WO2021017558A1 - Industrial robot having adjustable welding machine track - Google Patents
Industrial robot having adjustable welding machine track Download PDFInfo
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- WO2021017558A1 WO2021017558A1 PCT/CN2020/087880 CN2020087880W WO2021017558A1 WO 2021017558 A1 WO2021017558 A1 WO 2021017558A1 CN 2020087880 W CN2020087880 W CN 2020087880W WO 2021017558 A1 WO2021017558 A1 WO 2021017558A1
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- WIPO (PCT)
- Prior art keywords
- reset
- copper strip
- industrial robot
- welding machine
- concave groove
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Definitions
- the utility model relates to the technical field of welding robots, in particular to an industrial robot with an adjustable track of a welding machine.
- Welding robots are industrial robots engaged in welding (including cutting and spraying). According to the International Organization for Standardization (ISO) definition of a standard welding robot, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes for industrial automation .
- ISO International Organization for Standardization
- the utility model proposes an industrial robot with adjustable track of the welding machine.
- the utility model proposes a welding machine trajectory adjustable industrial robot, which includes a concave groove and an object to be welded. Both ends of the concave groove are provided with resetting holes, and a resetting device is arranged inside the resetting hole, The reset device includes a reset wire rope extending to the outside of the reset hole.
- a power travel device and an electronic control arrangement device are respectively arranged inside the concave groove.
- the power travel device includes a motor and a gear.
- the inner bottom wall of the concave groove is provided with tooth grooves. The surface of the gear and the teeth The inner wall of the groove engages.
- the electrical control arrangement device includes a positive copper strip and a negative copper strip, and both the positive copper strip and the negative copper strip are electrically connected to the motor through energized bumps.
- the bottom of one end of the adjacent concave groove is movably connected by a steering mechanism.
- the inner end of the return wire rope is fixedly installed with a limit ball
- a return spring is movably sleeved on the surface of the return wire rope, and the free ends of the two ends of the return spring are respectively connected to the surface of the limit ball and the reset hole
- the outer end is fixedly connected to the inner wall.
- the limit ball can play a limit effect on the reset wire rope, and the limit ball is always blocked inside the limit hole, so that the extension length of the reset wire rope is limited.
- connecting blocks are fixedly installed on the outer surfaces of the plurality of motors, and the opposite ends of the plurality of connecting blocks are all hinged by a pin shaft, and both ends of the pin shaft are movably sleeved with torsion springs, so The two free ends of the torsion spring are respectively fixedly connected with the surface of the pin shaft and the surface of the connecting block.
- the torsion spring can make the motors at both ends of the torsion spring always twist toward the inner bottom wall of the concave groove, preventing the motor from being blocked when the adjacent concave grooves are not on the same plane or track.
- the motor is a dual output shaft motor, the output shaft of the motor is fixedly mounted with a rotating shaft through a coupling, the surface of the rotating shaft is fixedly sleeved with the shaft center of the gear, and the outer surface of the gear is The meshing parts of the inner wall of the groove are all made of rubber.
- the motor with dual output shafts can enhance the balance of motor driving.
- the outer surface of the gear and the inner wall of the tooth groove made of rubber can make the motor have the advantage of flexible driving.
- the torsion spring faces the concave groove
- the rubber will be elastically compressed or slipped.
- the process is: when turning, one end of the motor has a short stroke and the other end has a long stroke. In order to maintain synchronous driving, the short motor stroke is required. Skidding, and the long stroke at the other end requires fast driving.
- the electric control arrangement device further includes a standpipe, the lower surface of the standpipe is fixedly connected with the upper surface of the motor, the inner bottom wall of the standpipe is fixedly installed with a pressure spring, and the inner wall of the standpipe slides A T-shaped ejector rod is inserted, and the lower surface of the T-shaped ejector rod is fixedly connected with the free end of the top end of the pressure spring.
- the pressure spring in the vertical pipe is required to lift the T-shaped mandrel to always contact the inner top wall of the concave groove , Provide uninterrupted power supply.
- both ends of the top of the T-shaped top rod are fixedly connected with elastic rods, and the two ends of the elastic rod are respectively fixedly connected with a plurality of energized bumps, and the surface of the energized bumps is round.
- the circular energization bumps can make more stable transitional contact with the positive and negative copper bars in the adjacent concave grooves, maintain continuous energization, and have greater adaptability.
- the positive copper strip and the negative copper strip are both fixedly installed on the inner top walls on both sides of the concave groove, and the surfaces of the plurality of energized bumps are respectively connected to the lower surfaces of the positive copper strip and the negative copper strip in a sliding manner.
- the energized bumps can always be kept in the energized state in the sliding connection of the positive and negative copper bars, and the principle is the same as the power supply mode on the top of the high-speed train.
- wires are fixedly installed inside both sides of the concave groove, and the two wires are respectively fixedly connected to the surfaces of the positive electrode copper strip and the negative electrode copper strip and conduct electricity.
- the wire is installed inside the concave groove, and at the same time, the length of the wire in the gap between adjacent concave grooves can be increased according to the maximum curvature of the concave groove, to avoid breaking the wire during bending, which is more convenient and safer to prevent occurrence The problem of winding and tearing.
- the steering mechanism includes a steering ball, the bottoms of the opposite ends of the plurality of concave grooves are all provided with steering grooves, the inner wall of the steering groove is slidingly sleeved with the surface of the steering ball, and two adjacent steering balls are The surface of the ball is fixedly connected by a connecting rod.
- a welding torch is fixedly installed on the upper surface of the T-shaped mandrel, and the welding torch extends to the outside of the concave groove, a plurality of the concave grooves are connected by a steering mechanism in a curved shape, and a plurality of the concave grooves Both are fixedly bonded to the object to be welded by glue, and the bonding track of the concave groove is the same as that of the object to be welded.
- the adjacent concave grooves are always tensioned by the return spring, and the same return spring has the same elastic force, and the track formed by multiple concave grooves will form a regular arc.
- the entire device can travel in the concave groove along a track connected by a plurality of concave grooves.
- Figure 1 is a schematic diagram of a welding machine trajectory adjustable industrial robot proposed by the utility model
- Figure 2 is the internal structure diagram of the reset hole of a welding machine trajectory adjustable industrial robot proposed by the utility model
- Figure 3 is an installation diagram of the motor structure of a welding machine trajectory adjustable industrial robot proposed by the utility model
- Figure 4 is the internal structure diagram of the vertical pipe of a welding machine trajectory adjustable industrial robot proposed by the utility model
- Figure 5 is a front view of the steering ball structure of a welding machine trajectory adjustable industrial robot proposed by the utility model
- Figure 6 is an installation diagram of the concave groove structure of a welding machine trajectory adjustable industrial robot proposed by the utility model
- Figure 7 is a three-dimensional view of the welded object of an industrial robot with adjustable trajectory of welding machine proposed by the utility model.
- an industrial robot with adjustable trajectory of a welding machine includes a concave groove 1 and an object to be welded 6. Both ends of the concave groove 1 are provided with reset holes 2, and the reset holes 2 are provided with reset The reset device includes a reset wire rope 21, which extends to the outside of the reset hole 2;
- the inner end of the reset wire rope 21 is fixedly installed with a limit ball 22, the surface of the reset wire rope 21 is movably sleeved with a reset spring 23, and the free ends of the two ends of the reset spring 23 are respectively connected to the surface of the limit ball 22 and the reset hole 2
- the outer end of the inner wall is fixedly connected, the limit ball 22 can limit the reset wire rope 21, and the limit ball 22 is always blocked inside the reset hole 2, so that the extension length of the reset wire rope 21 is limited;
- the adjacent concave grooves 1 can be always tensioned by the return spring 23, and the same return spring has the same elastic force, and the track formed by the multiple concave grooves 1 will form a regular arc.
- the inside of the concave groove 1 is provided with a power travel device and an electronic control arrangement device.
- the power travel device includes a motor 3 and a gear 31.
- the inner bottom wall of the concave groove 1 is provided with a tooth groove 32.
- the surface of the gear 31 and the tooth groove 32 The inner wall meshing;
- connecting blocks 33 are fixedly installed on the outer surfaces of the plurality of motors 3, and the opposite ends of the plurality of connecting blocks 33 are all hinged by a pin shaft 34.
- the two end surfaces of the pin shaft 34 are movably sleeved with a torsion spring 35.
- the free ends of the two ends of the spring 35 are respectively fixedly connected with the surface of the pin 34 and the surface of the connecting block 33.
- the torsion spring 35 can make the motors 3 at both ends of the spring 35 twist towards the inner bottom wall of the concave groove 1 to prevent adjacent concaves.
- the motor 3 is a dual-output shaft motor.
- the output shaft of the motor 3 is fixedly mounted with a rotating shaft 36 through a coupling.
- the surface of the rotating shaft 36 is fixedly sleeved with the shaft center of the gear 31, and the outer surface of the gear 31 is connected to the tooth groove 32.
- the inner wall meshing parts are all made of rubber.
- the motor 3 with dual output shafts can enhance the balance of the motor 3.
- the outer surface of the gear 31 and the inner wall of the tooth groove 32 made of rubber can make the motor 3 have the advantage of flexible running.
- the torsion spring 35 faces the concave groove 1 with uneven trajectory, especially when turning, the rubber will be elastically compressed or slipped appropriately.
- the process is: when turning, the stroke of the motor 3 is short at one end, and the stroke at the other end is long. In order to maintain synchronous driving, one end of the motor with a short stroke is required to slip, and the other end with a long stroke needs to be driven quickly;
- the entire device can travel in the concave groove 1 along the track where the multiple concave grooves 1 are connected.
- the electrical control arrangement device includes a positive copper strip 4 and a negative copper strip 41, and both the positive copper strip 4 and the negative copper strip 41 are electrically connected to the motor 3 through the energized bumps 42;
- the electric control arrangement device further includes a standpipe 43, the lower surface of the standpipe 43 is fixedly connected with the upper surface of the motor 3, the inner bottom wall of the standpipe 43 is fixedly installed with a pressure spring 44, and the inner wall of the standpipe 43 is slidably inserted There is a T-shaped ejector rod 45.
- the lower surface of the T-shaped ejector rod 45 is fixedly connected with the free end of the top end of the pressure spring 44 to prevent the positive copper strip 4 and the negative copper strip 41 on the adjacent concave groove 1 from being out of line ,
- the pressure spring 44 in the vertical pipe 43 is required to push the T-shaped mandrel into contact with the inner top wall of the concave groove 1 to provide uninterrupted power;
- both ends of the top of the T-shaped top rod 45 are fixedly connected with elastic rods 46, and the two ends of the elastic rod 46 are respectively fixedly connected with a plurality of energized bumps 42.
- the surface of the energized bumps 42 is in a round shape. The energized bump 42 can make a more stable transitional contact with the positive electrode copper strip 4 and the negative electrode copper strip 41 in the adjacent concave groove 1, maintain continuous energization, and have stronger adaptability;
- the positive copper strip 4 and the negative copper strip 41 are both fixedly installed on the inner top walls of both sides of the concave groove 1, and the surfaces of the plurality of energizing bumps 42 slide with the lower surfaces of the positive copper strip 4 and the negative copper strip 41, respectively
- the connection can make the energized bump 42 and the positive copper strip 4 and the negative copper strip 41 always maintain the energized state during the sliding connection.
- the principle is the same as the power supply method on the top of the high-speed train;
- wires 47 are fixedly installed inside both sides of the concave groove 1, and the two wires 47 are fixedly connected to the surface of the positive copper strip 4 and the negative copper strip 41, respectively, and conduct electricity.
- the wires 47 are installed in the concave groove 1. Inside, at the same time, the length of the wire 47 in the gap between the adjacent concave grooves 1 can be increased according to the maximum curvature of the concave groove 1 to avoid the wire 47 from being broken during bending, which is more convenient and safe, and prevents the problem of winding and tearing;
- the bottom of one end of the adjacent concave groove 1 is movably connected by a steering mechanism
- the steering mechanism includes a steering ball 5.
- the bottoms of the opposite ends of the plurality of concave grooves 1 are each provided with a steering groove 51.
- the inner wall of the steering groove 51 is slidingly sleeved with the surface of the steering ball 5, and the two adjacent steering balls 5
- the surfaces are fixedly connected by the connecting rod 52, so that the adjacent concave grooves 1 can rotate three hundred and sixty degrees, which is convenient for bending;
- a welding gun 53 is fixedly installed on the upper surface of the T-shaped mandrel 45, and the welding gun 53 extends to the outside of the concave groove 1, and a plurality of concave grooves 1 are connected by a steering mechanism in a curved shape, and the plurality of concave grooves 1 pass through Adhesive is fixedly bonded to the object to be welded 6.
- the bonding track of the concave groove 1 is the same as the welding track of the object to be welded 6. It is convenient to install the concave groove 1 and improve the working environment of the welder. At the same time, the track can be adjusted to increase the welding efficiency. ;
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Abstract
An industrial robot having an adjustable welding machine track, comprising concave grooves (1) and a welded object (6), wherein reset holes (2) are provided inside both ends of the concave grooves (1), and a reset device is provided in each reset hole (2); each reset device comprises a reset steel wire rope (21), which extends to the outside of the reset hole (2); the interiors of the concave grooves (1) are respectively provided with a power driving device and an electronic control arrangement device, the power driving device comprising a motor (3) and gears (31); gear grooves (32) are provided in the inner bottom walls of the concave grooves (1), and the surfaces of the gears (31) are meshed with the inner walls of the gear grooves (32); the electrical control arrangement device comprises a positive copper strip (4) and a negative copper strip (41), both the positive copper strip (4) and the negative copper strip (41) being electrically connected to the motor (3) by means of energized bumps (42); and a bottom end part of each adjacent concave groove (1) is movably connected by means of a steering mechanism. In the industrial robot having the adjustable welding machine track, by means of the arrangement of reset devices, the reset springs between the adjacent concave grooves may be always tensioned, the elasticity of identical reset springs is the same, and a track formed by the plurality of concave grooves may form a regular radian. Due to the arrangement of the power driving device, the whole device may run in the concave grooves along the track which is formed by the connection of the plurality of concave grooves.
Description
本实用新型涉及焊接机器人技术领域，尤其涉及一种焊接机轨迹可调式工业机器人。 The utility model relates to the technical field of welding robots, in particular to an industrial robot with an adjustable track of a welding machine.
焊接机器人是从事焊接（包括切割与喷涂）的工业机器人。根据国际标准化组织（ISO）工业机器人属于标准焊接机器人的定义，工业机器人是一种多用途的、可重复编程的自动控制操作机，具有三个或更多可编程的轴，用于工业自动化领域。Welding robots are industrial robots engaged in welding (including cutting and spraying). According to the International Organization for Standardization (ISO) definition of a standard welding robot, an industrial robot is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes for industrial automation .
目前焊接机器人在实际焊接过程中，尤其在比较高大筒状焊接或喷漆时，人工操作十分麻烦，若使用航吊则吊起焊接或喷涂设备，则精度很难保证，尤其对大型筒状内壁时，当筒状直径大于人身高时，焊接或喷涂内壁则十分不便，另外，其焊接或喷涂的轨迹也会随着要求不同而需要改变，这就会增加焊接或喷涂的难度，且焊接的工作环境比较恶劣，其产生的气味对人体健康十分不利。At present, in the actual welding process of welding robots, especially when welding or painting relatively tall cylinders, manual operation is very troublesome. If aerial cranes are used to lift welding or spraying equipment, the accuracy is difficult to guarantee, especially for large cylinder inner walls. When the diameter of the cylinder is larger than the height of the person, it is very inconvenient to weld or spray the inner wall. In addition, the welding or spraying track will need to be changed according to different requirements, which will increase the difficulty of welding or spraying, and the welding work The environment is harsh, and the smell it produces is very unfavorable to human health.
基于现有的焊接设备轨迹不可调，自动化程度不高的技术问题，本实用新型提出了一种焊接机轨迹可调式工业机器人。Based on the technical problem that the track of the existing welding equipment is not adjustable and the degree of automation is not high, the utility model proposes an industrial robot with adjustable track of the welding machine.
本实用新型提出的一种焊接机轨迹可调式工业机器人，包括凹形槽和被焊接物，所述凹形槽的两端内部均开设有复位孔，所述复位孔的内部设置有复位装置，所述复位装置包括复位钢丝绳，所述复位钢丝绳延伸至复位孔的外部。The utility model proposes a welding machine trajectory adjustable industrial robot, which includes a concave groove and an object to be welded. Both ends of the concave groove are provided with resetting holes, and a resetting device is arranged inside the resetting hole, The reset device includes a reset wire rope extending to the outside of the reset hole.
所述凹形槽的内部分别设置有动力行驶装置和电控布置装置，所述动力行驶装置包括电机和齿轮，所述凹形槽的内底壁开设有齿槽，所述齿轮的表面与齿槽的内壁啮合。A power travel device and an electronic control arrangement device are respectively arranged inside the concave groove. The power travel device includes a motor and a gear. The inner bottom wall of the concave groove is provided with tooth grooves. The surface of the gear and the teeth The inner wall of the groove engages.
所述电控布置装置包括正极铜条和负极铜条，所述正极铜条和负极铜条均通过通电凸点与电机电性连接。The electrical control arrangement device includes a positive copper strip and a negative copper strip, and both the positive copper strip and the negative copper strip are electrically connected to the motor through energized bumps.
相邻所述凹形槽的一端底部通过转向机构活动连接。The bottom of one end of the adjacent concave groove is movably connected by a steering mechanism.
优选地，所述复位钢丝绳位于其内部的一端固定安装有限位球，所述复位钢丝绳的表面活动套接有复位弹簧，所述复位弹簧的两端自由端分别与限位球的表面和复位孔外部的一端内壁固定连接。Preferably, the inner end of the return wire rope is fixedly installed with a limit ball, a return spring is movably sleeved on the surface of the return wire rope, and the free ends of the two ends of the return spring are respectively connected to the surface of the limit ball and the reset hole The outer end is fixedly connected to the inner wall.
通过上述技术方案，限位球能够对复位钢丝绳起到限位作用，限位球一直被挡在限位孔内部，使得复位钢丝绳的拉伸长度被限制住。Through the above technical solution, the limit ball can play a limit effect on the reset wire rope, and the limit ball is always blocked inside the limit hole, so that the extension length of the reset wire rope is limited.
优选地，多个所述电机的外表面均固定安装有连块，多个所述连块相对的一端均通过销轴铰接，所述销轴的两端表面均活动套接有扭力弹簧，所述扭力弹簧的两端自由端分别与销轴的表面和连块的表面固定连接。Preferably, connecting blocks are fixedly installed on the outer surfaces of the plurality of motors, and the opposite ends of the plurality of connecting blocks are all hinged by a pin shaft, and both ends of the pin shaft are movably sleeved with torsion springs, so The two free ends of the torsion spring are respectively fixedly connected with the surface of the pin shaft and the surface of the connecting block.
通过上述技术方案，扭力弹簧能够使得其两端的电机一直扭转朝凹形槽的内底壁，防止相邻凹形槽不在同一个平面或轨迹上时电机行驶受阻的问题发生。Through the above technical solution, the torsion spring can make the motors at both ends of the torsion spring always twist toward the inner bottom wall of the concave groove, preventing the motor from being blocked when the adjacent concave grooves are not on the same plane or track.
优选地，所述电机为双输出轴电机，所述电机的输出轴通过联轴器固定安装有转轴，所述转轴的表面与齿轮的轴心处固定套接，所述齿轮的外表面与齿槽内壁啮合处均采用橡胶制作而成。Preferably, the motor is a dual output shaft motor, the output shaft of the motor is fixedly mounted with a rotating shaft through a coupling, the surface of the rotating shaft is fixedly sleeved with the shaft center of the gear, and the outer surface of the gear is The meshing parts of the inner wall of the groove are all made of rubber.
通过上述技术方案，双输出轴的电机能够增强电机行驶的平衡性，同时采用橡胶制作的齿轮的外表面与齿槽内壁，能够使得电机具有柔性行驶的优点，当扭力弹簧在面对凹形槽轨迹凹凸不平时，尤其转弯时，橡胶会适当的被弹性压缩或打滑，其过程是：当转弯时，电机一端行程短，另一端行程长，为保持同步行驶，则就需要电机行程短的一端打滑，另一端行程长的需要快速行驶。Through the above technical solution, the motor with dual output shafts can enhance the balance of motor driving. At the same time, the outer surface of the gear and the inner wall of the tooth groove made of rubber can make the motor have the advantage of flexible driving. When the torsion spring faces the concave groove When the trajectory is uneven, especially when turning, the rubber will be elastically compressed or slipped. The process is: when turning, one end of the motor has a short stroke and the other end has a long stroke. In order to maintain synchronous driving, the short motor stroke is required. Skidding, and the long stroke at the other end requires fast driving.
优选地，所述电控布置装置还包括竖管，所述竖管的下表面与电机的上表面固定连接，所述竖管的内底壁固定安装有压力弹簧，所述竖管的内壁滑动插接有T型顶杆，所述T型顶杆的下表面与压力弹簧的顶端自由端固定连接。Preferably, the electric control arrangement device further includes a standpipe, the lower surface of the standpipe is fixedly connected with the upper surface of the motor, the inner bottom wall of the standpipe is fixedly installed with a pressure spring, and the inner wall of the standpipe slides A T-shaped ejector rod is inserted, and the lower surface of the T-shaped ejector rod is fixedly connected with the free end of the top end of the pressure spring.
通过上述技术方案，为防止相邻凹形槽上的正极铜条和负极铜条不在一个条线上，则需要竖管内的压力弹簧顶起T型顶杆始终与凹形槽的内顶壁接触，提供不间断的电源。Through the above technical solution, in order to prevent the positive and negative copper bars on the adjacent concave grooves from being out of the same line, the pressure spring in the vertical pipe is required to lift the T-shaped mandrel to always contact the inner top wall of the concave groove , Provide uninterrupted power supply.
优选地，所述T型顶杆的顶部两端均固定连接有弹性杆，所述弹性杆的两端分别与多个通电凸点固定连接，所述通电凸点的表面呈圆形状。Preferably, both ends of the top of the T-shaped top rod are fixedly connected with elastic rods, and the two ends of the elastic rod are respectively fixedly connected with a plurality of energized bumps, and the surface of the energized bumps is round.
通过上述技术方案，圆形状的通电凸点能够与相邻凹形槽内的正极铜条和负极铜条更稳定的过渡接触，保持连续通电，适应性更强。Through the above technical solution, the circular energization bumps can make more stable transitional contact with the positive and negative copper bars in the adjacent concave grooves, maintain continuous energization, and have greater adaptability.
优选地，所述正极铜条和负极铜条均与凹形槽的两侧内顶壁固定安装，多个所述通电凸点的表面分别与正极铜条和负极铜条的下表面滑动连接。Preferably, the positive copper strip and the negative copper strip are both fixedly installed on the inner top walls on both sides of the concave groove, and the surfaces of the plurality of energized bumps are respectively connected to the lower surfaces of the positive copper strip and the negative copper strip in a sliding manner.
通过上述技术方案，能够使得通电凸点与正极铜条和负极铜条滑动连接中始终保持通电状态，原理如高铁动车顶部提供电源方式相同。Through the above technical solution, the energized bumps can always be kept in the energized state in the sliding connection of the positive and negative copper bars, and the principle is the same as the power supply mode on the top of the high-speed train.
优选地，所述凹形槽的两侧内部均固定安装有导线，两个所述导线分别与正极铜条和负极铜条的表面固定连接并接通导电。Preferably, wires are fixedly installed inside both sides of the concave groove, and the two wires are respectively fixedly connected to the surfaces of the positive electrode copper strip and the negative electrode copper strip and conduct electricity.
通过上述技术方案，导线安装在凹形槽内部，同时可根据凹形槽最大弯曲度来增长相邻凹形槽之间空隙处的导线长度，避免弯曲时扯断导线，更加便捷安全，防止发生缠绕扯断的问题。Through the above technical solution, the wire is installed inside the concave groove, and at the same time, the length of the wire in the gap between adjacent concave grooves can be increased according to the maximum curvature of the concave groove, to avoid breaking the wire during bending, which is more convenient and safer to prevent occurrence The problem of winding and tearing.
优选地，所述转向机构包括转向球，多个所述凹形槽相对一端的底部均开设有转向槽，所述转向槽的内壁与转向球的表面滑动套接，相邻两个所述转向球的表面通过连杆固定连接。Preferably, the steering mechanism includes a steering ball, the bottoms of the opposite ends of the plurality of concave grooves are all provided with steering grooves, the inner wall of the steering groove is slidingly sleeved with the surface of the steering ball, and two adjacent steering balls are The surface of the ball is fixedly connected by a connecting rod.
通过上述技术方案，可使得相邻凹形槽之间实现三百六十度旋转，便于弯曲。Through the above technical solution, three hundred and sixty degrees of rotation can be realized between adjacent concave grooves, which is convenient for bending.
优选地，所述T型顶杆的上表面固定安装有焊枪，所述焊枪延伸至凹形槽的外部，多个所述凹形槽通过转向机构连接呈曲线形状，多个所述凹形槽均通过粘胶与被焊接物固定粘接，所述凹形槽粘接轨迹与被焊接物的焊接轨迹相同。Preferably, a welding torch is fixedly installed on the upper surface of the T-shaped mandrel, and the welding torch extends to the outside of the concave groove, a plurality of the concave grooves are connected by a steering mechanism in a curved shape, and a plurality of the concave grooves Both are fixedly bonded to the object to be welded by glue, and the bonding track of the concave groove is the same as that of the object to be welded.
通过上述技术方案，方便安装凹形槽，改善焊工的工作环境，同时实现轨迹可调节，增加焊接效率。Through the above technical solution, it is convenient to install the concave groove, improve the working environment of the welder, and at the same time realize the adjustable trajectory and increase the welding efficiency.
1、通过设置复位装置，能够使得相邻凹形槽之间被复位弹簧始终拉紧，且相同的复位弹簧弹力相同，多个凹形槽形成的轨迹会形成有规则的弧度。1. By setting the resetting device, the adjacent concave grooves are always tensioned by the return spring, and the same return spring has the same elastic force, and the track formed by multiple concave grooves will form a regular arc.
2、通过设置动力行驶装置，能够使得整个装置在凹形槽内沿着多个凹形槽连接起来的轨迹行驶。2. By providing a power travel device, the entire device can travel in the concave groove along a track connected by a plurality of concave grooves.
3、通过设置电控布置装置，能够为电机提供电源，使得电机在轨迹上行驶时不会断电。3. By installing an electronic control arrangement device, it can provide power to the motor so that the motor will not be powered off when driving on the track.
4、通过设置转向机构，能够对相邻凹形槽的转向提供连接，并能够对其最大转向做出限定，避免折坏凹形槽。4. By setting the steering mechanism, it is possible to provide a connection for the steering of adjacent concave grooves, and to limit the maximum steering to avoid breaking the concave grooves.
图1为本实用新型提出的一种焊接机轨迹可调式工业机器人的示意图；Figure 1 is a schematic diagram of a welding machine trajectory adjustable industrial robot proposed by the utility model;
图2为本实用新型提出的一种焊接机轨迹可调式工业机器人的复位孔内部结构图；Figure 2 is the internal structure diagram of the reset hole of a welding machine trajectory adjustable industrial robot proposed by the utility model;
图3为本实用新型提出的一种焊接机轨迹可调式工业机器人的电机结构安装图；Figure 3 is an installation diagram of the motor structure of a welding machine trajectory adjustable industrial robot proposed by the utility model;
图4为本实用新型提出的一种焊接机轨迹可调式工业机器人的竖管内部结构图；Figure 4 is the internal structure diagram of the vertical pipe of a welding machine trajectory adjustable industrial robot proposed by the utility model;
图5为本实用新型提出的一种焊接机轨迹可调式工业机器人的转向球结构正视图；Figure 5 is a front view of the steering ball structure of a welding machine trajectory adjustable industrial robot proposed by the utility model;
图6为本实用新型提出的一种焊接机轨迹可调式工业机器人的凹形槽结构安装图；Figure 6 is an installation diagram of the concave groove structure of a welding machine trajectory adjustable industrial robot proposed by the utility model;
图7为本实用新型提出的一种焊接机轨迹可调式工业机器人的被焊接物立体图。Figure 7 is a three-dimensional view of the welded object of an industrial robot with adjustable trajectory of welding machine proposed by the utility model.
图中：1、凹形槽；2、复位孔；21、复位钢丝绳；22、限位球；23、复位弹簧；3、电机；31、齿轮；32、齿槽；33、连块；34、销轴；35、扭力弹簧；36、转轴；4、正极铜条；41、负极铜条；42、通电凸点；43、竖管；44、压力弹簧；45、T型顶杆；46、弹性杆；47、导线；5、转向球；51、转向槽；52、连杆；53、焊枪；6、被焊接物。In the figure: 1. Concave groove; 2. Reset hole; 21. Reset wire rope; 22. Limit ball; 23. Reset spring; 3. Motor; 31. Gear; 32. Cogging; 33. Connecting block; 34. Pin shaft; 35, torsion spring; 36, rotating shaft; 4. positive copper bar; 41, negative copper bar; 42, electrified bumps; 43, standpipe; 44, pressure spring; 45, T-shaped ejector rod; 46, elastic Rod; 47, wire; 5. steering ball; 51, steering groove; 52, connecting rod; 53, welding torch; 6. welding material.
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, not all implementations. example.
参照图1-7，一种焊接机轨迹可调式工业机器人，包括凹形槽1和被焊接物6，凹形槽1的两端内部均开设有复位孔2，复位孔2的内部设置有复位装置，复位装置包括复位钢丝绳21，复位钢丝绳21延伸至复位孔2的外部；1-7, an industrial robot with adjustable trajectory of a welding machine includes a concave groove 1 and an object to be welded 6. Both ends of the concave groove 1 are provided with reset holes 2, and the reset holes 2 are provided with reset The reset device includes a reset wire rope 21, which extends to the outside of the reset hole 2;
进一步地，复位钢丝绳21位于其内部的一端固定安装有限位球22，复位钢丝绳21的表面活动套接有复位弹簧23，复位弹簧23的两端自由端分别与限位球22的表面和复位孔2外部的一端内壁固定连接，限位球22能够对复位钢丝绳21起到限位作用，限位球22一直被挡在复位孔2内部，使得复位钢丝绳21的拉伸长度被限制住；Further, the inner end of the reset wire rope 21 is fixedly installed with a limit ball 22, the surface of the reset wire rope 21 is movably sleeved with a reset spring 23, and the free ends of the two ends of the reset spring 23 are respectively connected to the surface of the limit ball 22 and the reset hole 2 The outer end of the inner wall is fixedly connected, the limit ball 22 can limit the reset wire rope 21, and the limit ball 22 is always blocked inside the reset hole 2, so that the extension length of the reset wire rope 21 is limited;
通过设置复位装置，能够使得相邻凹形槽1之间被复位弹簧23始终拉紧，且相同的复位弹簧弹力相同，多个凹形槽1形成的轨迹会形成有规则的弧度。By providing the reset device, the adjacent concave grooves 1 can be always tensioned by the return spring 23, and the same return spring has the same elastic force, and the track formed by the multiple concave grooves 1 will form a regular arc.
凹形槽1的内部分别设置有动力行驶装置和电控布置装置，动力行驶装置包括电机3和齿轮31，凹形槽1的内底壁开设有齿槽32，齿轮31的表面与齿槽32的内壁啮合；The inside of the concave groove 1 is provided with a power travel device and an electronic control arrangement device. The power travel device includes a motor 3 and a gear 31. The inner bottom wall of the concave groove 1 is provided with a tooth groove 32. The surface of the gear 31 and the tooth groove 32 The inner wall meshing;
进一步地，多个电机3的外表面均固定安装有连块33，多个连块33相对的一端均通过销轴34铰接，销轴34的两端表面均活动套接有扭力弹簧35，扭力弹簧35的两端自由端分别与销轴34的表面和连块33的表面固定连接，扭力弹簧35能够使得其两端的电机3一直扭转朝凹形槽1的内底壁，防止相邻凹形槽1不在同一个平面或轨迹上时电机3行驶受阻的问题发生；Further, connecting blocks 33 are fixedly installed on the outer surfaces of the plurality of motors 3, and the opposite ends of the plurality of connecting blocks 33 are all hinged by a pin shaft 34. The two end surfaces of the pin shaft 34 are movably sleeved with a torsion spring 35. The free ends of the two ends of the spring 35 are respectively fixedly connected with the surface of the pin 34 and the surface of the connecting block 33. The torsion spring 35 can make the motors 3 at both ends of the spring 35 twist towards the inner bottom wall of the concave groove 1 to prevent adjacent concaves. When slot 1 is not on the same plane or track, the problem of motor 3 being blocked occurs;
进一步地，电机3为双输出轴电机，电机3的输出轴通过联轴器固定安装有转轴36，转轴36的表面与齿轮31的轴心处固定套接，齿轮31的外表面与齿槽32内壁啮合处均采用橡胶制作而成，双输出轴的电机3能够增强电机3行驶的平衡性，同时采用橡胶制作的齿轮31的外表面与齿槽32内壁，能够使得电机3具有柔性行驶的优点，当扭力弹簧35在面对凹形槽1轨迹凹凸不平时，尤其转弯时，橡胶会适当的被弹性压缩或打滑，其过程是：当转弯时，电机3一端行程短，另一端行程长，为保持同步行驶，则就需要电机行程短的一端打滑，另一端行程长的需要快速行驶；Further, the motor 3 is a dual-output shaft motor. The output shaft of the motor 3 is fixedly mounted with a rotating shaft 36 through a coupling. The surface of the rotating shaft 36 is fixedly sleeved with the shaft center of the gear 31, and the outer surface of the gear 31 is connected to the tooth groove 32. The inner wall meshing parts are all made of rubber. The motor 3 with dual output shafts can enhance the balance of the motor 3. At the same time, the outer surface of the gear 31 and the inner wall of the tooth groove 32 made of rubber can make the motor 3 have the advantage of flexible running. When the torsion spring 35 faces the concave groove 1 with uneven trajectory, especially when turning, the rubber will be elastically compressed or slipped appropriately. The process is: when turning, the stroke of the motor 3 is short at one end, and the stroke at the other end is long. In order to maintain synchronous driving, one end of the motor with a short stroke is required to slip, and the other end with a long stroke needs to be driven quickly;
通过设置动力行驶装置，能够使得整个装置在凹形槽1内沿着多个凹形槽1连接起来的轨迹行驶。By providing the power travel device, the entire device can travel in the concave groove 1 along the track where the multiple concave grooves 1 are connected.
电控布置装置包括正极铜条4和负极铜条41，正极铜条4和负极铜条41均通过通电凸点42与电机3电性连接；The electrical control arrangement device includes a positive copper strip 4 and a negative copper strip 41, and both the positive copper strip 4 and the negative copper strip 41 are electrically connected to the motor 3 through the energized bumps 42;
进一步地，电控布置装置还包括竖管43，竖管43的下表面与电机3的上表面固定连接，竖管43的内底壁固定安装有压力弹簧44，竖管43的内壁滑动插接有T型顶杆45，T型顶杆45的下表面与压力弹簧44的顶端自由端固定连接，为防止相邻凹形槽1上的正极铜条4和负极铜条41不在一个条线上，则需要竖管43内的压力弹簧44顶起T型顶杆始终与凹形槽1的内顶壁接触，提供不间断的电源；Further, the electric control arrangement device further includes a standpipe 43, the lower surface of the standpipe 43 is fixedly connected with the upper surface of the motor 3, the inner bottom wall of the standpipe 43 is fixedly installed with a pressure spring 44, and the inner wall of the standpipe 43 is slidably inserted There is a T-shaped ejector rod 45. The lower surface of the T-shaped ejector rod 45 is fixedly connected with the free end of the top end of the pressure spring 44 to prevent the positive copper strip 4 and the negative copper strip 41 on the adjacent concave groove 1 from being out of line , The pressure spring 44 in the vertical pipe 43 is required to push the T-shaped mandrel into contact with the inner top wall of the concave groove 1 to provide uninterrupted power;
进一步地，T型顶杆45的顶部两端均固定连接有弹性杆46，弹性杆46的两端分别与多个通电凸点42固定连接，通电凸点42的表面呈圆形状，圆形状的通电凸点42能够与相邻凹形槽1内的正极铜条4和负极铜条41更稳定的过渡接触，保持连续通电，适应性更强；Further, both ends of the top of the T-shaped top rod 45 are fixedly connected with elastic rods 46, and the two ends of the elastic rod 46 are respectively fixedly connected with a plurality of energized bumps 42. The surface of the energized bumps 42 is in a round shape. The energized bump 42 can make a more stable transitional contact with the positive electrode copper strip 4 and the negative electrode copper strip 41 in the adjacent concave groove 1, maintain continuous energization, and have stronger adaptability;
进一步地，正极铜条4和负极铜条41均与凹形槽1的两侧内顶壁固定安装，多个通电凸点42的表面分别与正极铜条4和负极铜条41的下表面滑动连接，能够使得通电凸点42与正极铜条4和负极铜条41滑动连接中始终保持通电状态，原理如高铁动车顶部提供电源方式相同；Further, the positive copper strip 4 and the negative copper strip 41 are both fixedly installed on the inner top walls of both sides of the concave groove 1, and the surfaces of the plurality of energizing bumps 42 slide with the lower surfaces of the positive copper strip 4 and the negative copper strip 41, respectively The connection can make the energized bump 42 and the positive copper strip 4 and the negative copper strip 41 always maintain the energized state during the sliding connection. The principle is the same as the power supply method on the top of the high-speed train;
进一步地，凹形槽1的两侧内部均固定安装有导线47，两个导线47分别与正极铜条4和负极铜条41的表面固定连接并接通导电，导线47安装在凹形槽1内部，同时可根据凹形槽1最大弯曲度来增长相邻凹形槽1之间空隙处的导线47长度，避免弯曲时扯断导线47，更加便捷安全，防止发生缠绕扯断的问题；Further, wires 47 are fixedly installed inside both sides of the concave groove 1, and the two wires 47 are fixedly connected to the surface of the positive copper strip 4 and the negative copper strip 41, respectively, and conduct electricity. The wires 47 are installed in the concave groove 1. Inside, at the same time, the length of the wire 47 in the gap between the adjacent concave grooves 1 can be increased according to the maximum curvature of the concave groove 1 to avoid the wire 47 from being broken during bending, which is more convenient and safe, and prevents the problem of winding and tearing;
通过设置电控布置装置，能够为电机3提供电源，使得电机3在轨迹上行驶时不会断电。By providing an electronic control arrangement device, it is possible to provide power to the motor 3 so that the motor 3 will not be powered off when driving on the track.
相邻凹形槽1的一端底部通过转向机构活动连接；The bottom of one end of the adjacent concave groove 1 is movably connected by a steering mechanism;
进一步地，转向机构包括转向球5，多个凹形槽1相对一端的底部均开设有转向槽51，转向槽51的内壁与转向球5的表面滑动套接，相邻两个转向球5的表面通过连杆52固定连接，可使得相邻凹形槽1之间实现三百六十度旋转，便于弯曲；Further, the steering mechanism includes a steering ball 5. The bottoms of the opposite ends of the plurality of concave grooves 1 are each provided with a steering groove 51. The inner wall of the steering groove 51 is slidingly sleeved with the surface of the steering ball 5, and the two adjacent steering balls 5 The surfaces are fixedly connected by the connecting rod 52, so that the adjacent concave grooves 1 can rotate three hundred and sixty degrees, which is convenient for bending;
进一步地，T型顶杆45的上表面固定安装有焊枪53，焊枪53延伸至凹形槽1的外部，多个凹形槽1通过转向机构连接呈曲线形状，多个凹形槽1均通过粘胶与被焊接物6固定粘接，凹形槽1粘接轨迹与被焊接物6的焊接轨迹相同，方便安装凹形槽1，改善焊工的工作环境，同时实现轨迹可调节，增加焊接效率；Further, a welding gun 53 is fixedly installed on the upper surface of the T-shaped mandrel 45, and the welding gun 53 extends to the outside of the concave groove 1, and a plurality of concave grooves 1 are connected by a steering mechanism in a curved shape, and the plurality of concave grooves 1 pass through Adhesive is fixedly bonded to the object to be welded 6. The bonding track of the concave groove 1 is the same as the welding track of the object to be welded 6. It is convenient to install the concave groove 1 and improve the working environment of the welder. At the same time, the track can be adjusted to increase the welding efficiency. ；
通过设置转向机构，能够对相邻凹形槽1的转向提供连接，并能够对其最大转向做出限定，避免折坏凹形槽1，从而解决了现有的焊接设备轨迹不可调，自动化程度不高的技术问题。By setting the steering mechanism, it is possible to provide a connection for the steering of adjacent concave grooves 1 and to limit the maximum steering to avoid breaking the concave groove 1, thereby solving the problem that the existing welding equipment track is not adjustable and the degree of automation Low technical problem.
以上所述，仅为本实用新型较佳的具体实施方式，但本实用新型的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本实用新型揭露的技术范围内，根据本实用新型的技术方案及其实用新型构思加以等同替换或改变，都应涵盖在本实用新型的保护范围之内。The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited to this. Anyone familiar with the technical field within the technical scope disclosed in the present utility model, according to the present utility model The technical solutions of the new type and the concept of the utility model to be equivalently replaced or changed shall be covered by the scope of protection of the utility model.
Claims (10)
- 一种焊接机轨迹可调式工业机器人，包括凹形槽（1）和被焊接物（6），其特征在于：所述凹形槽（1）的两端内部均开设有复位孔（2），所述复位孔（2）的内部设置有复位装置，所述复位装置包括复位钢丝绳（21），所述复位钢丝绳（21）延伸至复位孔（2）的外部；An industrial robot with adjustable trajectory of a welding machine, comprising a concave groove (1) and an object to be welded (6), characterized in that: both ends of the concave groove (1) are provided with reset holes (2), A reset device is provided inside the reset hole (2), the reset device includes a reset wire rope (21), and the reset wire rope (21) extends to the outside of the reset hole (2);所述凹形槽（1）的内部分别设置有动力行驶装置和电控布置装置，所述动力行驶装置包括电机（3）和齿轮（31），所述凹形槽（1）的内底壁开设有齿槽（32），所述齿轮（31）的表面与齿槽（32）的内壁啮合；The concave groove (1) is provided with a power travel device and an electronic control arrangement device respectively, and the power travel device includes a motor (3) and a gear (31). The inner bottom wall of the concave groove (1) A tooth groove (32) is provided, and the surface of the gear (31) meshes with the inner wall of the tooth groove (32);所述电控布置装置包括正极铜条（4）和负极铜条（41），所述正极铜条（4）和负极铜条（41）均通过通电凸点（42）与电机（3）电性连接；The electrical control arrangement device includes a positive copper strip (4) and a negative copper strip (41). Both the positive copper strip (4) and the negative copper strip (41) are electrically connected to the motor (3) through the energized bumps (42). Sexual connection相邻所述凹形槽（1）的一端底部通过转向机构活动连接。The bottom of one end of the adjacent concave groove (1) is movably connected by a steering mechanism.
- 根据权利要求1所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述复位钢丝绳（21）位于其内部的一端固定安装有限位球（22），所述复位钢丝绳（21）的表面活动套接有复位弹簧（23），所述复位弹簧（23）的两端自由端分别与限位球（22）的表面和复位孔（2）外部的一端内壁固定连接。The welding machine trajectory adjustable industrial robot according to claim 1, characterized in that: the inner end of the reset wire rope (21) is fixedly installed with a limit ball (22), and the reset wire rope (21) A return spring (23) is movably sleeved on the surface, and the free ends of both ends of the return spring (23) are respectively fixedly connected with the surface of the limit ball (22) and the inner wall of one end outside the return hole (2).
- 根据权利要求1所述的一种焊接机轨迹可调式工业机器人，其特征在于：多个所述电机（3）的外表面均固定安装有连块（33），多个所述连块（33）相对的一端均通过销轴（34）铰接，所述销轴（34）的两端表面均活动套接有扭力弹簧（35），所述扭力弹簧（35）的两端自由端分别与销轴（34）的表面和连块（33）的表面固定连接。The industrial robot with adjustable trajectory for welding machine according to claim 1, characterized in that: connecting blocks (33) are fixedly installed on the outer surfaces of a plurality of said motors (3), and a plurality of said connecting blocks (33) ) The opposite ends are hinged by a pin shaft (34), both ends of the pin shaft (34) are movably sleeved with a torsion spring (35), and the free ends of the two ends of the torsion spring (35) are respectively connected to the pin The surface of the shaft (34) and the surface of the connecting block (33) are fixedly connected.
- 根据权利要求3所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述电机（3）为双输出轴电机，所述电机（3）的输出轴通过联轴器固定安装有转轴（36），所述转轴（36）的表面与齿轮（31）的轴心处固定套接，所述齿轮（31）的外表面与齿槽（32）内壁啮合处均采用橡胶制作而成。The welding machine trajectory adjustable industrial robot according to claim 3, characterized in that: the motor (3) is a dual-output shaft motor, and the output shaft of the motor (3) is fixedly mounted with a rotating shaft through a coupling (36), the surface of the rotating shaft (36) is fixedly sleeved with the shaft center of the gear (31), and the meshing part between the outer surface of the gear (31) and the inner wall of the tooth groove (32) is made of rubber.
- 根据权利要求1所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述电控布置装置还包括竖管（43），所述竖管（43）的下表面与电机（3）的上表面固定连接，所述竖管（43）的内底壁固定安装有压力弹簧（44），所述竖管（43）的内壁滑动插接有T型顶杆（45），所述T型顶杆（45）的下表面与压力弹簧（44）的顶端自由端固定连接。The welding machine trajectory adjustable industrial robot according to claim 1, characterized in that: the electric control arrangement device further comprises a standpipe (43), and the lower surface of the standpipe (43) and the motor (3) The upper surface of the vertical pipe (43) is fixedly connected to the inner bottom wall of the vertical pipe (43) with a pressure spring (44) fixedly installed, and the inner wall of the vertical pipe (43) is slidably inserted with a T-shaped top rod (45), and the T The lower surface of the type top rod (45) is fixedly connected with the free end of the top end of the pressure spring (44).
- 根据权利要求5所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述T型顶杆（45）的顶部两端均固定连接有弹性杆（46），所述弹性杆（46）的两端分别与多个通电凸点（42）固定连接，所述通凸触点（42）的表面呈圆形状。The industrial robot with adjustable trajectory for welding machine according to claim 5, characterized in that: both ends of the top of the T-shaped top rod (45) are fixedly connected with elastic rods (46), and the elastic rods (46) The two ends of) are respectively fixedly connected with a plurality of energized bumps (42), and the surface of the through convex contacts (42) is round.
- 根据权利要求6所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述正极铜条（4）和负极铜条（41）均与凹形槽（1）的两侧内顶壁固定安装，多个所述通电凸点（42）的表面分别与正极铜条（4）和负极铜条（41）的下表面滑动连接。The industrial robot with adjustable trajectory for welding machine according to claim 6, characterized in that: the positive copper strip (4) and the negative copper strip (41) are in contact with the inner top walls on both sides of the concave groove (1). In a fixed installation, the surfaces of the plurality of energized bumps (42) are respectively slidably connected to the lower surfaces of the positive copper strip (4) and the negative copper strip (41).
- 根据权利要求7所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述凹形槽（1）的两侧内部均固定安装有导线（47），两个所述导线（47）分别与正极铜条（4）和负极铜条（41）的表面固定连接并接通导电。The industrial robot with adjustable trajectory of welding machine according to claim 7, characterized in that: wires (47) are fixedly installed inside both sides of the concave groove (1), and two wires (47) They are respectively fixedly connected to the surfaces of the positive electrode copper strip (4) and the negative electrode copper strip (41) and conduct electricity.
- 根据权利要求1所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述转向机构包括转向球（5），多个所述凹形槽（1）相对一端的底部均开设有转向槽（51），所述转向槽（51）的内壁与转向球（5）的表面滑动套接，相邻两个所述转向球（5）的表面通过连杆（52）固定连接。The industrial robot with adjustable trajectory for welding machine according to claim 1, characterized in that: the steering mechanism includes a steering ball (5), and the bottoms of the opposite ends of the plurality of concave grooves (1) are provided with steering A groove (51), the inner wall of the steering groove (51) is slidingly sleeved with the surface of the steering ball (5), and the surfaces of two adjacent steering balls (5) are fixedly connected by a connecting rod (52).
- 根据权利要求5所述的一种焊接机轨迹可调式工业机器人，其特征在于：所述T型顶杆（45）的上表面固定安装有焊枪（53），所述焊枪（53）延伸至凹形槽（1）的外部，多个所述凹形槽（1）通过转向机构连接呈曲线形状，多个所述凹形槽（1）均通过粘胶与被焊接物（6）固定粘接，所述凹形槽（1）粘接轨迹与被焊接物（6）的焊接轨迹相同。The welding machine trajectory adjustable industrial robot according to claim 5, characterized in that: a welding gun (53) is fixedly installed on the upper surface of the T-shaped mandrel (45), and the welding gun (53) extends to the concave On the outside of the concave groove (1), a plurality of the concave grooves (1) are connected by a steering mechanism to form a curved shape, and the plurality of concave grooves (1) are all fixedly bonded to the welded object (6) by glue The bonding track of the concave groove (1) is the same as the welding track of the welded object (6).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910693675.1A CN110293352B (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
| CN201910693675.1 | 2019-07-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2021017558A1 true WO2021017558A1 (en) | 2021-02-04 |
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ID=68032241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2020/087880 WO2021017558A1 (en) | 2019-07-30 | 2020-04-29 | Industrial robot having adjustable welding machine track |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN111633362A (en) |
| WO (1) | WO2021017558A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111633362A (en) * | 2019-07-30 | 2020-09-08 | 南京涵铭置智能科技有限公司 | Welding machine track adjustable industrial robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6627004B1 (en) * | 2000-05-22 | 2003-09-30 | Mathey Dearman, Inc. | Carriage for cutting, beveling and welding torches |
| CN102000928A (en) * | 2009-09-01 | 2011-04-06 | 上海宣邦金属新材料科技有限公司 | Portable pipeline automatic circumferential walking device and pipeline processing method |
| CN106425195A (en) * | 2016-08-29 | 2017-02-22 | 芜湖银星汽车零部件有限公司 | Industrial welding robot |
| CN109048152A (en) * | 2018-09-20 | 2018-12-21 | 中国化学工程第六建设有限公司 | All positon pipeline intelligent welding system |
| CN110293352A (en) * | 2019-07-30 | 2019-10-01 | 南京涵铭置智能科技有限公司 | A kind of bonding machine track adjustable industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3176587A (en) * | 1961-05-05 | 1965-04-06 | North American Aviation Inc | Multiple purpose fabrication method |
| JPS5611199A (en) * | 1979-07-11 | 1981-02-04 | Nippon Steel Corp | Flexible band rail for travelling carriage |
| JPS59215298A (en) * | 1983-05-20 | 1984-12-05 | Koike Sanso Kogyo Co Ltd | Construction of traveling carriage and rail for automatic thermal cutting, automatic welding and automatic linear heating of curved line |
| JPH0825012B2 (en) * | 1993-12-03 | 1996-03-13 | コータキ精機株式会社 | Portable fusing machine |
| JP3732622B2 (en) * | 1997-06-30 | 2006-01-05 | 三菱重工業株式会社 | Three-dimensional self-propelled cart and rail used for it |
| DE19835167A1 (en) * | 1998-08-04 | 2000-02-10 | Hilti Ag | Guide rail for devices for processing concrete or stone |
-
2019
- 2019-07-30 CN CN202010426942.1A patent/CN111633362A/en not_active Withdrawn
- 2019-07-30 CN CN201910693675.1A patent/CN110293352B/en active Active
-
2020
- 2020-04-29 WO PCT/CN2020/087880 patent/WO2021017558A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6627004B1 (en) * | 2000-05-22 | 2003-09-30 | Mathey Dearman, Inc. | Carriage for cutting, beveling and welding torches |
| CN102000928A (en) * | 2009-09-01 | 2011-04-06 | 上海宣邦金属新材料科技有限公司 | Portable pipeline automatic circumferential walking device and pipeline processing method |
| CN106425195A (en) * | 2016-08-29 | 2017-02-22 | 芜湖银星汽车零部件有限公司 | Industrial welding robot |
| CN109048152A (en) * | 2018-09-20 | 2018-12-21 | 中国化学工程第六建设有限公司 | All positon pipeline intelligent welding system |
| CN110293352A (en) * | 2019-07-30 | 2019-10-01 | 南京涵铭置智能科技有限公司 | A kind of bonding machine track adjustable industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110293352A (en) | 2019-10-01 |
| CN110293352B (en) | 2020-04-21 |
| CN111633362A (en) | 2020-09-08 |
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