CN207447680U - Five degree-of-freedom manipulator automatic soldering device - Google Patents
Five degree-of-freedom manipulator automatic soldering device Download PDFInfo
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- CN207447680U CN207447680U CN201721180056.5U CN201721180056U CN207447680U CN 207447680 U CN207447680 U CN 207447680U CN 201721180056 U CN201721180056 U CN 201721180056U CN 207447680 U CN207447680 U CN 207447680U
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Abstract
A kind of five degree-of-freedom manipulator automatic soldering device belongs to automatic welding machinery technical field.Including a welding gun left and right displacement mechanism；One welding gun upper and lower displacement mechanism, the welding gun upper and lower displacement mechanism are connected with the welding gun left and right displacement mechanism；One welding gun moves forward and backward mechanism, which moves forward and backward mechanism and be connected with the welding gun upper and lower displacement mechanism driving；One welding-torch horizontal swing mechanism, the welding-torch horizontal swing mechanism are arranged on the welding gun in the position of the top corresponding to the welding gun left and right displacement mechanism and move forward and backward in mechanism；One welding gun circular arc swing mechanism, the welding gun circular arc swing mechanism are sequentially connected with the welding-torch horizontal swing mechanism.The welding requirements to special machine type component can be met；Since overall structure is terse, thus manufacture inexpensive.
Description
Technical field
The utility model belongs to automatic welding machinery technical field, and in particular to a kind of five degree-of-freedom manipulator automatic welding
Connection device.
Background technology
The enterprise to Product jointing is being needed, usually first relay part to be welded is being positioned in positioner, then by worker's hand
It holds welding gun and shading mirror is used to be welded with naked eyes in observation.Due to being needed in welding process by visually observing, because without
Carbon dioxide gas arc welding can be used, and argon arc welding is of high cost and big to human injury.Secondly, human weld's efficiency is low, ring
Border is poor, and it is difficult to train skilled argon arc welder.Although automatic welding can be completed using all-purpose robot automatic soldering device, due to
Expensive, the requirement of regular maintenance technology is high, thus is difficult for common medium-sized and small enterprises and is born.
Can be seen in disclosed Chinese patent literature with the relevant technical information of mechanical arm automatic soldering device, typically
As Authorization Notice No. CN102294565B recommend " jack bracket welding device " and CN204584594U offer " one kind can
The welder of quick three-dimensional positioning ".This two patents describe the technology contents of three-freedom mechanical arm automatic welding, and
Its structure recommended disclosure satisfy that requirement for the welding of the straight bead of vertical, horizontal.It is but relatively unique for some shapes
Parts typically such as jack presses hand and jack stand because there are circular arc welding, thus tend to three conventional coordinates
Mechanical arm automatic soldering device is difficult to meet the requirements.The applicant has made beneficial design and has formd to will be detailed below being situated between in view of this
The technical solution to continue.
The content of the invention
The task of the utility model, which is to provide one kind, helps to make welding gun according to need to make left and right displacement, upper and lower displacement, front and rear
Displacement, horizontal rotation and circular arc revolution and use meet to zero welding requirements of special machine class and structure it is terse and system
Make five degree-of-freedom manipulator automatic soldering device at low cost.
What the task of the utility model was performed by, a kind of five degree-of-freedom manipulator automatic soldering device, including one
Welding gun left and right displacement mechanism；One welding gun upper and lower displacement mechanism, the welding gun upper and lower displacement mechanism and the welding gun left and right displacement mechanism
Connection；One welding gun moves forward and backward mechanism, which moves forward and backward mechanism and be connected with the welding gun upper and lower displacement mechanism driving；One
Welding-torch horizontal swing mechanism, the welding-torch horizontal swing mechanism are set in the position of the top corresponding to the welding gun left and right displacement mechanism
It puts and is moved forward and backward in the welding gun in mechanism；One welding gun circular arc swing mechanism, the welding gun circular arc swing mechanism and the welding gun water
Flat swing mechanism is sequentially connected.
In a specific embodiment of the utility model, the welding gun left and right displacement mechanism includes left pedestal, the right side
Pedestal, guide rail platform, sliding platform, sliding platform driving motor and sliding platform driving screw rod, left and right pedestal correspond to each other simultaneously
And fixed in a state of use with stent or with the terrace of field of employment, the left end of guide rail platform is fixed with left pedestal, and right
End is fixed with right pedestal, and the length direction in guide rail platform towards the upper one side is fixed with a guide rail platform fromer rail and one and leads
Rail platform rear rail, the forward and backward guide rail of guide rail platform is front and rear parallel each other, and slip of the sliding platform by being fixed on its bottom is put down
Platform sliding block is slidably matched with guide rail platform fromer rail and guide rail platform rear rail, and the one side in sliding platform under is consolidated
Surely there is a sliding platform nut, sliding platform driving motor drives in the position of the right end corresponding to guide rail platform and sliding platform
Motor cabinet is fixed, and position of the sliding platform driving motor seat between the right end corresponding to the forward and backward guide rail of guide rail platform
It puts and is fixed with guide rail platform, sliding platform driving screw rod corresponds between the forward and backward guide rail of guide rail platform, sliding platform driving spiral shell
The left end of bar be rotatably supported at sliding platform driving Screw rod bearings seat on, and sliding platform driving screw rod right end corresponding to
The position of sliding platform driving motor seat drives screw rod shaft coupling and the slip of sliding platform driving motor to put down by sliding platform
Platform drive motor shaft is sequentially connected, and the middle part transmission of the sliding platform nut and sliding platform driving screw rod coordinates；The weldering
Rifle upper and lower displacement mechanism moves forward and backward mechanism together with the welding gun and is fixed with the sliding platform towards upper one side；The welding gun
Horizontal rotation mechanism is arranged on the front that welding gun moves forward and backward mechanism together with the welding gun circular arc swing mechanism.
In another specific embodiment of the utility model, the sliding platform driving motor is servomotor.
In another specific embodiment of the utility model, the welding gun upper and lower displacement mechanism includes upper and lower displacement
Guide rail bracket, upper and lower displacement guide plate, upper and lower displacement slide nut block, upper and lower displacement driving motor seat, upper and lower displacement driving motor, on
Bottom offset guide rail bracket fixed seat and upper and lower displacement driving screw rod, upper and lower displacement guide rail bracket fixed seat and the sliding platform are towards upper
The central region of one side fix, which there is a guide rail bracket to insert chamber, upper and lower displacement guide rail bracket
Lower end insertion guide rail bracket insert intracavitary and consolidated by upper and lower displacement guide rail bracket fixing screws and upper and lower displacement guide rail bracket fixed seat
Fixed, upper and lower displacement guide plate corresponds to the right side of upper and lower displacement guide rail bracket, and guide rail bracket is equally inserted into the lower end of the upper and lower displacement guide plate
Insert intracavitary and fixed by upper and lower displacement guide plate fixing screws and upper and lower displacement guide rail bracket fixed seat, upper and lower displacement guide rail bracket with
Space between upper and lower displacement guide plate is configured to slide lifting groove, and the upper end of upper and lower displacement guide rail bracket and upper and lower displacement guide plate
Between and lower end between be fixedly secured to one another, upper and lower displacement driving motor and the top of upper and lower displacement driving motor seat are fixed,
And upper end of the upper and lower displacement driving motor seat simultaneously with upper and lower displacement guide rail bracket and upper and lower displacement guide plate is fixed, upper and lower displacement
Drive screw rod upper end the position corresponding to upper and lower displacement driving motor seat by upper and lower displacement drive screw rod shaft coupling with it is upper
The upper and lower displacement drive motor shaft of bottom offset driving motor is sequentially connected, and the lower end of upper and lower displacement driving screw rod passes through upper bottom
It moves driving Screw rod bearings seat to be rotatably supported on the sliding platform, upper and lower displacement slide nut block and upper and lower displacement guide rail
Frame is slidably matched, and is also slidably matched simultaneously with upper and lower displacement guide plate and slip lifting groove, the upper and lower displacement nut slider
Seat and upper and lower displacement driving screw flight cooperation；The welding gun move forward and backward mechanism together with the welding-torch horizontal swing mechanism with
The upper and lower displacement slide nut block is slidably matched；A welding gun is equipped on the welding gun circular arc swing mechanism.
In another specific embodiment of the utility model, the upper and lower displacement guide rail bracket composition has a upper and lower displacement
Guide rail bracket chamber is being fixed with one described in the upper and lower displacement guide rail bracket chamber face in the guide rail bracket chamber cavity wall of upper and lower displacement guide plate one side
To slide nut block guide rail, the left side of the upper and lower displacement slide nut block is slidably matched with a pair of of slide nut block guide rail,
Upper and lower displacement guide plate cunning is offered on upper and lower displacement slide nut block and in the position corresponding to the upper and lower displacement guide plate
Dynamic slot, and one is offered in the position that mechanism is moved forward and backward corresponding to the welding gun and moves forward and backward guide plate sliding groove, and upper
The right side of bottom offset slide nut block is also extended with one and moves forward and backward guide rail bracket sliding seat, upper and lower displacement guide plate sliding groove with up and down
Displacement guide plate is slidably matched；The welding gun moves forward and backward mechanism and is moved forward and backward together with the welding-torch horizontal swing mechanism with described
It guide plate sliding groove and moves forward and backward guide rail bracket sliding seat and is slidably matched, the welding gun is located at the welding gun circular arc swing mechanism
Right side.
In the utility model there are one in specific embodiment, the upper and lower displacement driving motor is servomotor.
In the utility model more and in a specific embodiment, the welding gun, which moves forward and backward mechanism, to be included moving forward and backward
Guide rail bracket moves forward and backward guide plate, moves forward and backward driving motor seat, moves forward and backward driving motor and moves forward and backward driving screw rod,
The length direction composition for moving forward and backward the left side of guide rail bracket has one to move forward and backward guide rail bracket chamber, and guide rail bracket chamber is moved forward and backward at this
It is formed on left chamber wall and moves forward and backward guide rail bracket guide rail, the guide rail bracket sliding seat that moves forward and backward moves forward and backward guide rail bracket with this
Guide rail is slidably matched, and moves forward and backward guide plate and corresponds to the left side for moving forward and backward guide rail bracket and slided with the guide plate that moves forward and backward
Dynamic slot is slidably matched, and moves forward and backward guide rail bracket and moves forward and backward the company of being fixed to one another between the front end of guide plate and rear end
It connects, move forward and backward driving motor seat while consolidates with the rear end face for moving forward and backward guide rail bracket and the rear end face for moving forward and backward guide plate
It is fixed, move forward and backward driving motor and fixed with moving forward and backward the rear end face of driving motor seat, move forward and backward driving screw rod middle part and
The upper and lower displacement slide nut block moves forward and backward guide rail bracket sliding seat thread fitting, and the front end for moving forward and backward driving screw rod turns
It is supported on dynamicly on welding-torch horizontal swing mechanism, and rear end is passing through anteroposterior position corresponding to the position for moving forward and backward driving motor seat
It moves driving screw rod shaft coupling and is sequentially connected with moving forward and backward the drive motor shaft that moves forward and backward of driving motor, described moves forward and backward
Driving motor is servomotor；The welding-torch horizontal swing mechanism together with the welding gun circular arc swing mechanism simultaneously with it is described
It moves forward and backward guide rail bracket and moves forward and backward the front end surface of guide plate and fix.
The utility model so that in a specific embodiment, the welding-torch horizontal swing mechanism includes horizontal return
Turn driving motor seat, horizontal rotation driving motor and horizontal rotation retarder, horizontal rotation driving motor seat simultaneously with it is described before
It displacement guide rail frame and moves forward and backward the front end face of guide plate afterwards and fixes, the front end for moving forward and backward driving screw rod rotationally supports
On horizontal rotation driving motor seat, horizontal rotation driving motor is with horizontal rotation retarder transmission cooperation and by horizontal rotation
Retarder is fixed on together with horizontal rotation driving motor on horizontal rotation driving motor seat, the horizontal rotation of horizontal rotation retarder
Reducer output shaft is under, and the welding gun circular arc rotation mechanism is connected with horizontal rotation reducer output shaft, the level
Revolution driving motor is servomotor.
The utility model again more and in a specific embodiment, the welding gun circular arc swing mechanism include circular arc
Rotary reducer fixed seat, circular arc revolution driving motor and circular arc rotary reducer, circular arc rotary reducer fixed seat with it is described
Horizontal rotation reducer output shaft be fixedly connected, circular arc revolution driving motor and circular arc rotary reducer transmission cooperation and by
Circular arc rotary reducer is fixed on together with circular arc revolution driving motor in circular arc rotary reducer fixed seat, circular arc rotary reducer
Circular arc rotary reducer output shaft be stretched over the right side of circular arc rotary reducer fixed seat and be fixed with a welding gun fixed seat,
The circular arc revolution driving motor is servomotor.
Technical solution provided by the utility model has technical effect that：Due to by welding gun left and right displacement mechanism, welding gun
Bottom offset mechanism, welding gun, which move forward and backward mechanism, welding-torch horizontal swing mechanism and welding gun circular arc swing mechanism, makes welding gun according to needing reality
Existing top to bottom, left and right, front and rear displacement and the revolution in horizontal direction and circular arc direction, thus can meet to special machine type component
Welding requirements；Since overall structure is terse, thus manufacture inexpensive.
Description of the drawings
Fig. 1 is the example structure figure of the utility model.
Specific embodiment
In order to which the technical essence of the utility model and advantageous effect is more clearly understood, applicant is below with reality
The mode for applying example elaborates, but to the description of embodiment is not the limitation to the utility model, any foundation
The made only formal but not substantive equivalent transformation of the utility model design is regarded as the utility model
Technical solution scope.
The concept of every directionality for being related to upper, lower, left, right, front and rear or directionality is all in the following description
For the location of Fig. 1 states, thus the spy to technical solution provided by the utility model cannot be understood as
It does not limit.
Fig. 1 is referred to, shows a welding gun left and right displacement mechanism 1；Show a welding gun upper and lower displacement mechanism 2, the welding gun
Upper and lower displacement mechanism 2 is connected with foregoing welding gun left and right displacement mechanism 1；Show that a welding gun moves forward and backward mechanism 3, before and after the welding gun
Displacement mechanism 3 is sequentially connected with foregoing welding gun upper and lower displacement mechanism 2；Show a welding-torch horizontal swing mechanism 4, the welding gun water
Flat swing mechanism 4 is arranged on foregoing welding gun anteroposterior position telephone-moving in the position of the top corresponding to foregoing welding gun left and right displacement mechanism 1
On structure 3；One welding gun circular arc swing mechanism 5, the welding gun circular arc swing mechanism 5 are sequentially connected with foregoing welding-torch horizontal swing mechanism 4.
Foregoing welding gun left and right displacement mechanism 1 includes left pedestal 11, right pedestal 12, guide rail platform 13, sliding platform 14, cunning
Moving platform driving motor 15 and sliding platform driving screw rod 16, left and right pedestal 11,12 correspond to each other（Left and right corresponds to）And make
With the stent with being separately equipped under state（Also can claim " rack "）Or directly fixed with block of wood on the terrace of field of employment, it leads
The left end of rail platform 13 is fixed by screw and left pedestal 11, and right end is fixed again by screw with right pedestal 12, is led at this
The length direction of rail platform towards upper one side is fixed with a guide rail platform fromer rail 131 by fromer rail screw 1311 and passes through
Rear rail screw 1321 is fixed with a guide rail platform rear rail 132, the forward and backward guide rail 131,132 of the guide rail platform each other it is front and rear simultaneously
Row, sliding platform 14 is by being fixed on the sliding platform sliding block 141 of its bottom and guide rail platform fromer rail 131 and guide rail platform
Rear rail 132 is slidably matched, and the one side in sliding platform 14 under is fixed with a sliding platform nut 142, slides flat
Platform driving motor 15 is fixed in the position of the right end corresponding to guide rail platform 13 and sliding platform driving motor seat 151, and the cunning
Position and guide rail of the moving platform driving motor seat 151 between the right end corresponding to the forward and backward guide rail 131,132 of foregoing guide rail platform
Platform 13 is fixed, and sliding platform driving screw rod 16 corresponds between the forward and backward guide rail 131,132 of guide rail platform, which drives
The left end of dynamic screw rod 16 is rotatably supported on sliding platform driving Screw rod bearings seat 161, sliding platform driving Screw rod bearings seat
161 are fixed by fulcrum bearing fixing screws 1611 and guide rail platform 13, and sliding platform driving screw rod 16 right end corresponding to
The position of sliding platform driving motor seat 151 drives screw rod shaft coupling 162 and sliding platform driving motor 15 by sliding platform
Sliding platform drive motor shaft be sequentially connected, the middle part of foregoing sliding platform nut 142 and sliding platform driving screw rod 16 passes
Dynamic cooperation；Foregoing welding gun upper and lower displacement mechanism 2 moves forward and backward mechanism 3 and foregoing sliding platform 14 towards upper together with foregoing welding gun
One side is fixed；Foregoing welding-torch horizontal swing mechanism 4 is arranged on welding gun together with foregoing welding gun circular arc swing mechanism 5 and moves forward and backward mechanism
3 front.
In the present embodiment, foregoing sliding platform driving motor 15 is servomotor.
When sliding platform driving motor 15 works, by sliding platform screw rod is driven to join by sliding platform drive motor shaft
Joint 162 drives sliding platform driving screw rod 16, since sliding platform 14 passes through its sliding platform nut 142 and sliding platform drive
The dynamic transmission of screw rod 16 cooperation, thus sliding platform nut 142 is driven in sliding platform drive screw turns, by sliding platform spiral shell
Mother 142 drives sliding platform 14 to follow the forward and backward guide rail 131,132 of guide rail platform and slides.Since welding gun upper and lower displacement mechanism 2 is set
Be fixed on sliding platform 14, and be arranged on since welding gun moves forward and backward mechanism 3 in welding gun upper and lower displacement mechanism 2 shortly, also by
Welding gun is fixed in welding-torch horizontal swing mechanism 4 to move forward and backward in mechanism 3, more and due to welding gun circular arc swing mechanism 5 and welding gun
Horizontal rotation mechanism 4 connects and welding gun 6 is arranged on welding gun circular arc swing mechanism 5, thus drives welding gun in sliding platform 14
During upper and lower displacement mechanism 2 is mobile to the left or to the right, foregoing welding gun move forward and backward mechanism 3, welding-torch horizontal swing mechanism 4 with
And welding gun circular arc swing mechanism 5 is also correspondingly moved with welding gun upper and lower displacement mechanism 2.Welding gun upper and lower displacement mechanism 2 to the left or to
Move right the operative orientation depending on advancing slip moving platform driving motor 15, i.e., it is clockwise depending on sliding platform driving motor 15
Or working condition counterclockwise.
Please continue to refer to Fig. 1, the structure that is preferred rather than being definitely limited to of foregoing welding gun upper and lower displacement mechanism 2 is as follows：Including
Upper and lower displacement guide rail bracket 21, upper and lower displacement guide plate 22, upper and lower displacement slide nut block 23, upper and lower displacement driving motor seat 24, on
Bottom offset driving motor 25, upper and lower displacement guide rail bracket fixed seat 26 and upper and lower displacement driving screw rod 27, upper and lower displacement guide rail bracket are consolidated
Reservation 26 is preferably fixed with welding manner and central region, that is, center of foregoing sliding platform 14 towards upper one side, on this
There is bottom offset guide rail bracket fixed seat 26 guide rail bracket to insert chamber 261, and the lower end insertion guide rail of upper and lower displacement guide rail bracket 21 mounts
Enter in chamber 261 and fixed by upper and lower displacement guide rail bracket fixing screws 211 and upper and lower displacement guide rail bracket fixed seat 26, upper and lower displacement
Guide plate 22 corresponds to the right side of upper and lower displacement guide rail bracket 21, and the lower end of the upper and lower displacement guide plate 22 is equally inserted into guide rail bracket and inserts chamber
It is fixed in 261 and by upper and lower displacement guide plate fixing screws 221 and upper and lower displacement guide rail bracket fixed seat 26, upper and lower displacement guide rail bracket
21 lower end and the lower end of upper and lower displacement guide plate 22 can also be with coaxial fixed forms and upper and lower displacement guide rail bracket fixed seat 26
Fixed, the space between upper and lower displacement guide rail bracket 21 and upper and lower displacement guide plate 22 is configured to slide lifting groove 28, and upper bottom
It moves between guide rail bracket 21 and the upper end of upper and lower displacement guide plate 22 and is fixedly secured to one another between lower end, upper and lower displacement driving motor
25 are fixed with upper and lower displacement driving motor fixing screws 251 and the top of upper and lower displacement driving motor seat 24, and the upper and lower displacement
Driving motor seat 24 using upper and lower displacement driving motor seat fixing screws 241 simultaneously with upper and lower displacement guide rail bracket 21 and upper bottom
The upper end for moving guide plate 22 is fixed, and the upper end of upper and lower displacement driving screw rod 27 is in the position corresponding to upper and lower displacement driving motor seat 24
By upper and lower displacement screw rod shaft coupling and the upper and lower displacement drive motor shaft of upper and lower displacement driving motor 25 is driven to be sequentially connected, and
The lower end of upper and lower displacement driving screw rod 27 drives Screw rod bearings seat to be rotatably supported at foregoing sliding platform by upper and lower displacement
On 14, upper and lower displacement slide nut block 23 is slidably matched with upper and lower displacement guide rail bracket 21, and also simultaneously with upper and lower displacement guide plate
It 22 and slides lifting groove 28 and is slidably matched, the upper and lower displacement slide nut block 23 and upper and lower displacement drive 27 screw thread of screw rod to match somebody with somebody
It closes；Foregoing welding gun moves forward and backward mechanism 3 together with foregoing welding-torch horizontal swing mechanism 4 and foregoing upper and lower displacement slide nut block
23 are slidably matched；A welding gun 6 is equipped on foregoing welding gun circular arc swing mechanism 5.
As shown in Figure 1, the foregoing composition of upper and lower displacement guide rail bracket 21 has a upper and lower displacement guide rail bracket chamber 212, the next on this
Move 212 foregoing 22 one side of upper and lower displacement guide plate of face of guide rail bracket chamber（Illustrate the right side of state）Guide rail bracket chamber cavity wall on it is fixed
There are a pair of of slide nut block guide rail 2121, the left side of foregoing upper and lower displacement slide nut block 23 and a pair of of slide nut block guide rail
2121 are slidably matched, and are opened up on upper and lower displacement slide nut block 23 and in the position corresponding to foregoing upper and lower displacement guide plate 22
There is a upper and lower displacement guide plate sliding groove 231, and an anteroposterior position is offered in the position that mechanism 3 is moved forward and backward corresponding to foregoing welding gun
Guide plate sliding groove 232 is moved, and is also extended with one on the right side of upper and lower displacement slide nut block 23 and moves forward and backward guide rail bracket slip
Seat 233, upper and lower displacement guide plate sliding groove 231 is slidably matched with upper and lower displacement guide plate 22；Foregoing welding gun moves forward and backward mechanism 3 and connects
It moves forward and backward guide plate sliding groove 232 with foregoing with foregoing welding-torch horizontal swing mechanism 4 and moves forward and backward guide rail bracket sliding seat 233
It is slidably matched, foregoing welding gun 6 is located at the right side of foregoing welding gun circular arc swing mechanism 5.
In the present embodiment, foregoing upper and lower displacement driving motor 25 is servomotor.
When upper and lower displacement driving motor 25 works, led to by the upper and lower displacement drive motor shaft of upper and lower displacement driving motor 25
It crosses foregoing upper and lower displacement driving screw rod shaft coupling and drives upper and lower displacement driving screw rod 27, due to upper and lower displacement slide nut block 23
27 thread fitting of screw rod is driven with upper and lower displacement（That is transmission cooperation）, thus in the rotation drive by upper and lower displacement driving screw rod 27
23 displacement up or down of bottom offset slide nut block, while welding gun anteroposterior position telephone-moving is driven by upper and lower displacement slide nut block 23
The correspondingly upper and lower displacement of structure 3,5 same example of foregoing welding-torch horizontal swing mechanism 4 and welding gun circular arc swing mechanism.Upper and lower displacement spiral shell
Female take-up housing 23 depends on both differences clockwise or counterclockwise of upper and lower displacement driving motor 25 upwards or to bottom offset
Working condition.
Continue to see Fig. 1, foregoing welding gun, which moves forward and backward mechanism 3, to be included moving forward and backward guide rail bracket 31, moving forward and backward guide plate 32, is preceding
Afterwards displacement drive motor cabinet 33, move forward and backward driving motor 34 and move forward and backward driving screw rod 35, moving forward and backward guide rail bracket 31
Left side length direction composition there is one to move forward and backward guide rail bracket chamber 311, on the left chamber wall for moving forward and backward guide rail bracket chamber 311
Composition moves forward and backward guide rail bracket guide rail 3111, and the foregoing guide rail bracket sliding seat 233 that moves forward and backward moves forward and backward guide rail bracket with this
Guide rail 3111 is slidably matched, move forward and backward guide plate 32 correspond to move forward and backward guide rail bracket 31 left side and with foregoing anteroposterior position
It moves guide plate sliding groove 232 to be slidably matched, move forward and backward guide rail bracket 31 and moves forward and backward between the front end of guide plate 32 and rear end
Between be fixedly secured to one another, move forward and backward driving motor seat 33 simultaneously with moving forward and backward the rear end face and anteroposterior position of guide rail bracket 31
Move guide plate 32 rear end face fix, move forward and backward driving motor 34 by move forward and backward driving motor fixing screws 341 with it is front and rear
The rear end face of displacement drive motor cabinet 33 is fixed, and moves forward and backward the middle part of driving screw rod 35 and foregoing upper and lower displacement slide nut block
23 move forward and backward 233 thread fitting of guide rail bracket sliding seat, and the front end for moving forward and backward driving screw rod 35 is rotatably supported at welding gun
In horizontal rotation mechanism 4（Below it is also mentioned that）, and rear end pass through corresponding to the position for moving forward and backward driving motor seat 33 it is preceding
Displacement drive screw rod shaft coupling 351 is sequentially connected with moving forward and backward the drive motor shaft that moves forward and backward of driving motor 34 afterwards, foregoing
Move forward and backward driving motor 34 as servomotor；Foregoing welding-torch horizontal swing mechanism 4 is turned round together with foregoing welding gun circular arc
Mechanism 5 is fixed simultaneously with the foregoing front end surface for moving forward and backward guide rail bracket 31 and moving forward and backward guide plate 32.
When front and rear displacement drive motor 34 works, led to by the drive motor shaft that moves forward and backward for moving forward and backward driving motor 34
Crossing to move forward and backward drives 351 drive of screw rod shaft coupling to move forward and backward driving screw rod 35, follows so that moving forward and backward guide rail bracket 31
It upper and lower displacement guide rail bracket sliding seat 233 and moves forward and backward guide plate 32 and follows and move forward and backward guide plate sliding groove 232 forward or backward
Displacement, forward or rearward displacement depends on moving forward and backward driving motor 34 clockwise and works that the two are different counterclockwise
Working condition.When moving forward and backward guide rail bracket 31 and moving forward and backward guide plate 32 and move forward and backward, the weldering that will be explained in below
5 displacement therewith of rifle horizontal rotation mechanism 4 and welding gun circular arc swing mechanism.
Continue to see Fig. 1, foregoing welding-torch horizontal swing mechanism 4 includes horizontal rotation driving motor seat 41, horizontal rotation drives
Dynamic motor 42 and horizontal rotation retarder 43, horizontal rotation driving motor seat 41 pass through horizontal rotation driving motor seat fixing screws
411 fix simultaneously with the foregoing front end face for moving forward and backward guide rail bracket 31 and moving forward and backward guide plate 32, foregoing to move forward and backward driving
The front end of screw rod 35 is rotatably supported on horizontal rotation driving motor seat 41, and horizontal rotation driving motor 42 subtracts with horizontal rotation
The fast transmission of device 43 coordinates and is fixed on horizontal rotation driving together with horizontal rotation driving motor 42 by horizontal rotation retarder 43
On motor cabinet 41, the horizontal rotation reducer output shaft 431 of horizontal rotation retarder 43 is under, foregoing welding gun circular arc favourable turn
Structure 5 is connected with horizontal rotation reducer output shaft 431, and foregoing horizontal rotation driving motor 42 is servomotor.
When horizontal rotation driving motor 42 works, horizontal rotation retarder 43 is driven by horizontal rotation driving motor 42,
By horizontal rotation reducer output shaft 431 welding gun circular arc swing mechanism 5 is driven to be rotated clockwise or counterclockwise with horizontality,
6 same example of welding gun.It is suitable that the rotation that welding gun circular arc swing mechanism 5 is made clockwise or counterclockwise depends on horizontal rotation driving motor 42
The state that hour hands still work counterclockwise.
Still see Fig. 1, foregoing welding gun circular arc swing mechanism 5 includes circular arc rotary reducer fixed seat 51, circular arc turns round
Driving motor 52 and circular arc rotary reducer 53, circular arc rotary reducer fixed seat 51 are exported with foregoing horizontal rotation retarder
Axis 431 is fixedly connected, and circular arc revolution driving motor 52 slows down with the transmission of circular arc rotary reducer 53 cooperation and by circular arc revolution
Device 53 is fixed on circular arc rotary reducer fixed seat 51 by retarder fixing screws 532 together with circular arc revolution driving motor 52
On, the circular arc rotary reducer output shaft 531 of circular arc rotary reducer 53 is stretched over the right side of circular arc rotary reducer fixed seat 51
Side and a welding gun fixed seat 5311 is fixed with, foregoing circular arc revolution driving motor 52 is servomotor.Foregoing weldering
Rifle 6 is fixed by pinching screw 61 and foregoing welding gun fixed seat 5311.
When circular arc revolution driving motor 52 works, circular arc rotary reducer 53 is driven by it, by circular arc rotary reducer
Output shaft 531 drives welding gun fixed seat 5311, and the welding gun being fixed in welding gun fixed seat 5,311 6 is finally made to make the clockwise or inverse time
Pin direction according to the rotation for needing radian, the rotation direction of welding gun 6 depends on the clockwise or inverse time of circular arc revolution driving motor 52
The state of pin work.
According to professional general knowledge, in the actual use process, the workpiece welded for welding gun 6 is in the position corresponding to welding gun 6
It is usually clipped on fixture stand or similar device.
It can be met using the utility model five degree-of-freedom manipulator automatic soldering device and hand, jack stand are pressed to jack
Deng various component of machine automatic welding requirement.
In conclusion technical solution provided by the utility model compensates for the shortcoming in prior art, favorably accomplish
Invention task has faithfully fulfilled the technique effect that applicant refers in technical effect column above.
Claims (8)
1. a kind of five degree-of-freedom manipulator automatic soldering device, it is characterised in that including a welding gun left and right displacement mechanism (1)；One weldering
Rifle upper and lower displacement mechanism (2), the welding gun upper and lower displacement mechanism (2) are connected with the welding gun left and right displacement mechanism (1)；Before one welding gun
Displacement mechanism (3) afterwards, the welding gun move forward and backward mechanism (3) and are sequentially connected with the welding gun upper and lower displacement mechanism (2)；One welding gun
Horizontal rotation mechanism (4), the welding-torch horizontal swing mechanism (4) is in the top corresponding to the welding gun left and right displacement mechanism (1)
Position is arranged on the welding gun and moves forward and backward in mechanism (3)；One welding gun circular arc swing mechanism (5), the welding gun circular arc swing mechanism
(5) with the welding-torch horizontal swing mechanism (4) be sequentially connected, the welding gun left and right displacement mechanism (1) include left pedestal (11),
Right pedestal (12), guide rail platform (13), sliding platform (14), sliding platform driving motor (15) and sliding platform driving screw rod
(16), left and right pedestal (11,12) corresponds to each other and is fixed in a state of use with stent or with the terrace of field of employment,
The left end of guide rail platform (13) is fixed with left pedestal (11), and right end and right pedestal (12) are fixed, in the guide rail platform towards upper
The length direction of one side be fixed with a guide rail platform fromer rail (131) and a guide rail platform rear rail (132), the guide rail platform
Forward and backward guide rail (131,132) is front and rear parallel each other, and sliding platform (14) is by being fixed on the sliding platform sliding block of its bottom
(141) it is slidably matched with guide rail platform fromer rail (131) and guide rail platform rear rail (132), and in sliding platform (14)
One side under is fixed with a sliding platform nut (142), and sliding platform driving motor (15) is corresponding to guide rail platform
(13) position of right end is fixed with sliding platform driving motor seat (151), and the sliding platform driving motor seat (151) is right
Position and guide rail platform (13) between the right end of the forward and backward guide rail of guide rail platform (131,132) described in Ying Yu is fixed, sliding platform
Screw rod (16) is driven to correspond between the forward and backward guide rail of guide rail platform (131,132), the left end of sliding platform driving screw rod (16)
It is rotatably supported on sliding platform driving Screw rod bearings seat (161), and the right end of sliding platform driving screw rod (16) is in correspondence
By sliding platform screw rod shaft coupling (162) is driven to be driven with sliding platform in the position of sliding platform driving motor seat (151)
The sliding platform drive motor shaft of motor (15) is sequentially connected, and the sliding platform nut (142) drives screw rod with sliding platform
(16) middle part transmission cooperation；The welding gun upper and lower displacement mechanism (2) moves forward and backward mechanism (3) and the cunning together with the welding gun
Moving platform (14) is fixed towards upper one side；The welding-torch horizontal swing mechanism (4) is together with the welding gun circular arc swing mechanism (5)
It is arranged on the front that welding gun moves forward and backward mechanism (3).
2. five degree-of-freedom manipulator automatic soldering device according to claim 1, it is characterised in that the sliding platform
Driving motor (15) is servomotor.
3. five degree-of-freedom manipulator automatic soldering device according to claim 1, it is characterised in that above and below the welding gun
Displacement mechanism (2) include upper and lower displacement guide rail bracket (21), upper and lower displacement guide plate (22), upper and lower displacement slide nut block (23), on
Bottom offset driving motor seat (24), upper and lower displacement driving motor (25), upper and lower displacement guide rail bracket fixed seat (26) and upper and lower displacement
Drive the central region of screw rod (27), upper and lower displacement guide rail bracket fixed seat (26) and the sliding platform (14) towards upper one side
Fixed, which there is a guide rail bracket to insert chamber (261), under upper and lower displacement guide rail bracket (21)
End insertion guide rail bracket is inserted in chamber (261) and consolidated by upper and lower displacement guide rail bracket fixing screws (211) with upper and lower displacement guide rail bracket
Reservation (26) is fixed, and upper and lower displacement guide plate (22) corresponds to the right side of upper and lower displacement guide rail bracket (21), the upper and lower displacement guide plate
(22) lower end is equally inserted into guide rail bracket and is inserted in chamber (261) and by upper and lower displacement guide plate fixing screws (221) and upper bottom
It is fixed to move guide rail bracket fixed seat (26), the space between upper and lower displacement guide rail bracket (21) and upper and lower displacement guide plate (22) is configured to sliding
Dynamic lifting groove (28), and between the upper end of upper and lower displacement guide rail bracket (21) and upper and lower displacement guide plate (22) and between lower end that
This is fixedly connected, and upper and lower displacement driving motor (25) and the top of upper and lower displacement driving motor seat (24) are fixed, and bottom on this
It moves driving motor seat (24) while is fixed with the upper end of upper and lower displacement guide rail bracket (21) and upper and lower displacement guide plate (22), upper bottom
The upper end for moving driving screw rod (27) drives screw rod in the position corresponding to upper and lower displacement driving motor seat (24) by upper and lower displacement
The upper and lower displacement drive motor shaft of shaft coupling and upper and lower displacement driving motor (25) is sequentially connected, and upper and lower displacement driving screw rod
(27) lower end drives Screw rod bearings seat to be rotatably supported on the sliding platform (14) by upper and lower displacement, upper and lower displacement
Slide nut block (23) is slidably matched with upper and lower displacement guide rail bracket (21), and also simultaneously with upper and lower displacement guide plate (22) and sliding
Dynamic lifting groove (28) is slidably matched, which drives screw rod (27) thread fitting with upper and lower displacement；
The welding gun moves forward and backward mechanism (3) together with the welding-torch horizontal swing mechanism (4) and the upper and lower displacement nut slider
Seat (23) is slidably matched；A welding gun (6) is equipped on the welding gun circular arc swing mechanism (5).
4. five degree-of-freedom manipulator automatic soldering device according to claim 3, it is characterised in that the upper and lower displacement is led
Rail gantry (21) composition has a upper and lower displacement guide rail bracket chamber (212), in upper bottom described in upper and lower displacement guide rail bracket chamber (212) face
It moves in the guide rail bracket chamber cavity wall of guide plate (22) one side and is fixed with a pair of of slide nut block guide rail (2121), the upper and lower displacement nut
The left side of take-up housing (23) is slidably matched with a pair of of slide nut block guide rail (2121), on upper and lower displacement slide nut block (23)
And a upper and lower displacement guide plate sliding groove (231) is offered in the position corresponding to the upper and lower displacement guide plate (22), and right
The position that welding gun described in Ying Yu moves forward and backward mechanism (3) offers one and moves forward and backward guide plate sliding groove (232), and in upper bottom
The right side of shifting slide nut block (23) is also extended with one and moves forward and backward guide rail bracket sliding seat (233), upper and lower displacement guide plate sliding groove
(231) it is slidably matched with upper and lower displacement guide plate (22)；The welding gun moves forward and backward mechanism (3) and is turned round together with the welding-torch horizontal
Mechanism (4) with it is described move forward and backward guide plate sliding groove (232) and move forward and backward guide rail bracket sliding seat (233) be slidably matched, institute
State the right side that welding gun (6) is located at the welding gun circular arc swing mechanism (5).
5. five degree-of-freedom manipulator automatic soldering device according to claim 3, it is characterised in that the upper and lower displacement is driven
Dynamic motor (25) is servomotor.
6. five degree-of-freedom manipulator automatic soldering device according to claim 4, it is characterised in that the welding gun anteroposterior position
Telephone-moving structure (3) includes moving forward and backward guide rail bracket (31), moving forward and backward guide plate (32), move forward and backward driving motor seat (33), is front and rear
Displacement drive motor (34) and move forward and backward driving screw rod (35), the length direction structure in the left side for moving forward and backward guide rail bracket (31)
Cheng Youyi moves forward and backward guide rail bracket chamber (311), moves forward and backward to form on the left chamber wall of guide rail bracket chamber (311) and moves forward and backward at this
Guide rail bracket guide rail (3111), the guide rail bracket sliding seat (233) that moves forward and backward move forward and backward guide rail bracket guide rail (3111) with this
It is slidably matched, moves forward and backward guide plate (32) and correspond to the left side for moving forward and backward guide rail bracket (31) and led with described moving forward and backward
Plate sliding groove (232) is slidably matched, move forward and backward guide rail bracket (31) and move forward and backward between the front ends of guide plate (32) and after
Be fixedly secured to one another between end, move forward and backward driving motor seat (33) and meanwhile with move forward and backward guide rail bracket (31) rear end face and
The rear end face for moving forward and backward guide plate (32) is fixed, after moving forward and backward driving motor (34) and moving forward and backward driving motor seat (33)
End face is fixed, and middle part and the upper and lower displacement slide nut block (23) for moving forward and backward driving screw rod (35) move forward and backward guide rail
Frame sliding seat (233) thread fitting, the front end for moving forward and backward driving screw rod (35) are rotatably supported at welding-torch horizontal swing mechanism
(4) on, and rear end is driving screw rod shaft coupling corresponding to the position for moving forward and backward driving motor seat (33) by moving forward and backward
(351) it is sequentially connected with moving forward and backward the drive motor shaft that moves forward and backward of driving motor (34), described moves forward and backward driving electricity
Machine (34) is servomotor；The welding-torch horizontal swing mechanism (4) together with the welding gun circular arc swing mechanism (5) and meanwhile with
The front end surface for moving forward and backward guide rail bracket (31) and moving forward and backward guide plate (32) is fixed.
7. five degree-of-freedom manipulator automatic soldering device according to claim 6, it is characterised in that the welding-torch horizontal
Swing mechanism (4) includes horizontal rotation driving motor seat (41), horizontal rotation driving motor (42) and horizontal rotation retarder
(43), horizontal rotation driving motor seat (41) while move forward and backward guide rail bracket (31) with described and move forward and backward guide plate (32)
Front end face is fixed, and the front end for moving forward and backward driving screw rod (35) is rotatably supported at horizontal rotation driving motor seat (41)
On, horizontal rotation driving motor (42) coordinates with horizontal rotation retarder (43) transmission and is connected by horizontal rotation retarder (43)
Same level revolution driving motor (42) is fixed on horizontal rotation driving motor seat (41), the level of horizontal rotation retarder (43)
Rotary reducer output shaft (431) is under, the welding gun circular arc rotation mechanism (5) and horizontal rotation reducer output shaft
(431) connect, the horizontal rotation driving motor (42) is servomotor.
8. five degree-of-freedom manipulator automatic soldering device according to claim 7, it is characterised in that the welding gun circular arc
Swing mechanism (5) includes circular arc rotary reducer fixed seat (51), circular arc revolution driving motor (52) and circular arc rotary reducer
(53), circular arc rotary reducer fixed seat (51) is fixedly connected with the horizontal rotation reducer output shaft (431), and circular arc returns
Turn driving motor (52) to return together with circular arc with circular arc rotary reducer (53) transmission cooperation and by circular arc rotary reducer (53)
Turn driving motor (52) to be fixed in circular arc rotary reducer fixed seat (51), the circular arc revolution of circular arc rotary reducer (53) subtracts
Fast device output shaft (531) is stretched over the right side of circular arc rotary reducer fixed seat (51) and is fixed with a welding gun fixed seat
(5311), the circular arc revolution driving motor (52) is servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721180056.5U CN207447680U (en) | 2017-09-14 | 2017-09-14 | Five degree-of-freedom manipulator automatic soldering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721180056.5U CN207447680U (en) | 2017-09-14 | 2017-09-14 | Five degree-of-freedom manipulator automatic soldering device |
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| Publication Number | Publication Date |
|---|---|
| CN207447680U true CN207447680U (en) | 2018-06-05 |
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|---|---|---|---|
| CN201721180056.5U Active CN207447680U (en) | 2017-09-14 | 2017-09-14 | Five degree-of-freedom manipulator automatic soldering device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107470812A (en) * | 2017-09-14 | 2017-12-15 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator automatic soldering device |
| CN112222699A (en) * | 2020-08-28 | 2021-01-15 | 南京驭逡通信科技有限公司 | Automatic welding equipment for industrial workshop and working method thereof |
| CN112404828A (en) * | 2020-09-28 | 2021-02-26 | 王东华 | Energy-concerving and environment-protective high accurate welding set |
-
2017
- 2017-09-14 CN CN201721180056.5U patent/CN207447680U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107470812A (en) * | 2017-09-14 | 2017-12-15 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator automatic soldering device |
| CN112222699A (en) * | 2020-08-28 | 2021-01-15 | 南京驭逡通信科技有限公司 | Automatic welding equipment for industrial workshop and working method thereof |
| CN112404828A (en) * | 2020-09-28 | 2021-02-26 | 王东华 | Energy-concerving and environment-protective high accurate welding set |
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