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Welding robot two freedom-degree wrist centering mechanism

A welding robot and centering mechanism technology, applied in the directions of manipulators, welding equipment, auxiliary welding equipment, etc., can solve the problems of intuition and inconvenience, and achieve the effects of convenient processing, simple structure, and convenient installation and disassembly.

Inactive Publication Date: 2009-04-29
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The linkage of various components is neither intuitive nor convenient for the control of the welding robot in the welding process.

Method used

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  • Welding robot two freedom-degree wrist centering mechanism
  • Welding robot two freedom-degree wrist centering mechanism
  • Welding robot two freedom-degree wrist centering mechanism

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Embodiment Construction

[0024] Below in conjunction with accompanying drawing, the present invention will be further described:

[0025] The mechanism of the present invention has two degrees of freedom of tilting and swinging. The swing is realized by the angle platform, and the tilt is realized by the link mechanism.

[0026] Such as figure 1 , figure 2 As shown, the angle stage is a mechanism that can realize circular motion. It is driven by a stepping motor to make the worm gear meshed with it move on its arc guide rail. This mechanism is one of the degrees of freedom of the welding robot wrist. Its trajectory is a circular arc with a known radius, such as Figure 4 As shown, its movable block can rotate around the O axis. The cross-sectional view of the angle platform is as follows Figure 5 shown.

[0027] The angle table mechanism 1 is fixed to the angle table connecting plate 3 with the hexagon socket head cap screws after being raised to a certain height by the angle table cushion b...

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Abstract

The invention relates to a wrist centering mechanism with two degrees of freedom of a welding robot, belonging to the technical field of the welding robots. The mechanism consists of an angular position platform mechanism and a connecting rod mechanism; the angular position mechanism can make circular movement around an axis thereof; the connecting rod mechanism can also realize the circular movement of a swing rod; after the two mechanisms are combined and the position of a welding gun is well adjusted, that a gun nozzle of the welding gun of the wrist welding gun part points to a fixed point all the time when the wrist acts in the welding process can be realized. Therefore, the wrist centering mechanism with two degrees of freedom can carry out control to the welding process conveniently and complete welding with high quality.

Description

technical field [0001] The invention relates to a two-degree-of-freedom wrist centering mechanism of a welding robot, which belongs to the technical field of welding robots. Background technique [0002] Currently, the wrist mechanisms used in existing welding robots have two or three degrees of freedom. This type of welding robot uses the end of the wrist to hold the welding torch. If only the wrist part moves and the other parts are not linked together, it is basically impossible to realize the movement of the welding torch mouth pointing to a fixed point in space. Therefore, only when the wrist and other degrees of freedom are linked together can the nozzle of the welding torch point at a point. The linkage of each component is neither intuitive nor convenient for the control of the welding robot in the welding process. Contents of the invention [0003] The object of the present invention is to overcome the above-mentioned defects of the existing welding robot, and p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/00B25J19/00
Inventor 陈树君任福深管新勇卢振洋殷树言
Owner BEIJING UNIV OF TECH
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