CN203765206U - End executing mechanism of rectangular coordinate type automatic welder - Google Patents
End executing mechanism of rectangular coordinate type automatic welder Download PDFInfo
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- CN203765206U CN203765206U CN201420191437.3U CN201420191437U CN203765206U CN 203765206 U CN203765206 U CN 203765206U CN 201420191437 U CN201420191437 U CN 201420191437U CN 203765206 U CN203765206 U CN 203765206U
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Abstract
The utility model discloses an end executing mechanism of a rectangular coordinate type automatic welder. The end executing mechanism comprises a transverse rack, a vertical rack and a transverse perpendicular rack, wherein a transverse hybrid stepping motor, a transverse flexible coupler and a transverse nut ball screw are arranged on the transverse rack, a vertical guide rail, a vertical hybrid stepping motor, a vertical flexible coupler and a vertical nut ball screw are arranged on the vertical rack, a working platform is movably arranged on the vertical rack, the working platform is movably arranged on the vertical guide rail and the vertical nut ball screw of the vertical rack through a movable slider assembly, a sliding guide rail is arranged on the transverse perpendicular rack, and a transverse perpendicular hybrid stepping motor, a transverse perpendicular flexible coupler and a transverse perpendicular nut ball screw are arranged at the end part of the transverse perpendicular rack. The end executing mechanism is simple in structure, easy and convenient to control, relatively small in mutual influence, convenient to overhaul and maintain, high in transmission efficiency, strong in stability, good in applicability and strong in practicability; the control precision is improved.
Description
Technical field
The utility model belongs to robotic welding technology field, is specifically related to cartesian co-ordinate type automatic welder(welding machine) end effector mechanism.
Background technology
Existing welding robot end effector mechanism exists a following key technology difficult problem in actual applications: the how non-employing three-dimensional cartesian coordinate system of welding robot end effector mechanism Stroke Control form, and control operation is complicated, and control accuracy is low; Mechanical part transmission efficiency is low, robust motion is poor, and pad localization precision and repetitive positioning accuracy are low; The horizontal frame of welding robot end effector mechanism cannot be rotated, and can not meet complicated processing needs, wastes the required time of clamping workpiece simultaneously, and production efficiency is low; Complex structure, manufactures, maintenance cost is high, and difficulty realizes dismounting and the overall package of each parts; Applicability is restricted to a certain extent, is difficult to meet the demand in market.
Summary of the invention
The purpose of this utility model is to provide a kind of simple in structure, stability in use good and running precision is high cartesian co-ordinate type automatic welder(welding machine) end effector mechanism.
The technical scheme that realizes the utility model object is: a kind of cartesian co-ordinate type automatic welder(welding machine) end effector mechanism, comprise horizontal frame, the vertical frame that is arranged on described horizontal frame one end and vertically arranges, the horizontal vertical frames that is arranged in described horizontal frame and meets at right angles and arrange with described horizontal frame, described horizontal vertical frames and described vertical frame are separately positioned on the two ends of described horizontal frame, in described horizontal frame, be provided with cross rail, at the middle part of described horizontal frame, be provided with horizontal composite stepper motor, the horizontal nut ball screw being connected by transversal flexibility shaft coupling with described horizontal composite stepper motor, described vertical frame is movably arranged on described horizontal nut ball screw and cross rail by slide bar assembly, in described vertical frame, be provided with vertical guide, at the top of described vertical frame, be provided with vertical composite stepper motor, described vertical composite stepper motor is connected with vertical nut ball screw by vertical flexible coupling, in described vertical frame, be movably equipped with workbench, described workbench is movably arranged in the vertical guide and vertical nut ball screw of described vertical frame by moving slider assembly, bottom in described vertical frame is provided with bearing (ball) cover, the bottom of described vertical nut ball screw is arranged in described bearing (ball) cover by vertical angular contact ball bearing, in the outside of described bearing (ball) cover, be provided with the hand adjustment nut being connected with the bottom of described vertical nut ball screw, on described horizontal vertical frames, be provided with rail plate, in the end of described horizontal vertical frames, be provided with horizontal vertical hybrid stepper motor, described horizontal vertical hybrid stepper motor is connected with laterally vertical nut ball screw by horizontal vertical flexibility shaft coupling, the bottom of described horizontal frame is connected to the rail plate of described horizontal vertical frames with on horizontal vertical nut ball screw by horizontal slide assemblies.
Described horizontal nut ball screw is double nut ball screw, in the end of described horizontal frame, be provided with horizontal bearing sleeve, the end of described horizontal nut ball screw is arranged in described horizontal bearing sleeve, in the outside of described horizontal bearing sleeve, be provided with sleeve between bearing, between sleeve between described bearing and described horizontal bearing sleeve, be provided with and adjust pretension sleeve, between described horizontal bearing sleeve and described horizontal nut ball screw, be provided with sealing ring.
On described horizontal vertical frames, be provided with fixed-use bolt hole.
Outer wrap at described horizontal nut ball screw has protection cover.
The utlity model has positive effect: of the present utility model simple in structure, be provided with horizontal frame, vertical frame and horizontal vertical frames and be equipped with composite stepper motor, it is controlled simple and convenient and influences each other less, improve to a certain extent control accuracy, and adopted separate type setting, facilitated inspection and maintenance, and transmission efficiency is high, stability is strong, and applicability is good, practical.
Accompanying drawing explanation
For content of the present utility model is more likely to be clearly understood, according to specific embodiment also by reference to the accompanying drawings, the utility model is described in further detail below, wherein:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the plan structure schematic diagram of Fig. 1;
The specific embodiment
(embodiment 1)
Fig. 1 to Fig. 2 has shown a kind of specific embodiment of the present utility model, and wherein Fig. 1 is structural representation of the present utility model; Fig. 2 is the plan structure schematic diagram of Fig. 1.
See Fig. 1 to Fig. 2, a kind of cartesian co-ordinate type automatic welder(welding machine) end effector mechanism, comprise horizontal frame 1, the vertical frame 2 that is arranged on described horizontal frame 1 one end and vertically arranges, the horizontal vertical frames 3 that is arranged in described horizontal frame 1 and meets at right angles and arrange with described horizontal frame 1, described horizontal vertical frames 3 and described vertical frame 2 are separately positioned on the two ends of described horizontal frame 1, in described horizontal frame 1, be provided with cross rail 4, at the middle part of described horizontal frame 1, be provided with horizontal composite stepper motor 5, the horizontal nut ball screw 7 being connected by transversal flexibility shaft coupling 6 with described horizontal composite stepper motor 5, described vertical frame 2 is movably arranged on described horizontal nut ball screw 7 and cross rail 4 by slide bar assembly 8, in described vertical frame 2, be provided with vertical guide 9, at the top of described vertical frame 2, be provided with vertical composite stepper motor 10, described vertical composite stepper motor 10 is connected with vertical nut ball screw 12 by vertical flexible coupling 11, in described vertical frame 2, be movably equipped with workbench 13, described workbench 13 is movably arranged in the vertical guide 9 and vertical nut ball screw 12 of described vertical frame 2 by moving slider assembly 14, in the bottom of described vertical frame 2, be provided with bearing (ball) cover 15, the bottom of described vertical nut ball screw 12 is arranged in described bearing (ball) cover 15 by vertical angular contact ball bearing 16, in the outside of described bearing (ball) cover 15, be provided with the hand adjustment nut 17 being connected with the bottom of described vertical nut ball screw 12, on described horizontal vertical frames 3, be provided with rail plate 18, in the end of described horizontal vertical frames 3, be provided with horizontal vertical hybrid stepper motor 19, described horizontal vertical hybrid stepper motor 19 is connected with laterally vertical nut ball screw 21 by horizontal vertical flexibility shaft coupling 20, the bottom of described horizontal frame 1 is connected to the rail plate 18 of described horizontal vertical frames 3 with on horizontal vertical nut ball screw 21 by horizontal slide assemblies 22.At bearing (ball) cover and vertical nut ball screw, be provided with adpting flange 29.
Described horizontal nut ball screw 7 is double nut ball screw, in the end of described horizontal frame 1, be provided with horizontal bearing sleeve 23, the end of described horizontal nut ball screw 7 is arranged in described horizontal bearing sleeve 23, in the outside of described horizontal bearing sleeve 23, be provided with sleeve 24 between bearing, between sleeve 23 between described bearing and described horizontal bearing sleeve 24, be provided with and adjust pretension sleeve 25, between described horizontal bearing sleeve 24 and described horizontal nut ball screw 7, be provided with sealing ring 26.
On described horizontal vertical frames 3, be provided with fixed-use bolt hole 27.
Outer wrap at described horizontal nut ball screw 7 has protection cover 28.
Its operation principle is summarized as follows: in definition Fig. 1, horizontal direction is directions X, and vertical direction is Y-direction, perpendicular to the direction of drawing, is Z direction.
Welding gun is realized and being installed and location by the bolt on workbench.Integral device determine that dress is fixing to be realized affixed by fixed-use bolt hole and the external world.
Whole Equipment is comprised of horizontal frame, vertical frame and horizontal three parts of vertical frames, and workbench is realized and installed and locate in vertical frame, and the Main Function of vertical frame is to realize welding gun (being equivalent to workbench) linear movement in the Y direction; Laterally the Main Function of frame is to realize the motion of welding gun on directions X, and it is mainly to take vertical frame as bridge, by vertical frame, laterally in frame, along the rectilinear motion (driving workbench together along directions X operation) of directions X, is realizing; Laterally vertical frames Main Function is to realize the linear movement of welding gun (being equivalent to workbench) in Z direction, its be mainly take vertical frame and laterally frame be bridge jointly, by horizontal frame, laterally on vertical frames, along the rectilinear motion (driving workbench together along the operation of Z direction) of Z direction, realizing.
Welding gun (being equivalent to workbench) in the motion implementation of Y-direction is: vertical hybrid type stepping motor is realized affixed by vertical flexible coupling and vertical nut ball screw; Under vertical hybrid type stepping motor drives, vertical nut ball screw can become the axial rotation of vertical hybrid type stepping motor along the linear movement of the vertical nut ball screw of Y-direction; Workbench is realized affixed by flange and vertical nut ball screw, under screw mandrel drives, complete the motor behavior along Y-direction.
Welding gun (being equivalent to workbench) in the motion implementation of directions X is: laterally hybrid type stepping motor is realized affixed by transversal flexibility shaft coupling and horizontal nut ball screw; Under laterally hybrid type stepping motor drives, laterally nut ball screw can become the axial rotation of horizontal hybrid type stepping motor along the linear movement of the horizontal nut ball screw of X-direction; Workbench is bridge by vertical frame, laterally under the drive of nut ball screw, completes the motor behavior along directions X by slide block on cross slide way.
Welding gun (being equivalent to workbench) in the motion implementation of Z direction is: laterally vertical hybrid stepping motor is realized affixed by horizontal vertical flexibility shaft coupling with horizontal vertical nut ball screw; Under laterally vertical hybrid stepping motor drives, laterally vertical nut ball screw can become the axial rotation of horizontal vertical hybrid stepping motor along the linear movement of the laterally vertical nut ball screw of Z-direction; Workbench is bridge by vertical frame and horizontal frame jointly, under laterally vertical nut ball screw drives, by slide block, laterally on vertical guide rail, completes the motor behavior along directions X.
Of the present utility model simple in structure, be provided with horizontal frame, vertical frame and horizontal vertical frames and be equipped with composite stepper motor, it is controlled simple and convenient and influences each other less, improve to a certain extent control accuracy, and adopted separate type setting, facilitated inspection and maintenance, and transmission efficiency is high, stability is strong, and applicability is good, practical.
Obviously, above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.And these belong to apparent variation or the change that connotation of the present utility model extends out and still belong to protection domain of the present utility model.
Claims (4)
1. a cartesian co-ordinate type automatic welder(welding machine) end effector mechanism, comprise horizontal frame, the vertical frame that is arranged on described horizontal frame one end and vertically arranges, the horizontal vertical frames that is arranged in described horizontal frame and meets at right angles and arrange with described horizontal frame, described horizontal vertical frames and described vertical frame are separately positioned on the two ends of described horizontal frame, in described horizontal frame, be provided with cross rail, it is characterized in that: at the middle part of described horizontal frame, be provided with horizontal composite stepper motor, the horizontal nut ball screw being connected by transversal flexibility shaft coupling with described horizontal composite stepper motor, described vertical frame is movably arranged on described horizontal nut ball screw and cross rail by slide bar assembly, in described vertical frame, be provided with vertical guide, at the top of described vertical frame, be provided with vertical composite stepper motor, described vertical composite stepper motor is connected with vertical nut ball screw by vertical flexible coupling, in described vertical frame, be movably equipped with workbench, described workbench is movably arranged in the vertical guide and vertical nut ball screw of described vertical frame by moving slider assembly, bottom in described vertical frame is provided with bearing (ball) cover, the bottom of described vertical nut ball screw is arranged in described bearing (ball) cover by vertical angular contact ball bearing, in the outside of described bearing (ball) cover, be provided with the hand adjustment nut being connected with the bottom of described vertical nut ball screw, on described horizontal vertical frames, be provided with rail plate, in the end of described horizontal vertical frames, be provided with horizontal vertical hybrid stepper motor, described horizontal vertical hybrid stepper motor is connected with laterally vertical nut ball screw by horizontal vertical flexibility shaft coupling, the bottom of described horizontal frame is connected to the rail plate of described horizontal vertical frames with on horizontal vertical nut ball screw by horizontal slide assemblies.
2. cartesian co-ordinate type automatic welder(welding machine) end effector mechanism according to claim 1, it is characterized in that: described horizontal nut ball screw is double nut ball screw, in the end of described horizontal frame, be provided with horizontal bearing sleeve, the end of described horizontal nut ball screw is arranged in described horizontal bearing sleeve, in the outside of described horizontal bearing sleeve, be provided with sleeve between bearing, between sleeve between described bearing and described horizontal bearing sleeve, be provided with and adjust pretension sleeve, between described horizontal bearing sleeve and described horizontal nut ball screw, be provided with sealing ring.
3. cartesian co-ordinate type automatic welder(welding machine) end effector mechanism according to claim 2, is characterized in that: on described horizontal vertical frames, be provided with fixed-use bolt hole.
4. cartesian co-ordinate type automatic welder(welding machine) end effector mechanism according to claim 3, is characterized in that: the outer wrap at described horizontal nut ball screw has protection cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420191437.3U CN203765206U (en) | 2014-04-18 | 2014-04-18 | End executing mechanism of rectangular coordinate type automatic welder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420191437.3U CN203765206U (en) | 2014-04-18 | 2014-04-18 | End executing mechanism of rectangular coordinate type automatic welder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203765206U true CN203765206U (en) | 2014-08-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420191437.3U Expired - Fee Related CN203765206U (en) | 2014-04-18 | 2014-04-18 | End executing mechanism of rectangular coordinate type automatic welder |
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| Country | Link |
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| CN (1) | CN203765206U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105777201A (en) * | 2016-02-26 | 2016-07-20 | 广东省自动化研究所 | Ceramic-toilet-bowl transplanting positioning device |
-
2014
- 2014-04-18 CN CN201420191437.3U patent/CN203765206U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105777201A (en) * | 2016-02-26 | 2016-07-20 | 广东省自动化研究所 | Ceramic-toilet-bowl transplanting positioning device |
| CN105777201B (en) * | 2016-02-26 | 2018-05-29 | 广东省自动化研究所 | A kind of ceramic pedestal pan transplants positioner |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140813 Termination date: 20150418 |
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| EXPY | Termination of patent right or utility model |