WO2021017558A1 - Robot industriel doté d'un chemin de roulement de machine à souder réglable - Google Patents

Robot industriel doté d'un chemin de roulement de machine à souder réglable Download PDF

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Publication number
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
Authority
WO
WIPO (PCT)
Prior art keywords
reset
copper strip
industrial robot
welding machine
concave groove
Prior art date
Application number
PCT/CN2020/087880
Other languages
English (en)
Chinese (zh)
Inventor
杨青
殷红亮
Original Assignee
南京涵铭置智能科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 南京涵铭置智能科技有限公司 filed Critical 南京涵铭置智能科技有限公司
Publication of WO2021017558A1 publication Critical patent/WO2021017558A1/fr

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Classifications

    • 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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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot industriel doté d'un chemin de roulement de machine à souder réglable, comprenant des rainures concaves (1) et un objet soudé (6), des trous de réinitialisation (2) étant disposés à l'intérieur des deux extrémités des rainures concaves (1), et un dispositif de réinitialisation étant disposé dans chaque trou de réinitialisation (2); chaque dispositif de réinitialisation comprend un câble de fil d'acier de réinitialisation (21), qui s'étend vers l'extérieur du trou de réinitialisation (2); les intérieurs des rainures concaves (1) sont respectivement pourvus d'un dispositif d'entraînement électrique et d'un dispositif d'agencement de commande électronique, le dispositif d'entraînement électrique comprenant un moteur (3) et des engrenages (31); des rainures d'engrenage (32) sont disposées dans les parois inférieures internes des rainures concaves (1), et les surfaces des engrenages (31) sont en prise avec les parois internes des rainures d'engrenage (32); le dispositif d'agencement de commande électrique comprend une bande de cuivre positive (4) et une bande de cuivre négative (41), la bande de cuivre positive (4) et la bande de cuivre négative (41) étant toutes deux électriquement raccordées au moteur (3) au moyen de bosses excitées (42); et une partie extrémité inférieure de chaque rainure concave (1) adjacente étant raccordée de façon mobile au moyen d'un mécanisme de direction. Dans le robot industriel doté du chemin de roulement de machine à souder réglable, au moyen de l'agencement de dispositifs de réinitialisation, les ressorts de réinitialisation entre les rainures concaves adjacentes peuvent être toujours sous tension, l'élasticité des ressorts de réinitialisation identiques est identique, et un chemin de roulement formé par la pluralité de rainures concaves peut former un radian régulier. Du fait de l'agencement du dispositif d'entraînement électrique, l'ensemble du dispositif peut s'étendre dans les rainures concaves le long du chemin de roulement qui est formé par le raccordement de la pluralité de rainures concaves.
PCT/CN2020/087880 2019-07-30 2020-04-29 Robot industriel doté d'un chemin de roulement de machine à souder réglable WO2021017558A1 (fr)

Applications Claiming Priority (2)

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CN201910693675.1 2019-07-30
CN201910693675.1A CN110293352B (zh) 2019-07-30 2019-07-30 一种焊接机轨迹可调式工业机器人

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111633362A (zh) * 2019-07-30 2020-09-08 南京涵铭置智能科技有限公司 一种焊接机轨迹可调式工业机器人

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CN110293352A (zh) * 2019-07-30 2019-10-01 南京涵铭置智能科技有限公司 一种焊接机轨迹可调式工业机器人

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* Cited by examiner, † Cited by third party
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 (zh) * 2009-09-01 2011-04-06 上海宣邦金属新材料科技有限公司 一种便携式管道自动环向行走设备及管道加工方法
CN106425195A (zh) * 2016-08-29 2017-02-22 芜湖银星汽车零部件有限公司 一种工业焊接机器人
CN109048152A (zh) * 2018-09-20 2018-12-21 中国化学工程第六建设有限公司 全位置管道智能焊接***
CN110293352A (zh) * 2019-07-30 2019-10-01 南京涵铭置智能科技有限公司 一种焊接机轨迹可调式工业机器人

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CN110293352B (zh) 2020-04-21
CN110293352A (zh) 2019-10-01
CN111633362A (zh) 2020-09-08

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