CN107953061A - A kind of vehicle bodywork soldering welding robot - Google Patents
A kind of vehicle bodywork soldering welding robot Download PDFInfo
- Publication number
- CN107953061A CN107953061A CN201711177327.6A CN201711177327A CN107953061A CN 107953061 A CN107953061 A CN 107953061A CN 201711177327 A CN201711177327 A CN 201711177327A CN 107953061 A CN107953061 A CN 107953061A
- Authority
- CN
- China
- Prior art keywords
- support
- ball hinged
- base
- welding
- ball
- 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.)
- Withdrawn
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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
- B23K37/0247—Driving means
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
-
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Body Structure For Vehicles (AREA)
- Resistance Welding (AREA)
Abstract
The present invention provides a kind of vehicle bodywork soldering welding robot, including base, 6 the first ball hinged supports, 6 hydraulic cylinders, 6 the second ball hinged supports, welding platform, support frame, body of a motor car, sliding bars, it is characterised in that：The base is rectangular flat plate, and the supporting rod is fixed on the center of base vertically, and steel ball is equipped with the top of supporting rod；6 first ball hinged supports are distributed on above the base centered on supporting rod；The posture of body of a motor car can be with real-time transform when being welded to body of a motor car by the present invention, while the posture of welding gun can also adjust in real time, have higher flexibility and higher welding efficiency.
Description
The present invention be applicant on 07 20th, 2016 number of patent application proposed be " 201610570045.1 ", title
For a kind of divisional application of the Chinese invention patent application of " vehicle bodywork soldering welding robot ", entire contents are incorporated into the application
Among.
Technical field
The present invention relates to Technology of Welding Robot field, more particularly to a kind of vehicle bodywork soldering welding robot.
Background technology
Automobile Welding robot is a important equipment of auto manufacturing, and traditional welding robot is mostly six axis machines
Device people, scope of activities is small, and speed of welding is slow, and the posture of vehicle body cannot convert.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of vehicle bodywork soldering welding robot, it is welded to body of a motor car
When body of a motor car posture can be with real-time transform, while the posture of welding gun can also adjust in real time, have higher flexibility and
Higher welding efficiency.
Technical solution used in the present invention is：A kind of vehicle bodywork soldering welding robot, including base, 6 the first flexural pivots
Bearing, 6 hydraulic cylinders, 6 the second ball hinged supports, welding platform, support frame, body of a motor car, sliding bar, the first electric cylinders, set
Cylinder, sliding block, guide rail, gear, the first servomotor, welding gun, worm screw, the second servomotor, worm gear, shaft, supporting rod, the 3rd ball
Hinged-support, the first support base, the second support base, the second electric cylinders, the 3rd support base, it is characterised in that：The base is rectangular
Shape tablet, the supporting rod are fixed on the center of base vertically, and steel ball is equipped with the top of supporting rod；Described 6
First ball hinged support is distributed on above the base centered on supporting rod.
The welding platform is circular flat plate structure, and the center immediately below circular tablet is equipped with the 3rd flexural pivot branch
Seat, is equipped with 3 group of second ball hinged support, every group is made of 2 the second ball hinged supports, each group around the 3rd ball hinged support
Angle between the center of 2 the second ball hinged supports and the 3rd ball hinged support line of centres is 15 °, and welding platform passes through the 3rd ball
Hinged-support is articulated and connected with supporting rod；The piston rod front end of the hydraulic cylinder is articulated and connected with the second ball hinged support, described
The rear end of the cylinder block of hydraulic cylinder and the first ball hinged support are articulated and connected.
The support frame is installed on above base, and the shaft is rotatably installed in support frame in end floor beam
Heart position, is provided with worm gear above shaft, and guide rail is provided with below shaft, is provided with rack in the side of guide rail, institute
The sliding block stated is slidably mounted on guide rail, the first servomotor is provided with sliding block side, in the motor shaft of the first servomotor
On gear is installed, the wheel and rack intermeshes, by the first servomotor can drive sliding block on guide rail it is sliding
Dynamic, first support base and the second support base are installed in the lower section of sliding block；The sleeve is hollow rhs-structure, thereon
End is hinged on the first support base, and its underpart is slidably fitted with sliding bar, and the slip of sliding bar is controlled by the first electric cylinders, and first
The rear end of the cylinder block of electric cylinders is fixed on cartridges sides, and the telescopic rod front end of the first electric cylinders is connected with sliding bar, the described the 3rd
Support seat to be installed on sleeve, the second described electric cylinders one end and the second support seat hinge, the other end and the 3rd support seat hinge, institute
The welding gun stated is installed on the bottom of sliding bar；The worm screw is rotatably installed in support frame top and is meshed with worm gear,
Worm screw is driven by the second servomotor, and the body of a motor car is fixed on welding platform top.
To be had the following advantages since present invention employs above-mentioned technical proposal, the present invention：The present invention to body of a motor car into
The posture of body of a motor car can be with real-time transform during row welding, while the posture of welding gun can also adjust in real time, have higher spirit
Active and higher welding efficiency.
Brief description of the drawings
Fig. 1, Fig. 2 are the overall structure diagram of the present invention.
Fig. 3 installs partial enlarged view for welding gun part of the present invention.
Fig. 4 is the welding platform structure diagram of the present invention.
Drawing reference numeral：1- bases；The first ball hinged supports of 2-；3- hydraulic cylinders；The second ball hinged supports of 5-；6- welding platforms；7-
Support frame；8- bodies of a motor car；9- sliding bars；The first electric cylinders of 10-；11- sleeves；12- sliding blocks；13- guide rails；14- gears；15-
First servomotor；16- welding guns；17- worm screws；The second servomotors of 18-；19- worm gears；20- shafts；21- supporting rods；22-
Three ball hinged supports；The first support bases of 23-；The second support bases of 24-；The second electric cylinders of 25-；The 3rd support bases of 26-.
Embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of vehicle bodywork soldering welding robot, including 1,6 the first ball hinged support 2,6 of base
A 3,6 the second ball hinged supports 5 of hydraulic cylinder, welding platform 6, support frame 7, body of a motor car 8, sliding bar 9, the first electric cylinders 10,
Sleeve 11, sliding block 12, guide rail 13, gear 14, the first servomotor 15, welding gun 16, worm screw 17, the second servomotor 18, worm gear
19th, shaft 20, supporting rod 21, the 3rd ball hinged support 22, the first support base 23, the second support base 24, the second electric cylinders 25, the 3rd
Support seat 26, it is characterised in that：The base 1 is rectangular flat plate, and the supporting rod 21 is fixed on the center of base 1 vertically
Position, steel ball is equipped with the top of supporting rod 21；6 first ball hinged supports 2 are distributed on centered on supporting rod 21
The top of base 1；
The welding platform 6 is circular flat plate structure, and the center immediately below circular tablet is equipped with the 3rd ball hinged support
22,3 group of second ball hinged support 5 is equipped with around the 3rd ball hinged support 22, every group is made of 2 the second ball hinged supports 5, each
Angle between 22 line of centres of center and the 3rd ball hinged support of 2 the second ball hinged supports 5 of group is 15 °, and welding platform 6 is logical
The 3rd ball hinged support 22 is crossed to be articulated and connected with supporting rod 21；Cut with scissors with the second ball hinged support 5 the piston rod front end of the hydraulic cylinder 3
Connect in succession, the rear end of the cylinder block of the hydraulic cylinder 3 is articulated and connected with the first ball hinged support 2.
The support frame 7 is installed on the top of base 1, and the shaft 20 is rotatably installed in 7 upper end of support frame horizontal stroke
The center of beam, is provided with worm gear 19 in the top of shaft 20, guide rail 13 is provided with below shaft 20, in the side of guide rail 13
Face is provided with rack, and the sliding block 12 is slidably mounted on guide rail 13, and the first servomotor 15 is provided with 12 side of sliding block,
Gear 14 is installed on the motor shaft of the first servomotor 15, the gear 14 intermeshes with rack, watched by first
Taking motor 15 can drive sliding block 12 to be slided on guide rail 13, and first support base 23 and the second support base 24 are installed on and slide
The lower section of block 12；The sleeve 11 is hollow rhs-structure, and end is hinged on the first support base 23 thereon, and its underpart is slided
Sliding bar 9 is installed, the slip of sliding bar 9 is controlled by the first electric cylinders 10, and the rear end of the cylinder block of the first electric cylinders 10 is fixed on sleeve 11
Side, the telescopic rod front end of the first electric cylinders 10 are connected with sliding bar 9, and the 3rd support base 26 is installed on sleeve 11,
Described 25 one end of the second electric cylinders is hinged with the second support base 24, and the other end and the 3rd support base 26 are hinged, the welding gun 16
Installed in the bottom of sliding bar 9；The worm screw 17 is rotatably installed in 7 top of support frame and is meshed with worm gear 19, snail
Bar 17 is driven by the second servomotor 18, and the body of a motor car 8 is fixed on 6 top of welding platform.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Operation principle of the present invention：Body of a motor car 8 is fixed on welding platform 6 by the present invention first when carrying out weld job
On, welded using welding gun 16 above, the posture of body of a motor car 8 can convert in welding process, its conversion is by 6
What a hydraulic cylinder 3 was realized, while the position of welding gun 16 is also that can both be rotated around shaft 20 with real-time change, and also might be used
To be slided along guide rail 13, can also be swung around the first support base 23.
Claims (3)
- A kind of 1. vehicle bodywork soldering welding robot, it is characterised in that：Including base（1）, 6 the first ball hinged supports（2）, 6 liquid Cylinder pressure（3）, 6 the second ball hinged supports（5）, welding platform（6）, support frame（7）, body of a motor car（8）, sliding bar（9）, first Electric cylinders（10）, sleeve（11）, sliding block（12）, guide rail（13）, gear（14）, the first servomotor（15）, welding gun（16）, worm screw （17）, the second servomotor（18）, worm gear（19）, shaft（20）, supporting rod（21）, the 3rd ball hinged support（22）, first support Seat（23）, the second support base（24）, the second electric cylinders（25）, the 3rd support base（26）, it is characterised in that：The base（1）For Rectangular flat plate, the supporting rod（21）It is fixed on base vertically（1）Center, in supporting rod（21）Top be equipped with Steel ball；6 first ball hinged supports（2）It is distributed on supporting rod（21）Centered on base（1）Top；The welding Platform（6）For circular flat plate structure, the center immediately below circular tablet is equipped with the 3rd ball hinged support（22）, in the 3rd ball Hinged-support（22）Around be equipped with 3 group of second ball hinged support（5）, every group by 2 the second ball hinged supports（5）Form, the 2 of each group A second ball hinged support（5）Center and the 3rd ball hinged support（22）Angle between the line of centres is 15 °, welding platform（6） Pass through the 3rd ball hinged support（22）With supporting rod（21）Articulated connection；The hydraulic cylinder（3）Piston rod front end and the second ball Hinged-support（5）Articulated connection, the hydraulic cylinder（3）Rear end of the cylinder block and the first ball hinged support（2）Articulated connection；The branch Support frame frame（7）Installed in base（1）Top, the shaft（20）It is rotatably installed in support frame（7）The center of upper end floor beam Position, in shaft（20）Top worm gear is installed（19）, in shaft（20）Lower section is provided with guide rail（13）, in guide rail（13）'s Side is provided with rack, the sliding block（12）It is slidably mounted on guide rail（13）On, in sliding block（12）Side is provided with first and watches Take motor（15）, in the first servomotor（15）Motor shaft on gear is installed（14）, the gear（14）It is mutual with rack It is meshed, passes through the first servomotor（15）Sliding block can be driven（12）In guide rail（13）Upper slip, first support base （23）With the second support base（24）Installed in sliding block（12）Lower section；The sleeve（11）Upper end is hinged on the first support base （23）On, its underpart is slidably fitted with sliding bar（9）, sliding bar（9）Slip by the first electric cylinders（10）Control, the first electric cylinders （10）Rear end of the cylinder block be fixed on sleeve（11）Side, the first electric cylinders（10）Telescopic rod front end and sliding bar（9）It is connected, institute The 3rd support base stated（26）Installed in sleeve（11）On, second electric cylinders（25）One end and the second support base（24）Hinge Connect, the other end and the 3rd support base（26）Hinged, described welding gun（16）Installed in sliding bar（9）Bottom；The snail Bar（17）It is rotatably installed in support frame（7）Top and and worm gear（19）It is meshed, worm screw（17）By the second servomotor（18） Driving, the body of a motor car（8）It is fixed on welding platform（6）Top.
- A kind of 2. vehicle bodywork soldering welding robot according to claim 1, it is characterised in that：The sleeve（11）It is empty Heart rhs-structure.
- A kind of 3. vehicle bodywork soldering welding robot according to claim 1, it is characterised in that：Vehicle bodywork soldering welding robot When carrying out weld job first by body of a motor car（8）It is fixed on welding platform（6）On, utilize welding gun above（16）Welded Connect, the body of a motor car in welding process（8）Posture can convert, its conversion is to pass through（6）A hydraulic cylinder（3）Realize, together When welding gun（16）Position be also that shaft can both be surrounded with real-time change（20）Rotate, can also be along guide rail（13）It is sliding It is dynamic, the first support base (23) can also be surrounded and swung.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711177327.6A CN107953061A (en) | 2016-07-20 | 2016-07-20 | A kind of vehicle bodywork soldering welding robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570045.1A CN106112332B (en) | 2016-07-20 | 2016-07-20 | A kind of vehicle bodywork soldering welding robot |
| CN201711177327.6A CN107953061A (en) | 2016-07-20 | 2016-07-20 | A kind of vehicle bodywork soldering welding robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570045.1A Division CN106112332B (en) | 2016-07-20 | 2016-07-20 | A kind of vehicle bodywork soldering welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107953061A true CN107953061A (en) | 2018-04-24 |
Family
ID=57290513
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570045.1A Active CN106112332B (en) | 2016-07-20 | 2016-07-20 | A kind of vehicle bodywork soldering welding robot |
| CN201711177327.6A Withdrawn CN107953061A (en) | 2016-07-20 | 2016-07-20 | A kind of vehicle bodywork soldering welding robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570045.1A Active CN106112332B (en) | 2016-07-20 | 2016-07-20 | A kind of vehicle bodywork soldering welding robot |
Country Status (1)
| Country | Link |
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| CN (2) | CN106112332B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648233A (en) * | 2019-02-24 | 2019-04-19 | 田蜜香 | A kind of box welding robot |
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| CN108274171A (en) * | 2018-02-09 | 2018-07-13 | 芜湖市海联机械设备有限公司 | A kind of Intelligent welding robot based on machine vision |
| CN108789311A (en) * | 2018-06-08 | 2018-11-13 | 徐超 | The assembly and disassembly methods of angular transformation operation console |
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| CN110497123A (en) * | 2019-08-28 | 2019-11-26 | 凌军 | A kind of mechanical welder of annular |
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| CN112404774A (en) * | 2020-11-20 | 2021-02-26 | 上海冠致工业自动化有限公司 | Automatic change intelligent automobile body welding system |
| CN112388176A (en) * | 2020-11-26 | 2021-02-23 | 闽江学院 | Six-axis linkage laser engraving machine based on horizontal guide rail |
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| JP2765086B2 (en) * | 1989-08-25 | 1998-06-11 | 石川島播磨重工業株式会社 | Welding equipment |
| CN2790663Y (en) * | 2005-04-13 | 2006-06-28 | 浙江大学 | Space four degree-of-freedom platform mechanism |
| CN202591847U (en) * | 2012-06-04 | 2012-12-12 | 王伟存 | Welding device for intersecting lines |
| CN103111777B (en) * | 2013-02-04 | 2015-08-19 | 张家港市永发机器人科技有限公司 | Rectangular coordinate system welding robot device |
| CN103433916B (en) * | 2013-08-06 | 2016-01-20 | 北京航空航天大学 | The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel |
| CN103863576B (en) * | 2013-12-26 | 2016-02-24 | 吉林大学 | Depopulated helicopter performance detecting platform |
| CN103894749B (en) * | 2014-04-08 | 2015-09-30 | 浙江惠创风机有限公司 | A kind of air duct Straight seam welding machine automatically |
| CN104002299B (en) * | 2014-05-12 | 2015-09-30 | 西安理工大学 | Six-freedom parallel microfluidic platform |
| CN104626099B (en) * | 2014-12-08 | 2016-05-18 | 燕山大学 | Six degree of freedom hybrid mechanism is moved in three full decoupled rotations three |
| CN204657779U (en) * | 2015-03-11 | 2015-09-23 | 湖南汽车工程职业学院 | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot |
| CN204818481U (en) * | 2015-07-03 | 2015-12-02 | 安徽省振华科技工业有限公司 | Handle pole head welding set |
| CN204997257U (en) * | 2015-09-02 | 2016-01-27 | 哈尔滨工程大学 | Integrative machine people of multi -functional five planer -types welding |
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2016
- 2016-07-20 CN CN201610570045.1A patent/CN106112332B/en active Active
- 2016-07-20 CN CN201711177327.6A patent/CN107953061A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648233A (en) * | 2019-02-24 | 2019-04-19 | 田蜜香 | A kind of box welding robot |
| CN109648233B (en) * | 2019-02-24 | 2020-11-17 | 安徽普华灵动机器人科技有限公司 | Square frame welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106112332B (en) | 2018-04-06 |
| CN106112332A (en) | 2016-11-16 |
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Application publication date: 20180424 |