CN207508580U - A kind of multiple degrees of freedom moving automobile welding robot - Google Patents
A kind of multiple degrees of freedom moving automobile welding robot Download PDFInfo
- Publication number
- CN207508580U CN207508580U CN201721566438.1U CN201721566438U CN207508580U CN 207508580 U CN207508580 U CN 207508580U CN 201721566438 U CN201721566438 U CN 201721566438U CN 207508580 U CN207508580 U CN 207508580U
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- large arm
- arm
- welding
- roller bearing
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The utility model discloses a kind of multiple degrees of freedom moving automobile welding robot, structure includes：Multiaxis moves welding hand claw, Roller Shaft rotary column cylinder, mechanical hand arm, manipulator large arm cap, forearm roller bearing bar, manipulator large arm, U-shaped big arm support, large arm roller bearing column, shaft rotation pedestal cylinder, robot base, manipulator large arm cap is structure as a whole with manipulator large arm, manipulator large arm is inserted inside U-shaped big arm support and is gap-matched by large arm roller bearing column vertically, the utility model multiaxis moves welding hand claw and is equipped with machinery welding clamping jaw, clamping jaw sliding rail block, clamping jaw overturns central siphon, clamping jaw base block, the multiple-rotor mechanical paw for realizing multiple degrees of freedom moving automobile welding robot combines welding, and fixed welding can be gripped, precision is high and correction is efficient, the movement of whole efficiency six degree of freedom is convenient.
Description
Technical field
The utility model is a kind of multiple degrees of freedom moving automobile welding robot, belongs to Automobile Welding robot technology neck
Domain.
Background technology
Welding robot is the industrial robot for being engaged in welding (including cutting and spraying).According to International Organization for standardization's work
Industry robot belongs to the definition of standard welding robot, and industrial robot is a kind of automatic control of multiduty, repeatable programming
Operation machine processed has three or more programmable axis, for industrial automation.In order to adapt to different purposes, machine
The mechanical interface of the last one axis of people, typically a connecting flange, can be hinged with different tools or end effector.Bonding machine
Device people industrial robot last shaft flange attaching soldering turret or weldering (cutting) rifle, make it to be welded, cutting or thermal jet
It applies.
But the degree of freedom of prior art moving automobile welding robot is not high, is all that Three Degree Of Freedom or four-degree-of-freedom move
It is dynamic, high performance six degree of freedom movement is not achieved and coordinates the effect of Automobile Welding, inefficient and weld displacement comprehensively
Not precisely.
Utility model content
In view of the deficienciess of the prior art, the utility model aim is to provide a kind of multiple degrees of freedom moving automobile bonding machine
Device people, it is not high to solve the degree of freedom of moving automobile welding robot, all it is Three Degree Of Freedom or four-degree-of-freedom movement, is not achieved
High performance six degree of freedom is mobile and coordinates the effect of Automobile Welding comprehensively, and inefficient and weld displacement is not asked accurately
Topic.
To achieve these goals, the utility model is to realize by the following technical solutions：A kind of multiple degrees of freedom moves
Electrical automobile welding robot, structure include：Multiaxis moves welding hand claw, Roller Shaft rotary column cylinder, mechanical hand arm, manipulator large arm
Cap, forearm roller bearing bar, manipulator large arm, U-shaped big arm support, large arm roller bearing column, shaft rotation pedestal cylinder, robot base, the machinery
Hand large arm cap is structure as a whole with manipulator large arm, and the manipulator large arm is inserted inside U-shaped big arm support and passed through vertically
Large arm roller bearing column is gap-matched, and the shaft rotation pedestal cylinder is vertically fixed under U-shaped big arm support, and the multiaxis moves welding hand claw
It is mechanically connected with mechanical hand arm by Roller Shaft rotary column cylinder, the machinery hand arm passes through forearm roller bearing with manipulator large arm cap
Bar is gap-matched, and the shaft rotation pedestal cylinder is installed vertically in robot base and using mechanical connection, the machinery
Before hand arm is vertically arranged to manipulator large arm cap, the multiaxis move welding hand claw be equipped with machinery welding clamping jaw, clamping jaw sliding rail block,
Clamping jaw overturning central siphon, clamping jaw base block, the machinery weld clamping jaw and set to be installed on the left of clamping jaw sliding rail block simultaneously there are two tilting
And be gap-matched, the clamping jaw sliding rail block overturns central siphon by clamping jaw with clamping jaw base block and is mechanically connected, the clamping jaw base
Saddle is mechanically connected with mechanical hand arm by Roller Shaft rotary column cylinder.
Further, the shaft rotation pedestal cylinder is conllinear with the axle center of robot base.
Further, the forearm roller bearing bar is gap-matched with large arm roller bearing column by manipulator large arm.
Further, the Roller Shaft rotary column cylinder internal gear is mutually mediated with mechanical hand arm internal gear.
Further, the large arm roller bearing column is mutually parallel with forearm roller bearing bar.
Further, it is mechanical part that the multiaxis, which moves welding hand claw, and the partial lateral shaft rotation degree of freedom of hand claw is improved.
Further, the Roller Shaft rotary column cylinder is mechanical part, and the generally longitudinally shaft rotation degree of freedom of hand claw is improved simultaneously
And connection forearm is flexible.
Advantageous effect
The utility model multiaxis moves welding hand claw and is equipped with machinery welding clamping jaw, clamping jaw sliding rail block, clamping jaw overturning central siphon, clamping jaw
Base block, the multiple-rotor mechanical paw for realizing multiple degrees of freedom moving automobile welding robot combine welding, and can grip solid
Fixed welding, precision is high and correction is efficient, and the movement of whole efficiency six degree of freedom is convenient.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is a kind of structure diagram of multiple degrees of freedom moving automobile welding robot of the utility model.
Fig. 2 is a kind of cross-sectional view of multiple degrees of freedom moving automobile welding robot of the utility model.
Fig. 3 is the cross-section structure that a kind of multiple degrees of freedom moving automobile welding robot multiaxis of the utility model moves welding hand claw
Schematic diagram.
In figure：Multiaxis moves welding hand claw -1, Roller Shaft rotary column cylinder -2, mechanical hand arm -3, manipulator large arm cap -4, forearm
Roller bearing bar -5, manipulator large arm -6, U-shaped big arm support -7, large arm roller bearing column -8, shaft rotation pedestal cylinder -9, robot base -10, machine
Tool welding clamping jaw -100, clamping jaw sliding rail block -101, clamping jaw overturning central siphon -102, clamping jaw base block -103.
Specific embodiment
To be easy to understand technical means, creative features, achievable purpose and effectiveness of the utility model, below
With reference to specific embodiment, the utility model is expanded on further.
- Fig. 3 is please referred to Fig.1, the utility model provides a kind of multiple degrees of freedom moving automobile welding robot：Its structure packet
It includes：Multiaxis moves welding hand claw 1, Roller Shaft rotary column cylinder 2, mechanical hand arm 3, manipulator large arm cap 4, forearm roller bearing bar 5, manipulator
Large arm 6, U-shaped big arm support 7, large arm roller bearing column 8, shaft rotation pedestal cylinder 9, robot base 10, the manipulator large arm cap 4 and machinery
Hand large arm 6 is structure as a whole, and the manipulator large arm 6 inserts vertically embedded in U-shaped big 7 inside of arm support and passes through large arm roller bearing column 8
It is gap-matched, the shaft rotation pedestal cylinder 9 is vertically fixed under U-shaped big arm support 7, and the multiaxis moves welding hand claw 1 and machinery
Hand arm 3 is mechanically connected by Roller Shaft rotary column cylinder 2, and the machinery hand arm 3 passes through forearm roller bearing bar with manipulator large arm cap 4
5 are gap-matched, and the shaft rotation pedestal cylinder 9 is installed vertically in robot base 10 and using mechanical connection, the machine
Before tool hand arm 3 is vertically arranged to manipulator large arm cap 4, the multiaxis moves welding hand claw 1 and is equipped with machinery welding clamping jaw 100, folder
Pawl sliding rail block 101, clamping jaw overturning central siphon 102, clamping jaw base block 103, it is described machinery welding clamping jaw 100 set there are two tilt peace
It loaded on 101 left side of clamping jaw sliding rail block and is gap-matched, the clamping jaw sliding rail block 101 passes through folder with clamping jaw base block 103
Pawl overturning central siphon 102 is mechanically connected, and the clamping jaw base block 103 is connected with mechanical hand arm 3 by 2 machinery of Roller Shaft rotary column cylinder
It connects, the shaft rotation pedestal cylinder 9 is conllinear with the axle center of robot base 10, and the forearm roller bearing bar 5 passes through machine with large arm roller bearing column 8
Tool hand large arm 6 is gap-matched, and 2 internal gear of Roller Shaft rotary column cylinder is mutually mediated with mechanical 3 internal gear of hand arm, institute
It states large arm roller bearing column 8 to be mutually parallel with forearm roller bearing bar 5, it is mechanical part that the multiaxis, which moves welding hand claw 1, to the part of hand claw
Lateral shaft rotation degree of freedom improves, and the Roller Shaft rotary column cylinder 2 is mechanical part, and the generally longitudinally shaft rotation degree of freedom of hand claw is improved
And it is flexible to connect forearm.
During the use of multiple degrees of freedom moving automobile welding robot, the mechanical welding of welding hand claw 1 is moved by multiaxis
Connecing clamping jaw 100, clamping jaw sliding rail block 101, clamping jaw overturning central siphon 102, clamping jaw base block 103 coordinates 2 transverse and longitudinal of Roller Shaft rotary column cylinder to turn over
Turn multidigit face freely acts welding efficiently, and moving welding hand claw 1 by multiaxis reaches multiple degrees of freedom moving automobile welding robot
Multiple-rotor mechanical paw combine welding, and fixed welding can be gripped, precision is high and correction is efficient, whole efficiency six degree of freedom
Movement is convenient.
Multiaxis described in the utility model, which moves welding hand claw 1, can realize the robot components of similar human hand function, machine
Human hand pawl is the component for holding workpiece or tool, is important one of executing agency.
Its structure and principle are all that this technology personnel can be learnt by technical manual or be known by routine experiment method,
The utility model solve the problems, such as be moving automobile welding robot degree of freedom it is not high, be all Three Degree Of Freedom or four-degree-of-freedom
It is mobile, high performance six degree of freedom movement is not achieved and coordinates the effect of Automobile Welding, inefficient and welding position comprehensively
Shifting is not accurate, and the utility model is combined with each other by above-mentioned component, can reach multiple degrees of freedom moving automobile welding robot
Multiple-rotor mechanical paw combine welding, and fixed welding can be gripped, precision is high and correction is efficient, whole efficiency six degree of freedom
Movement is convenient, described in detail below：
The machinery welding clamping jaw 100 is set is installed on 101 left side of clamping jaw sliding rail block and using gap there are two inclination
Cooperation, the clamping jaw sliding rail block 101 overturn central siphon 102 by clamping jaw with clamping jaw base block 103 and are mechanically connected, the clamping jaw pedestal
Block 103 is mechanically connected with mechanical hand arm 3 by Roller Shaft rotary column cylinder 2.
The basic principle of the utility model and main feature and the advantages of the utility model has been shown and described above, for
For those skilled in the art, it is clear that the utility model is not limited to the details of above-mentioned exemplary embodiment, and without departing substantially from this
In the case of the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent requirements of the claims
All changes are embraced therein.Any reference numeral in claim should not be considered as to the involved right of limitation
It is required that.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in each embodiment can also be properly combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of multiple degrees of freedom moving automobile welding robot, structure include：Multiaxis moves welding hand claw (1), Roller Shaft rotary column
Cylinder (2), mechanical hand arm (3), manipulator large arm cap (4), forearm roller bearing bar (5), manipulator large arm (6), U-shaped big arm support (7),
Large arm roller bearing column (8), shaft rotation pedestal cylinder (9), robot base (10), the manipulator large arm cap (4) and manipulator large arm (6)
It is structure as a whole, the manipulator large arm (6) is inserted internal embedded in U-shaped big arm support (7) and adopted by large arm roller bearing column (8) vertically
With clearance fit, the shaft rotation pedestal cylinder (9) is vertically fixed under U-shaped big arm support (7), it is characterised in that：
The multiaxis moves welding hand claw (1) and is mechanically connected with mechanical hand arm (3) by Roller Shaft rotary column cylinder (2), the machinery
Hand arm (3) is gap-matched with manipulator large arm cap (4) by forearm roller bearing bar (5), and the shaft rotation pedestal cylinder (9) is vertical
It is installed in robot base (10) and using mechanical connection, the machinery hand arm (3) is vertically arranged to manipulator large arm
Before cap (4)；
The multiaxis moves welding hand claw (1) equipped with machinery welding clamping jaw (100), clamping jaw sliding rail block (101), clamping jaw overturning central siphon
(102), clamping jaw base block (103), it is described machinery welding clamping jaw (100) set there are two tilt to be installed on clamping jaw sliding rail block
(101) it on the left of and is gap-matched, the clamping jaw sliding rail block (101) passes through clamping jaw torsion shaft with clamping jaw base block (103)
(102) mechanical connection is managed, the clamping jaw base block (103) is mechanical even by Roller Shaft rotary column cylinder (2) with mechanical hand arm (3)
It connects.
2. a kind of multiple degrees of freedom moving automobile welding robot according to claim 1, it is characterised in that：The shaft rotation bottom
Seat cylinder (9) is conllinear with the axle center of robot base (10).
3. a kind of multiple degrees of freedom moving automobile welding robot according to claim 1, it is characterised in that：The forearm rolling
Axostylus axostyle (5) is gap-matched with large arm roller bearing column (8) by manipulator large arm (6).
4. a kind of multiple degrees of freedom moving automobile welding robot according to claim 1, it is characterised in that：The Roller Shaft
Rotary column cylinder (2) internal gear is mutually mediated with mechanical hand arm (3) internal gear.
5. a kind of multiple degrees of freedom moving automobile welding robot according to claim 1, it is characterised in that：The large arm rolling
Jack-post (8) is mutually parallel with forearm roller bearing bar (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721566438.1U CN207508580U (en) | 2017-11-21 | 2017-11-21 | A kind of multiple degrees of freedom moving automobile welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721566438.1U CN207508580U (en) | 2017-11-21 | 2017-11-21 | A kind of multiple degrees of freedom moving automobile welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207508580U true CN207508580U (en) | 2018-06-19 |
Family
ID=62540352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721566438.1U Active CN207508580U (en) | 2017-11-21 | 2017-11-21 | A kind of multiple degrees of freedom moving automobile welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207508580U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110179205A (en) * | 2019-06-28 | 2019-08-30 | 福州旭乐数控设备有限公司 | Shoe tree automatic scanning device and its working method |
| CN110842936A (en) * | 2019-11-14 | 2020-02-28 | 迈赫机器人自动化股份有限公司 | Cooperative robot joint module and cooperative robot |
| CN111843208A (en) * | 2020-07-28 | 2020-10-30 | 东莞理工学院 | Laser welding material loading positioner |
-
2017
- 2017-11-21 CN CN201721566438.1U patent/CN207508580U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110179205A (en) * | 2019-06-28 | 2019-08-30 | 福州旭乐数控设备有限公司 | Shoe tree automatic scanning device and its working method |
| CN110179205B (en) * | 2019-06-28 | 2023-10-31 | 福州旭乐数控设备有限公司 | Shoe tree automatic scanning device and working method thereof |
| CN110842936A (en) * | 2019-11-14 | 2020-02-28 | 迈赫机器人自动化股份有限公司 | Cooperative robot joint module and cooperative robot |
| CN111843208A (en) * | 2020-07-28 | 2020-10-30 | 东莞理工学院 | Laser welding material loading positioner |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207508580U (en) | A kind of multiple degrees of freedom moving automobile welding robot | |
| JP5423441B2 (en) | Work system, robot apparatus, and manufacturing method of machine product | |
| CN201229711Y (en) | Multifunction welder training operation bench | |
| CN202344543U (en) | Six-axis robot transmission mechanism | |
| DE102015210255A1 (en) | Method and arrangement for surface machining a stationary mounted workpiece with a mounted on a articulated robot tool | |
| EP1568582A3 (en) | Workstation for assembling workpieces in an automotive assembly line | |
| CN103028999A (en) | Material channel for automatic mechanical processing system | |
| WO2007144114A3 (en) | Machining station, in particular assembly station for vehicle bodies | |
| CN106737302B (en) | Floating type fixture | |
| CN207309198U (en) | A kind of fully-automatic laser welding equipment | |
| PL1838484T3 (en) | Method and device for electrical spot welding | |
| CN204148695U (en) | Vehicle right and left underarm robotic arc-welding system | |
| EP1927430A2 (en) | Turning unit | |
| US6921011B1 (en) | Work piece holder having top mounted robot and method of use | |
| US20160274564A1 (en) | Gantry robot system with extension bridge | |
| WO2019166443A3 (en) | Machine tool, in particular grinding and/or eroding machine, and method for exchanging a tool assembly | |
| CN206366760U (en) | A kind of robot welding system for ships and light boats | |
| KR101296537B1 (en) | Clamping apparatus for automated robot | |
| CN105128005A (en) | Hydraulic manipulator | |
| CN205733537U (en) | A kind of heavy parts automatic butt welding equipment | |
| CN210937885U (en) | Clamp for welding robot | |
| JP2013198910A (en) | Transporting and coupling device of part | |
| US20150266149A1 (en) | Machine tool | |
| CN207155120U (en) | A kind of multi-vehicle-type Flexible Main spells switching device | |
| JPS59206176A (en) | Industrial-robot spot welding structure using single weldingelectrode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |