SCARA (selective compliance assembly robot arm) robot special for welding operation

Abstract

The invention provides an SCARA (selective compliance assembly robot arm) robot special for welding operation. The SCARA robot comprises a base, a large swing arm, and a small swing arm. A fixed shaft is disposed at the top of the base. The center-of-gravity part of the large swing arm is mounted on the fixed shaft in a sleeving manner and is rotatably connected with the fixed shaft. One end of the small swing arm is hinged to the large swing arm through a rotating shaft fixed to the small swing arm; the other end of the small swing arm is connected with a sleeve which is vertically arranged and which can move up and down relative to the small swing arm; a vertical shaft rotatably connected relative to the sleeve penetrates the sleeve; a welding torch head fixture is hinged to the lower end of the vertical shaft. The SCARA robot has the advantages that welding can be performed by the robot instead of manual operation, the problems that severe welding environment and toxic matters may impair the health of workers, welding quality is unstable and production efficiency is low are overcome, intensity of welding is reduced for workers, and the SCARA robot is simple in structure, low in manufacturing cost and high in welding precision, has large operating space, allows accurate positioning, has good compliance, and responds fast.

Description

Technical field [0001] The invention belongs to the field of welding equipment, and in particular relates to a special SCARA robot used for welding operations. Background technique [0002] SCARA robot (English full name: Selectively Compliance Assembl yRobot Arm, Chinese translation: Selectively compliant assembly robot arm), SCARA robot usually has three rotating joints to complete the longitudinal or lateral movement of the end, because the rotating arm in this structure is relatively weak , It is difficult to withstand large and frequent impact loads, so the application of SCARA robots in industry is greatly limited; currently in the welding field, most of them use manual welding, and the harsh environment and toxic substances during welding will damage the health of workers , Workers have high labor intensity, unstable welding quality and low production efficiency. Summary of the invention [0003] The problem to be solved by the invention is to provide a special SCARA robot...

AI Technical Summary

Problems solved by technology

[0005] Due to the adoption of the above technical scheme, five control movements of the large swing arm, small swing arm, casing, vertical shaft and welding torch fixture can be realized, and the five control movements are all driven by stepping motors, which can complete the welding operation. Automatic control; the center of gravity of the large swing arm is set on the fixed shaft and forms a rotational connection with the fixed shaft, which overcomes the weakness of the rotating arm in the SCARA robot structure and is difficult to withstand large and frequent impact loads, and realizes welding operations automation, and solve the problems of unstable welding quality and low production efficiency

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