CN209598523U - A kind of five axis all-position welding industrial robots - Google Patents
A kind of five axis all-position welding industrial robots Download PDFInfo
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- CN209598523U CN209598523U CN201821523291.2U CN201821523291U CN209598523U CN 209598523 U CN209598523 U CN 209598523U CN 201821523291 U CN201821523291 U CN 201821523291U CN 209598523 U CN209598523 U CN 209598523U
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Abstract
The utility model relates to a kind of five axis all-position welding industrial robots, including base member, the vertical arm component being fixed on base member installs slide component on vertical arm component, and vertical arm component and slide component form vertical direction shifting axle pair；One component of horizontal arm is mounted on slide component, and one component of horizontal arm and slide component form first order horizontal axis of rotation pair；Two component of horizontal arm is mounted on one component of horizontal arm, and two component of horizontal arm and one component of horizontal arm form second level horizontal axis of rotation pair；C-arm component is mounted on two component of horizontal arm, and C-arm component and two component of horizontal arm form third level horizontal axis of rotation pair, and end-of-arm tooling component is mounted on the wrist axis component of C-arm component.Using C-arm rod structure mode, the all-position welding application that armed lever is turned round around workpiece is realized.
Description
Technical field
The utility model relates to large and medium-sized special industrial robot device technical field, especially a kind of five axis all position weldings
Connect industrial robot.
Background technique
Industrial robot can substitute manpower and complete various complex working conditions and the long-time under high-risk hostile environment, height
The intensity duplication of labour, increasingly automated work.Realize intelligence, multifunction, flexible automation production.Robot welding application
Have extensive market, pipeline welding be related to petroleum, chemical industry, combustion gas, electric power, industrial product, ship, marine worker, nuclear power, municipal administration,
The numerous areas such as medicine, food, water process.Fixing port all positon robot welding application or blank at present.In industrial production
It is mainly mainly that half opening track gear ring is assembled on pipe workpiece by the way of, welding tractor is mounted on track gear ring around work
Part revolution welding, small-diameter pipe welding is using hand-held all-position welding special plane mode, and rail-free magnetic trolley mode is without significant
Using.Specification kind is limited by caliber, not only causes the increase of equipment manufacturing costs, produces work efficiency also by very big restriction.
Space mechanism's mode of traditional six axis joint industrial robots, can not be applicable in fixing port all positon robot welding and answer
With.Robot armed lever can be turned round around workpiece, there is biggish spatial accessibility, there is higher pose design accuracy, be realized offline
Absolute position in programing work condition operates application, reduces robot and integrates application cost, industrial robot application pipeline
It is researcher's urgent problem in welding production application.
Utility model content
Purpose of the utility model is to solve defects of the existing technology, provide a kind of five axis all-position welding works
Industry robot.
To achieve the goals above, the technical solution adopted in the utility model is:
A kind of five axis all-position welding industrial robots, including base member, the vertical arm component being fixed on base member,
Slide component is installed on vertical arm component, vertical arm component and slide component form vertical direction shifting axle pair；
One component of horizontal arm is mounted on slide component, and one component of horizontal arm and slide component form first order horizontal rotation
Axis pair；
Two component of horizontal arm is mounted on one component of horizontal arm, and two component of horizontal arm and one component of horizontal arm form the second level
Horizontal axis of rotation pair；
C-arm component is mounted on two component of horizontal arm, and C-arm component and two component of horizontal arm composition third level level are returned
Shaft pair；
The intracavitary portion of C-arm component type is equipped with harmonic speed reducer, and harmonic speed reducer input terminal installs servo motor, and harmonic wave subtracts
The output end of fast device installs bevel gear component one, the engagement orthogonal with bevel gear component two of bevel gear component one, bevel gear component two
It is mounted on wrist axis component, wrist axis component is vertically turned round and intersected at a bit with third level horizontal axis of rotation auxiliary space, end work
Tool component is mounted on the wrist axis component of C-arm component.
Further, the vertical arm component uses box-shaped rod structure, be equipped in vertical arm component servo motor, bearing block assembly,
Ball-screw, servo motor connect ball-screw, and bearing block assembly is set on the outside of ball-screw；
Ball-screw lower end and bearing bracket cooperate, and bearing bracket is mounted on the correspondence conjunction plane of vertical arm component；Vertical arm
Member rail conjunction plane is equipped with two groups of linear guides and sliding block；Lifting nut seat, nut and ball-screw are with merging and sliding block
It is installed along with the vertical direction shifting axle pair that formation is moved along linear guide on the corresponding conjunction plane of slide component.
Further, RV retarder is fixedly connected on slide component, servo motor is mounted on RV retarder input terminal, and RV slows down
Device output flange is equipped with Hollow Transmission Shafts on face, cooperates with the brearing bore of parts of bearings, parts of bearings is installed and supported at
On one component of horizontal arm, output power, Hollow Transmission Shafts shaft end and one component of horizontal arm are fixedly mounted, and composition first order level is returned
Shaft pair.
Further, RV retarder is fixedly mounted in the one component extension end of horizontal arm, and RV retarder input terminal connects servo
Motor, is equipped with Hollow Transmission Shafts on RV reducer output flange face, and the brearing bore of Hollow Transmission Shafts and parts of bearings cooperates,
Parts of bearings is installed and supported on two component of horizontal arm, and output power, Hollow Transmission Shafts shaft end is fixed with two component of horizontal arm
Installation forms second level horizontal axis of rotation pair.
Further, RV retarder is fixedly mounted in the extension end of two component of horizontal arm, and RV retarder input terminal connects servo electricity
Machine, is equipped with Hollow Transmission Shafts on RV reducer output flange face, and the brearing bore of Hollow Transmission Shafts and parts of bearings cooperates, axis
Bearing portion part is installed and supported on two component of horizontal arm, output power, and Hollow Transmission Shafts shaft end and C-arm component are fixedly mounted,
Form third level horizontal axis of rotation pair.
Further, the first order horizontal axis of rotation pair, second level horizontal axis of rotation pair and third level horizontal axis of rotation
Pair is all made of horizontal axis of rotation pair universal structure, and the servo motor of horizontal axis of rotation pair universal structure is mounted on RV retarder
On, RV retarder and the flange face of the axle sleeve part of fixed armed lever are fixedly connected, and output shaft is connected in the output method of RV retarder
Lan Shang, the output shaft other end install bearing, the axle sleeve cooperation of bearing outer ring and fixed armed lever, and adjustment lid compresses bearing sideshake, shape
At RV retarder crossed roller bearing and external ball bearing triangle support pattern, pivoted arm is mounted on output shaft.Articulated arm
The overturning moment that bar and front end vertical load generate loads in off-load to the boss face of fixed armed lever, realizes the big of robot armed lever
Size, high-precision, high rigidity horizontal axis of rotation secondary motion.Hollow form is used on output shaft, facilitates robot servo motors line
Cable passes through, fixes and realizes joint cable winds.
The utility model has the following beneficial effects: for the robot construction that the utility model provides, from robot space machine
The angle analysis of structure research can install end-of-arm tooling perpendicular to wrist axis, shape when end-of-arm tooling is not necessarily to around itself revolution
At a Virtual space axis.Therefore, the five axis all-position welding industrial robot space any position may be implemented, posture can
It reaches.When 7 tool axis of end-of-arm tooling component is parallel with horizontal rotation axis, 6 knuckle failure of C-arm component forms redundancy arm
Bar may individually plan armed lever posture as independent axes, realize the all-position welding application that armed lever is turned round around workpiece.It can be used for
Pipeline fixing port, it can also be used to the special pipes such as elliptical tube, square tube welding.
Robot armed lever is bigger compared to working range with traditional 6 articulated robots, can the construction of lesser land occupation face compared with
Big working space, robot armed lever can be turned round around workpiece all positon and be welded, have to existing fixing port all-position welding mode
Subversiveness innovation, it is widely used, there are very high economic results in society.In structure feature, returned using redundancy C-arm bar around workpiece
Turn, can be welded with the pipeline of backward compatible various specifications, realize the versatility of equipment.Simultaneously, it can be achieved that various continuous line weldings,
And other robot welding application operatings.End joint shaft attitude angle intuitive is strong, facilitates operation, there is stronger be applicable in
Property, this is that existing industrial robot can not be accomplished.
The innovative point that present utility model application robot product structure feature can be realized is:
Vertical arm component uses box-shaped rod structure, to guarantee the system rigidity of industry robot.Ball-screw combination straight line is led
The mode of rail realizes that vertical direction shifting axle pair high rigidity, high-precision, large scale are driven problem.
The Spatial Structure Optimization for realizing robot construction, in terms of robot location's accessibility, robot application space
Greatly, and armed lever posture does not influence robot application spatial utility with the variation of spatial position；Robot wrist tool posture can
In terms of property, end-of-arm tooling realizes that three-dimensional space any attitude is reachable, and no posture applies dead angle；In terms of robot application, hair
The redundancy properties in robot motion's feature are showed, the functional characteristic of the avoidance movement of robot armed lever have been increased, using C-arm
Rod structure mode realizes the all-position welding application that armed lever is turned round around workpiece.Optimize in robot kinematics and algorithm of robot dynamics
Also there is apparent method advantage with application function optimization aspect.To be achieved present utility model application robot product structure
Advantageous characteristic.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of five axis all-position welding industrial robot provided by the utility model；
Fig. 2 is the structure sectional view of five axis all-position welding industrial robots shown in Fig. 1；
Fig. 3 is the partial structure sectional view of five axis all-position welding industrial robot C-arm components shown in Fig. 1；
Fig. 4 is five axis all-position welding industrial robot horizontal axis of rotation pair universal architecture schematic diagram shown in Fig. 2.
Specific embodiment
As shown in Figure 1, a kind of five axis all-position welding industrial robots, including base member 1, it is fixed on base member 1
On robot controller 101 and vertical arm component 2；Slide component 3 is mounted on vertical arm component 2, forms vertical direction shifting axle
It is secondary；One component 4 of horizontal arm is mounted on slide component 3, forms first order horizontal axis of rotation pair；Two component 5 of horizontal arm is mounted on
On one component 4 of horizontal arm, second level horizontal axis of rotation pair is formed；C-arm component 6 is mounted on two component 5 of horizontal arm, composition the
Three-level horizontal axis of rotation pair；End-of-arm tooling component 7 is mounted on 6 wrist axis component of C-arm component.Robot servo motors cable is logical
Each mechanism part internal cavity is crossed to be connected on robot controller 101.Wire feeder 8 is mounted on slide component 3.
As shown in Fig. 2, vertical arm component 2 uses box-shaped rod structure, to guarantee the system rigidity of industry robot；Main zero
Part includes the servo motor 208, bearing block assembly 207, ball-screw 202 being assembled together, and integral installation is in vertical arm component 2
On；202 lower end of ball-screw and bearing bracket 201 cooperate, and are mounted on the correspondence conjunction plane of vertical arm component 2；Vertical arm component 2 is led
Rail coupling face is equipped with two groups of linear guides 205 and sliding block 206；Lifting nut seat 203, nut 204 and ball-screw 202 are matched
It closes, together with sliding block 206, is mounted on the corresponding conjunction plane of slide component 3, form the vertical side moved along linear guide 205
To shifting axle pair.Robot servo motors cable can pass through nut seat 203, until vertical arm component 2.
Slide component 3 is fixedly connected with the first RV retarder 302, and first servo motor 301 is mounted on the first RV retarder
302 input terminals, the first RV retarder are equipped with the first Hollow Transmission Shafts 303 on 302 output flange face, with first bearing component
304 brearing bore cooperation, first bearing component 304 are installed and supported on one component 4 of horizontal arm, and output power, first is empty
303 shaft end of heart transmission shaft and one component 4 of horizontal arm are fixedly mounted, and form first order horizontal axis of rotation pair.Robot servo motors
Cable can pass through the first Hollow Transmission Shafts 303, until slide component 3.
The 2nd RV retarder 403 is fixedly mounted in one component of horizontal arm, 4 extension end, and is mounted on the 2nd RV retarder 403
The second servo motor 401 on input terminal；2nd RV retarder is equipped with the second Hollow Transmission Shafts 402 on 403 output flange face,
Cooperating with the brearing bore of second bearing component 404, second bearing component 404, which is mounted on, to be supported on two component 5 of horizontal arm,
Output power, 402 shaft end of the second Hollow Transmission Shafts and two component 5 of horizontal arm are fixedly mounted, and form second level horizontal axis of rotation pair.
Robot servo motors cable can pass through the second Hollow Transmission Shafts 402, until one component 4 of horizontal arm.
The 3rd RV retarder 501 is fixedly mounted in two component of horizontal arm, 5 extension end, and is mounted on the 3rd RV retarder 501
Servo motor 502 on input terminal；3rd RV retarder is equipped with third Hollow Transmission Shafts 503 on 501 output flange face, with
The brearing bore of three parts of bearings 504 cooperates, and 3rd bearing component 504, which is mounted on, to be supported on two component 5 of horizontal arm, and output is dynamic
Power, 503 shaft end of third Hollow Transmission Shafts and C-arm component 6 are fixedly mounted, and form third level horizontal axis of rotation pair.
As shown in figure 3, the intracavitary portion of 6 type of C-arm component is equipped with harmonic speed reducer 602,602 input terminal of harmonic speed reducer
Servo motor 601 is installed, output end installs bevel gear component 1, engagement orthogonal with bevel gear component 2 604, bevel gear group
Part 2 604 is mounted on wrist axis component 605, wrist axis component 605 vertically revolution and with third level horizontal axis of rotation auxiliary space junction
In a bit, end-of-arm tooling component 7 is mounted on wrist axis component 605, secondary coaxial with the third level horizontal axis of rotation when cutting torch is vertical.
Robot servo motors cable can pass through the 6 intracavitary portion of type of C shape the upper arm member, until two component 5 of horizontal arm.Due to robot welding
When tool without itself turn round, therefore, which may be implemented space any position, posture can
It reaches.(design of present case armed lever and third level horizontal rotation when 7 tool axis of end-of-arm tooling component is parallel with horizontal rotation axis
Axis is overlapped), 6 knuckle failure of C-arm component forms redundancy armed lever, may individually plan armed lever posture as independent axes, realize
The all-position welding application that armed lever is turned round around workpiece.
Further instruction, robot RV joint speed reducer are used for horizontal rotation joint transmission, and retarder driving torque is hung down
Directly in gravity load direction, end output flange will bear biggish armed lever gravity and topple the inclining of load and robot end's tool
Cover torque load(ing), well beyond the normal type selecting range of retarder, rigidity, precision is difficult to ensure.Fig. 4 gives practical
Novel horizontal rotating shaft pair universal structure feature, specifically: first order horizontal axis of rotation pair, second level horizontal axis of rotation pair with
And third level horizontal axis of rotation pair is all made of horizontal axis of rotation pair universal structure, the servo of horizontal axis of rotation pair universal structure
Motor A01 is mounted on RV retarder A02, and the flange face of the axle sleeve part of RV retarder A02 and fixed armed lever A03 is fixed to be joined
It connects, output shaft A04 is connected on the output flange of RV retarder A02, and the output shaft A04 other end installs bearing A05, bearing A05
The axle sleeve of outer ring and fixed armed lever A03 cooperate, and adjustment lid A06 compresses bearing sideshake, formed RV retarder crossed roller bearing with
External ball bearing triangle support pattern, pivoted arm A07 are mounted on output shaft A04.Pivoted arm A07 and front end vertical carry
The overturning moment that lotus generates loads in off-load to the boss face of fixed armed lever A03, realizes the large scale, high-precision of robot armed lever
Degree, high rigidity horizontal axis of rotation secondary motion.Hollow form is used on output shaft A04, robot servo motors cable is facilitated to pass through,
It fixes and realizes joint cable winds.
For the robot construction that the utility model provides, the angle analysis of research is learned from space mechanism, robot, works as end
When ending tool is not necessarily to around itself revolution, end-of-arm tooling can be installed perpendicular to wrist axis, form a Virtual space axis.Cause
This, it is reachable which may be implemented space any position, posture.When 7 work of end-of-arm tooling component
When tool axis is parallel with horizontal rotation axis, 6 knuckle failure of C-arm component forms redundancy armed lever, may be independent as independent axes
It plans armed lever posture, realizes the all-position welding application that armed lever is turned round around workpiece.It can be used for pipeline fixing port, it can also be used to ellipse
The welding of the special pipes such as round tube, square tube.
Robot armed lever is bigger compared to working range with traditional 6 articulated robots, can the construction of lesser land occupation face compared with
Big working space, robot armed lever can be turned round around workpiece all positon and be welded, have to existing fixing port all-position welding mode
Subversiveness innovation, it is widely used, there are very high economic results in society.In structure feature, returned using redundancy C-arm bar around workpiece
Turn, can be welded with the pipeline of backward compatible various specifications, realize the versatility of equipment.Simultaneously, it can be achieved that various continuous line weldings,
And other robot welding application operatings.End joint shaft attitude angle intuitive is strong, facilitates operation, there is stronger be applicable in
Property, this is that existing industrial robot can not be accomplished.
Basic principles, main features, and advantages of the present invention has been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only the principles of the present invention, the utility model also has respectively on the premise of not departing from the spirit and scope of the utility model
Kind changes and improvements, these changes and improvements are both fallen in the range of claimed invention.The requires of the utility model
Protection scope defined by appended claims and its equivalent.
Claims (4)
1. a kind of five axis all-position welding industrial robots, including base member (1), the vertical arm being fixed on base member (1)
Component (2) installs slide component (3) on vertical arm component (2), and vertical arm component (2) and slide component (3) composition vertical direction move
Moving axis pair；
It is characterized in that, one component of horizontal arm (4) is mounted on slide component (3), one component of horizontal arm (4) and slide component
(3) first order horizontal axis of rotation pair is formed；
Two component of horizontal arm (5) is mounted on one component of horizontal arm (4), two component of horizontal arm (5) and one component of horizontal arm (4) group
At second level horizontal axis of rotation pair；
C-arm component (6) is mounted on two component of horizontal arm (5), and C-arm component (6) and two component of horizontal arm (5) form third
Grade horizontal axis of rotation pair；
C-arm component (6) intracavitary portion of type is equipped with harmonic speed reducer (602), and harmonic speed reducer (602) input terminal installs servo electricity
The output end of machine (601), harmonic speed reducer (602) installs bevel gear component one (603), bevel gear component one (603) and umbrella tooth
The orthogonal engagement of wheel assembly two (604), bevel gear component two (604) are mounted on wrist axis component (605), and wrist axis component (605) hangs down
Straight gyrus turns and intersects at a bit with third level horizontal axis of rotation auxiliary space, and end-of-arm tooling component (7) is mounted on C-arm component (6)
Wrist axis component (605) on；
The vertical arm component (2) uses box-shaped rod structure, is equipped with servo motor (208), bearing block assembly in vertical arm component (2)
(207), ball-screw (202), servo motor (208) connect ball-screw (202), and bearing block assembly (207) is set in ball
On the outside of lead screw (202)；
Ball-screw (202) lower end and bearing bracket (201) cooperate, and bearing bracket (201) is mounted on the correspondence of vertical arm component (2)
On conjunction plane；Vertical arm component (2) guide rail conjunction plane is equipped with two groups of linear guides (205) and sliding block (206)；Lifting nut seat
(203), to be installed along with slide component (3) with sliding block (206) corresponding with merging for nut (204) and ball-screw (202)
The vertical direction shifting axle pair mobile along linear guide (205) is formed in junction；
The 3rd RV retarder (501), the 3rd RV retarder (501) input terminal is fixedly mounted in the extension end of two component of horizontal arm (5)
It connects third servo motor (502), third Hollow Transmission Shafts (503) is installed on the 3rd RV retarder (501) output flange face,
The brearing bore of third Hollow Transmission Shafts (503) and 3rd bearing component (504) cooperates, and 3rd bearing component (504) is installed simultaneously
It is supported on two component of horizontal arm (5), output power, third Hollow Transmission Shafts (503) shaft end and C-arm component (6) fixed peace
Dress forms third level horizontal axis of rotation pair.
2. a kind of five axis all-position welding industrial robot according to claim 1, which is characterized in that slide component (3)
On be fixedly connected with the first RV retarder (302), first servo motor (301) is mounted on the first RV retarder (302) input terminal,
The first Hollow Transmission Shafts (303) are installed on one RV retarder (302) output flange face, the axis with first bearing component (304)
Inner hole is held, first bearing component (304) is installed and supported on one component of horizontal arm (4), output power, the first hollow biography
Moving axis (303) shaft end and one component of horizontal arm (4) are fixedly mounted, and form first order horizontal axis of rotation pair.
3. a kind of five axis all-position welding industrial robot according to claim 2, which is characterized in that the horizontal arm one
The 2nd RV retarder (403) is fixedly mounted in component (4) extension end, and the 2nd RV retarder (403) input terminal connects the second servo electricity
Machine (401) is equipped with the second Hollow Transmission Shafts (402) on the 2nd RV retarder (403) output flange face, the second Hollow Transmission Shafts
(402) cooperate with the brearing bore of second bearing component (404), second bearing component (404) is installed and supported at horizontal arm two
On component (5), output power, the second Hollow Transmission Shafts (402) shaft end and two component of horizontal arm (5) are fixedly mounted, composition second
Grade horizontal axis of rotation pair.
4. a kind of five axis all-position welding industrial robot according to claim 1, which is characterized in that the first order water
Flat rotating shaft pair, second level horizontal axis of rotation is secondary and third level horizontal axis of rotation pair is all made of horizontal axis of rotation pair versatility knot
The servo motor (A01) of structure, horizontal axis of rotation pair universal structure is mounted on RV retarder (A02), RV retarder (A02) with
The flange face of the axle sleeve part of fixed armed lever (A03) is fixedly connected, and output shaft (A04) is connected in the output of RV retarder (A02)
On flange, output shaft (A04) other end installs bearing (A05), and the axle sleeve of the bearing outer ring (A05) and fixed armed lever (A03) cooperate,
Adjustment lid (A06) compresses bearing sideshake, forms RV retarder crossed roller bearing and external ball bearing triangle support pattern, revolution
Armed lever (A07) is mounted on output shaft (A04), and the overturning moment load of pivoted arm (A07) and the generation of front end vertical load is unloaded
On lotus to the boss face of fixed armed lever (A03).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821523291.2U CN209598523U (en) | 2018-09-18 | 2018-09-18 | A kind of five axis all-position welding industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821523291.2U CN209598523U (en) | 2018-09-18 | 2018-09-18 | A kind of five axis all-position welding industrial robots |
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| Publication Number | Publication Date |
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| CN209598523U true CN209598523U (en) | 2019-11-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116252015A (en) * | 2023-05-16 | 2023-06-13 | 四川省钢构智造有限公司 | Novel bridge truss welding robot |
-
2018
- 2018-09-18 CN CN201821523291.2U patent/CN209598523U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116252015A (en) * | 2023-05-16 | 2023-06-13 | 四川省钢构智造有限公司 | Novel bridge truss welding robot |
| CN116252015B (en) * | 2023-05-16 | 2023-07-14 | 四川省钢构智造有限公司 | Novel bridge truss welding robot |
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