Parallel four-degree-of-freedom intersection line welding robot

A welding robot and degree-of-freedom technology, applied in the field of robots, can solve problems such as unintuitiveness and inconvenience, achieve good economic performance, and avoid the effect of wire winding problems

Active Publication Date: 2011-04-06
BEIJING UNIV OF TECH
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  • Abstract
  • Description
  • 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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  • Parallel four-degree-of-freedom intersection line welding robot
  • Parallel four-degree-of-freedom intersection line welding robot
  • Parallel four-degree-of-freedom intersection line welding robot

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Embodiment Construction

[0025] Attached below Figure 1-Figure 7 The present invention is further described:

[0026] According to the shape of the intersecting line, it can be seen that four movements are required to complete the intersecting line weld, so the present invention has four degrees of freedom, namely: welding torch rotation, welding torch lifting, welding torch pitch, welding torch deflection, wherein rotation and lifting are position adjustments, Pitch and yaw are attitude adjustments.

[0027] The principle is: the four degrees of freedom are driven by four stepping motors I-IV, and the motors I-IV are all installed on the frame, and the frame is installed on the workpiece through the frame, so the motor is fixed relative to the workpiece. The motor 1 drives the gear and meshes with the internal gear. The internal gear is installed inside the rotating cylinder, and the rotating cylinder rotates around the frame to realize the degree of freedom of rotation. Motor II drives the lead s...

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Abstract

The invention discloses a parallel four-degree-of-freedom intersection line welding robot, which is designed aiming at an intersection line welding condition of pipe plugging and belongs to the technical field of robots. The robot comprises a stand, a position adjusting mechanism and an attitude adjusting mechanism, wherein four degrees of freedom are driven by four step motors and rotary degree of freedom is realized by gear transmission; differential speed lifting is realized by three lead screws to achieve lifting degree of freedom, pitching degree of freedom and deflecting degree of freedom; and three lifting movements are decoupled with rotary movement through three double-direction thrust bearings, so that rotation can be realized during lifting and the movements can be independently and easily controlled. In addition, because four step motors are arranged on the stand, the step motors are fixed relative to a world coordinate system in work, and wire winding caused by rotation is avoided. The robot system has flexibility, movability and high economic performance.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a robot used for intersecting line welding of pipeline insertion. Background technique [0002] In modern welding production, intubation welding is a very common connection form in chemical and boiler industries. General factories are still finished by manual welding, the manufacturing cycle is long, the labor intensity is high, the production efficiency is low, and the welding quality is difficult to maintain stable. In the application of large pressure vessels and pipeline engineering, the intersecting line weld is a very common and typical weld form. The welding of this space curve weld is labor-intensive and the welding quality is not easy to guarantee, so more and more robots are used for welding. The position and posture of the welding torch in the welding process is an important factor affecting the welding quality, so it is also an important part of the robot control. [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/02
Inventor 陈树君刘翼于洋涂志伟
Owner BEIJING UNIV OF TECH
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