳自动化研究所 | All-terrain moving robot |
| CN101654124B (en) * | 2009-08-26 | 2011-04-27 | 清华大学 | Curved surface all-position creeping-type mobile robot mechanism |
| CN103029539A (en) * | 2011-10-09 | 2013-04-10 | 沈阳理工大学 | Novel driven self-adaptive six-wheeled all-terrain mobile robot |
| CN103029539B (en) * | 2011-10-09 | 2015-06-03 | 沈阳理工大学 | Novel driven self-adaptive six-wheeled all-terrain mobile robot |
| CN102672315A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Autonomous mobile double-sided double-arc welding robot system |
| CN102689083A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate |
| CN102689083B (en) * | 2012-06-07 | 2015-05-13 | 中国东方电气集团有限公司 | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |