CN105312809A - Distance-adjustable arm of welding robot - Google Patents
Distance-adjustable arm of welding robot Download PDFInfo
- Publication number
- CN105312809A CN105312809A CN201510902000.5A CN201510902000A CN105312809A CN 105312809 A CN105312809 A CN 105312809A CN 201510902000 A CN201510902000 A CN 201510902000A CN 105312809 A CN105312809 A CN 105312809A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- arm
- welding robot
- base
- linear slide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The invention specifically discloses a distance-adjustable arm of a welding robot. The distance-adjustable arm comprises a base for connecting with a welding robot holder, two linear sliding rails arranged perpendicularly to the base, a hydraulic cylinder located between the two linear sliding rails and a movable arm located above the hydraulic cylinder; the two linear sliding rails are fixedly mounted on the left and right sides of the base through bolts; the hydraulic cylinder is also fixedly mounted on the base through a bolt; the two sides of a sliding arm are fixedly connected with the two linear sliding rails, respectively; a projection for connecting with a second arm of the welding robot is further arranged at the top end of the sliding arm; a piston rod of the hydraulic cylinder is hinged to the bottom end of the movable arm. The hydraulic cylinder employs a hydraulic servo control system, which realizes up and down linear movements of the sliding arm and meets the working requirements of the welding robot; the hydraulic cylinder is connected to the hydraulic servo control system in a differential connection manner so that a movement speed of the welding robot can be further increased; as a result, the production time can be saved for an enterprise and the production efficiency can be improved.
Description
Technical field
The present invention relates to field of welding devices, be specifically related to a kind of welding robot roll adjustment arm.
Background technology
In the prior art; in Robotics, frame for movement technology with automatic control technology develops rapidly, under universal background; the every profession and trade field that is applied in of robot is popularized rapidly; and constantly towards intelligent and personalized future development; there is the widespread demand to jib adjustable length robot, especially information record and the protection field such as to have taken pictures in the three-dimensional of cultural treasures and historic site.Boom type (or claim arm type) robot is a most widely used class welding robot at present, described boom type robot comprises the arm support equipment of interconnective more piece jib composition, vertical jib and horizontal jib are in 90 degree of settings, with a mechanical clamp, two joint jibs are fixed together, when needing the distance of adjustment top horizontal jib distance usage platform, need loosening mechanical clamp to regulate the installation site of its opposed vertical jib.
At present, when this kind of arm support equipment is widely used in and carries out three dimensions welding to (or other objects), body surface is carried out to single-degree-of-freedom or the multiple degrees of freedom location of space one dimension or various dimensions, and other similar work, during use, carry out space orientation according to welding requirements Butt welding gun (spray gun).When robot is used for this or similar occasion to boom type (or claiming arm type), welding gun (spray gun) is needed to carry out fine adjustment and maintenance relative to the distance of soldered object, to its frame for movement and control, there is higher requirement, especially need to control accurately to the position at a specified point place on its jib and direction, but existing jib has following defect: operating process is complicated; Positioning precision is poor, cannot meet the demand of hi-Fix; Repetitive positioning accuracy is poor, the working condition of high accuracy of cannot satisfying the demand resetting; In operating process, jib bumpy motion may be caused, and then other equipment that impact is arranged on jib runs; Jib can not move linearly.
Summary of the invention
The object of the present invention is to provide a kind of welding robot roll adjustment arm movable linearly.
For achieving the above object, base case of the present invention is: welding robot roll adjustment arm, comprise the base for connecting welding robot holder, perpendicular to two linear slide rails that base is arranged, the lever arm being positioned at the hydraulic cylinder in the middle of two linear slide rails and being positioned at above hydraulic cylinder, two linear slide rails are mounted by means of bolts on the left and right sides of base, hydraulic cylinder is also mounted by means of bolts on base, the both sides of travelling arm are fixedly connected with two linear slide rails respectively, the top of travelling arm be also provided with for the second arm of welding robot to the protuberance be connected, the piston rod of hydraulic cylinder and the bottom of lever arm hinged.
Operation principle and the advantage of this programme are: hydraulic cylinder and two linear slide rails are fixedly mounted on the base for connecting welding robot holder, moved up and down along two linear slide rails by Driven by Hydraulic Cylinder travelling arm, what ensure travelling arms by two linear slide rails moves up and down precision, travelling arm can not be offset, and the rectilinear movement up and down thus achieving travelling arm meets the job requirement of welding robot.
Prioritization scheme one: based on the preferred version of scheme, hydraulic cylinder adopts hydraulic servo control system.The hydraulic cylinder that have employed hydraulic servo control system can improve the welding precision of welding robot, because hydraulic servo control system is except having the intrinsic advantage of general hydraulic drive, also has that system stiffness is large, control accuracy is high, fast response time, can start fast, stop and reverse advantage.And hydraulic servo control system can form that volume is little, lightweight, acceleration capacity strong, be swift in motion and the servo-drive system of high-power and heavy load that control accuracy is high, so also further reduce the volume of this device.
Preferred version two: the preferably preferred version of, hydraulic cylinder adopts the mode of differential connection to access in hydraulic servo control system.Differential connection is under the condition not increasing hydraulic pump capacity and power, realizes the effective way of rapid movement.So hydraulic cylinder adopts the mode of differential connection to access the translational speed that can improve welding robot in hydraulic servo control system further, for enterprise saves the production time, enhance productivity.
Preferred version three: the preferably preferred version of two, base is also installed with the safety glass dust cover surrounding two linear slide rails and hydraulic cylinder.Installing safety glass dust cover makes safety glass can protect this device from mechanics on the one hand; Safety glass dust cover also can intercept the dust in air on the other hand, prevents component of machine to lose efficacy.
Accompanying drawing explanation
Fig. 1 is the mounting structure schematic diagram of welding robot roll adjustment arm embodiment of the present invention;
Fig. 2 is the hydraulic servo control system figure of the embodiment of the present invention.
Detailed description of the invention
Below by detailed description of the invention, the present invention is further detailed explanation:
Reference numeral in Figure of description comprises: holder 1, base 2, safety glass dust cover 3, hydraulic cylinder 4, linear slide rail 5, lever arm 6, protuberance 61.
Embodiment is substantially as shown in Figure 1:
Welding robot roll adjustment arm, comprises the base 2 for connecting welding robot holder 1, perpendicular to two linear slide rails 5 that base 2 is arranged, is positioned at the hydraulic cylinder 4 in the middle of two linear slide rails 5.Two linear slide rails 5 are mounted by means of bolts on the left and right sides of base 2.Hydraulic cylinder 4 is also mounted by means of bolts on base 2.As shown in Figure 1, travelling arm is provided with between two linear slide rails 5, the both sides of travelling arm are fixedly connected with two linear slide rails 5 respectively, the piston rod of hydraulic cylinder 4 and the bottom of lever arm 6 hinged, the top of travelling arm be also provided with for the second arm of welding robot to the protuberance 61 be connected.In the present embodiment, travelling arm is driven to move up and down along two linear slide rails 5 by hydraulic cylinder 4, what ensure travelling arm by two linear slide rails 5 moves up and down precision, and travelling arm can not be offset, and what thus achieve travelling arm moves up and down the job requirement that precision meets welding robot.As shown in Figure 1, base 2 is also provided with safety glass dust cover 3, safety glass dust cover 3 surrounds two linear slide rails 5 and hydraulic cylinder 4 to ensure that the dust in air impacts lever arm 6.
In order to improve the displacement accuracy of this device further, hydraulic cylinder 4 in the present embodiment have employed hydraulic servo control system, as shown in Figure 2, hydraulic servo control system is by input unit, comparing element, servo amplifier, hydraulic control component, executing agency and become by control group of objects, wherein executing agency is the hydraulic cylinder 4 in the present embodiment, by the lever arm 6 that control object is in the present embodiment, displacement is the shift value of the lever arm 6 in the present embodiment.The cardinal principle of this hydraulic servo control system is: be supplied to comparing element set amount of feeding by drive unit, that is: lever arm 6 is from needing moving displacement input quantity, servo amplifier signal is supplied to by comparing element, then hydraulic cylinder 4 control element is passed through by servo amplifier, as the action of the hydraulic control such as proportional control valve, electric hydraulic control valve cylinder 4, hydraulic cylinder 4 drives lever arm 6 to slide up and down generation displacement along two linear slide rails 5.After getting rid of the disturbing factors such as resistance, air, temperature, pressure, by detection means measure lever arm 6 actual displacement amount, actual displacement amount is fed back to comparing element, then input displacement and actual displacement amount compare by comparing element again, by comparison value, system is regulated, make final actual displacement amount equal with input displacement.In order to improve the translational speed of welding robot further, hydraulic cylinder 4 adopts the mode of differential connection to access in hydraulic servo control system.
Above-described is only embodiments of the invention, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.The protection domain that this application claims should be as the criterion with the content of its claim, and the detailed description of the invention in description etc. record the content that may be used for explaining claim.
Claims (4)
1. welding robot roll adjustment arm, it is characterized in that, comprise the base for connecting welding robot holder, perpendicular to two linear slide rails that base is arranged, the lever arm being positioned at the hydraulic cylinder in the middle of two linear slide rails and being positioned at above hydraulic cylinder, described two linear slide rails are mounted by means of bolts on the left and right sides of base, described hydraulic cylinder is also mounted by means of bolts on base, the both sides of described travelling arm are fixedly connected with two linear slide rails respectively, the top of travelling arm be also provided with for the second arm of welding robot to the protuberance be connected, the piston rod of hydraulic cylinder and the bottom of lever arm hinged.
2. welding robot roll adjustment arm according to claim 1, is characterized in that, described hydraulic cylinder adopts hydraulic servo control system.
3. welding robot roll adjustment arm according to claim 2, is characterized in that, described hydraulic cylinder adopts the mode of differential connection to access in hydraulic servo control system.
4. welding robot roll adjustment arm according to claim 3, is characterized in that, described base is also installed with the safety glass dust cover surrounding two linear slide rails and hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510902000.5A CN105312809A (en) | 2015-12-09 | 2015-12-09 | Distance-adjustable arm of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510902000.5A CN105312809A (en) | 2015-12-09 | 2015-12-09 | Distance-adjustable arm of welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105312809A true CN105312809A (en) | 2016-02-10 |
Family
ID=55241648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510902000.5A Pending CN105312809A (en) | 2015-12-09 | 2015-12-09 | Distance-adjustable arm of welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105312809A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4516476A (en) * | 1983-04-14 | 1985-05-14 | Lord Corporation | Actuator assembly for an industrial manipulator or the like |
| CN201021357Y (en) * | 2007-01-27 | 2008-02-13 | 汕头市粤东机械厂有限公司 | Bottle-retreating mechanical hand for filling packing machine |
| CN201461593U (en) * | 2009-08-06 | 2010-05-12 | 河北宏远液压机械有限公司 | Narrow side width-regulating servo hydraulic cylinder of crystallizer |
| CN102069430A (en) * | 2010-10-28 | 2011-05-25 | 常州市武滚轴承有限公司 | Mechanical arm device of centerless grinding machine |
| CN102229143A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Four-degree-of-freedom pneumatic manipulator |
| CN103507081A (en) * | 2012-06-28 | 2014-01-15 | 俞卫群 | Extending arm mechanism of mechanical arm |
-
2015
- 2015-12-09 CN CN201510902000.5A patent/CN105312809A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4516476A (en) * | 1983-04-14 | 1985-05-14 | Lord Corporation | Actuator assembly for an industrial manipulator or the like |
| CN201021357Y (en) * | 2007-01-27 | 2008-02-13 | 汕头市粤东机械厂有限公司 | Bottle-retreating mechanical hand for filling packing machine |
| CN201461593U (en) * | 2009-08-06 | 2010-05-12 | 河北宏远液压机械有限公司 | Narrow side width-regulating servo hydraulic cylinder of crystallizer |
| CN102069430A (en) * | 2010-10-28 | 2011-05-25 | 常州市武滚轴承有限公司 | Mechanical arm device of centerless grinding machine |
| CN102229143A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Four-degree-of-freedom pneumatic manipulator |
| CN103507081A (en) * | 2012-06-28 | 2014-01-15 | 俞卫群 | Extending arm mechanism of mechanical arm |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160210 |