Cantilever type four-axis welding manipulator for machining precision structural parts

Abstract

The utility model discloses a cantilever type four-axis welding manipulator for machining precision structural parts, which comprises a support cylinder, a connecting frame is arranged at one end of the support cylinder, a mechanical arm is arranged at the bottom end of the connecting frame, a welding gun is fixedly connected to one side of the mechanical arm, and the center line of the connecting frame and the center line of the support cylinder are on the same vertical plane. According to the cantilever type four-axis welding manipulator for precise structural part machining, through the arrangement of the lifting groove, before welding is conducted, a hydraulic rod in a supporting barrel is started, the hydraulic rod can push a lifting table to rise, and the lifting table drives a mechanical arm at the bottom of the lifting table to rise while driving a connecting frame to rise through a connecting block; the mechanical arm is adjusted to the proper height according to the welding requirement to complete welding work, the lifting table can be limited by the limiting column in the supporting barrel through the limiting sleeve, the stability of the connecting frame in the lifting and welding process is guaranteed, and the problem that the height cannot be adjusted is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of precision structural part processing, in particular to a cantilever type four-axis welding manipulator for precision structural part processing. Background Technique

[0002] When processing precision structural parts, welding is often required. Traditional manual welding not only has low welding efficiency but also cannot meet extremely precise processing requirements. Therefore, special welding manipulators are generally used for welding precision structural parts during processing. Such welding manipulators can be controlled by numerical control equipment to complete precise welding processing according to settings, saving part of the labor cost while ensuring welding accuracy.

[0003] However, there are still some defects in the welding manipulators used for precision structural part processing during use. When performing welding processing, the height of the manipulator cannot be adjusted quickly. As a result, when welding some relatively high structural parts, the movement stroke of the manipulator itself cannot meet the requirements.

[0004] Now, a new type of cantilever type four-axis welding manipulator for precision structural part processing is proposed to solve the above problems. Content of the Utility Model

[0005] The purpose of the utility model is to provide a cantilever type four-axis welding manipulator for precision structural part processing to solve the problem of inability to adjust the height proposed in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: a cantilever type four-axis welding manipulator for precision structural part processing, including a support cylinder, one end of the support cylinder is provided with a connection frame, the bottom end of the connection frame is provided with a robotic arm, one side of the robotic arm is fixedly connected with a welding torch, the center line of the connection frame and the center line of the support cylinder are in the same vertical plane, and a lifting mechanism for adjusting the height is arranged inside the support cylinder.

[0007] The lifting mechanism includes a lifting platform. The lifting platform is arranged inside the support cylinder. The bottom end inside the support cylinder is fixedly connected with a hydraulic rod. The two sides of the lifting platform are fixedly connected with limit sleeves. The two sides inside the support cylinder are fixedly connected with limit columns. One end of the lifting platform is fixedly connected with a connection block. A lifting groove is opened at the top of one end of the support cylinder.

[0008] Preferably, the connection block penetrates through the lifting groove and is fixedly connected with the connection frame, and the limit column is slidably connected with the limit sleeve.

[0009] Preferably, the output end of the hydraulic rod is fixedly connected with the lifting platform, and the connection block is slidably connected with the lifting groove.

[0010] Preferably, an installation platform is arranged inside the connection frame. The installation platform is movably connected to the robotic arm. Threaded holes are opened at both ends on one side of the installation platform. Two ends inside the connection frame are movably connected with threaded rods. One end on one side of the connection frame is fixedly connected with a first servo motor. A fixed cover is fixedly connected to the other side of the connection frame. The threaded rod penetrates through one side of the connection frame and extends into the fixed cover to be fixedly connected with a sprocket. A transmission chain is movably connected to the outside of the sprocket. A control motor is fixedly connected to the top end of the installation platform.

[0011] Preferably, the output end of the control motor penetrates through the installation platform and is fixedly connected to the robotic arm. The threaded rod is in threaded connection with the threaded hole.

[0012] Preferably, the output end of the first servo motor penetrates through one side of the connection frame and is fixedly connected to the threaded rod. The central axis of the threaded rod and the central axis of the sprocket are on the same horizontal plane.

[0013] Preferably, a connection platform is fixedly connected to the bottom end of the support cylinder. Two ends at the bottom of the connection platform are fixedly connected with connecting plates. A threaded sleeve is fixedly connected inside the connecting plates. The bottom end of the connection platform is movably connected with an installation groove. A bottom plate is fixedly connected to the bottom end of the installation groove. A threaded shaft is movably connected inside the installation groove. A second servo motor is fixedly connected to one end of the installation groove.

[0014] Preferably, the output end of the second servo motor penetrates through one end of the installation groove and is fixedly connected to the threaded shaft. The threaded shaft is in threaded connection with the threaded sleeve.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows: This cantilever type four-axis welding manipulator for precision structural part processing not only realizes the height adjustment, realizes the position adjustment, but also realizes the rapid conversion of working stations;

[0016] (1) By providing a lifting groove, an installation platform, a connection frame, a lifting platform, a limiting sleeve, a hydraulic rod, a connection block and a limiting column, before welding, start the hydraulic rod inside the support cylinder. The hydraulic rod can push the lifting platform to rise. While the lifting platform drives the connection frame to rise through the connection block, it also drives the robotic arm at its bottom to rise. Adjust the robotic arm to a suitable height according to the welding requirements to complete the welding work. And the limiting column inside the support cylinder can limit the lifting platform through the limiting sleeve to ensure the stability during the lifting of the connection frame and the welding process, realizing the rapid adjustment of the device height;

[0017] (2) By providing an installation platform, a connection frame, a first servo motor, a threaded rod, a sprocket, a transmission chain, a fixed cover, and threaded holes, when welding, the first servo motor can be started to drive a set of threaded rods to rotate. At the same time, the sprocket on one side of the threaded rod drives two sets of threaded rods to rotate synchronously through the transmission chain. The threaded rod drives the installation platform to move through the threaded holes, and the installation platform drives the robotic arm at the bottom to move, enabling it to be quickly moved to the designated welding position without moving the workpiece, thereby improving the welding efficiency and achieving the rapid adjustment of the position of the welding device.

[0018] (3) By providing a connection platform, an installation groove, a threaded sleeve, a threaded shaft, a connecting plate, and a second servo motor, before welding, the second servo motor is started to drive the threaded shaft to rotate. When the threaded shaft rotates, it drives the connecting plate to move through the threaded sleeve, and the connecting plate then drives the welding mechanism at the top to move to the welding station through the connection platform. In this way, after welding a set of structural components, the welding mechanism can be quickly moved to other stations, saving the time consumed by loading and unloading between multiple stations, thereby improving the welding efficiency and achieving the rapid movement of the device between stations. Description of the Drawings

[0019] Figure 1 It is a front-view sectional structure diagram of the present utility model;

[0020] Figure 2 It is a top-view sectional structure diagram of the installation platform of the present utility model;

[0021] Figure 3 It is a side-view sectional structure diagram of the installation groove of the present utility model;

[0022] Figure 4 It is a side-view sectional structure diagram of the support cylinder of the present utility model.

[0023] In the figure: 1, support cylinder; 2, lifting groove; 3, control motor; 4, installation platform; 5, connection frame; 6, first servo motor; 7, threaded rod; 8, robotic arm; 9, connection platform; 10, installation groove; 11, bottom plate; 12, threaded sleeve; 13, threaded shaft; 14, connecting plate; 15, welding torch; 16, sprocket; 17, transmission chain; 18, fixed cover; 19, threaded hole; 20, second servo motor; 21, lifting platform; 22, limit sleeve; 23, hydraulic rod; 24, connection block; 25, limit post. Detailed Embodiment

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with 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, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] Embodiment 1: Please refer to Figures 1-4 , a cantilever four-axis welding manipulator for precision structural part processing, including a support cylinder 1. One end of the support cylinder 1 is provided with a connection frame 5. The bottom end of the connection frame 5 is provided with a robotic arm 8. One side of the robotic arm 8 is fixedly connected with a welding torch 15. The center line of the connection frame 5 and the center line of the support cylinder 1 are in the same vertical plane. An elevating mechanism for adjusting the height is arranged inside the support cylinder 1;

[0026] The elevating mechanism includes an elevating platform 21. The elevating platform 21 is arranged inside the support cylinder 1. The bottom end inside the support cylinder 1 is fixedly connected with a hydraulic rod 23. Both sides of the elevating platform 21 are fixedly connected with limit sleeves 22. Both sides inside the support cylinder 1 are fixedly connected with limit posts 25. One end of the elevating platform 21 is fixedly connected with a connection block 24. An elevating groove 2 is opened at the top of one end of the support cylinder 1;

[0027] The connection block 24 passes through the elevating groove 2 and is fixedly connected with the connection frame 5. The limit post 25 is slidably connected with the limit sleeve 22;

[0028] The output end of the hydraulic rod 23 is fixedly connected with the elevating platform 21. The connection block 24 is slidably connected with the elevating groove 2;

[0029] Specifically, as shown in Figure 1 and Figure 4 , before welding, start the hydraulic rod 23 inside the support cylinder 1. The hydraulic rod 23 can push the elevating platform 21 to rise. While the elevating platform 21 drives the connection frame 5 to rise through the connection block 24, it also drives the robotic arm 8 at its bottom to rise. Adjust the robotic arm 8 to a suitable height according to the welding requirements to complete the welding work. And the limit posts 25 inside the support cylinder 1 can limit the elevating platform 21 through the limit sleeves 22 to ensure the stability of the connection frame 5 during lifting and welding, realizing the rapid adjustment of the device height.

[0030] Embodiment 2: An installation platform 4 is arranged inside the connection frame 5. The installation platform 4 is movably connected to the robotic arm 8. Threaded holes 19 are formed at both ends on one side of the installation platform 4. Two ends inside the connection frame 5 are movably connected with threaded rods 7. One end on one side of the connection frame 5 is fixedly connected with a first servo motor 6. The other side of the connection frame 5 is fixedly connected with a fixed cover 18. The threaded rod 7 penetrates through one side of the connection frame 5 and extends into the interior of the fixed cover 18 and is fixedly connected with a sprocket 16. A transmission chain 17 is movably connected to the outside of the sprocket 16. A control motor 3 is fixedly connected to the top end of the installation platform 4;

[0031] The output end of the control motor 3 penetrates through the installation platform 4 and is fixedly connected to the robotic arm 8. The threaded rod 7 is threadedly connected to the threaded hole 19;

[0032] The output end of the first servo motor 6 penetrates through one side of the connection frame 5 and is fixedly connected to the threaded rod 7. The center line of the threaded rod 7 and the center line of the sprocket 16 are on the same horizontal plane;

[0033] Specifically, as Figure 1 and Figure 2 shown, when welding, the first servo motor 6 can be started to drive a group of threaded rods 7 to rotate. At the same time, the sprocket 16 on one side of the threaded rod 7 drives two groups of threaded rods 7 to rotate synchronously through the transmission chain 17. The threaded rod 7 drives the installation platform 4 to move through the threaded hole 19. The installation platform 4 drives the robotic arm 8 at the bottom to move, and it can be quickly moved to the specified welding position, without moving the workpiece, so as to improve the welding efficiency and achieve the rapid adjustment of the position of the welding device.

[0034] Embodiment 3: The bottom end of the support cylinder 1 is fixedly connected with a connection platform 9. Both ends at the bottom of the connection platform 9 are fixedly connected with connecting plates 14. A threaded sleeve 12 is fixedly connected inside the connecting plates 14. The bottom end of the connection platform 9 is movably connected with an installation groove 10. The bottom end of the installation groove 10 is fixedly connected with a bottom plate 11. A threaded shaft 13 is movably connected inside the installation groove 10. One end of the installation groove 10 is fixedly connected with a second servo motor 20;

[0035] The output end of the second servo motor 20 penetrates through one end of the installation groove 10 and is fixedly connected to the threaded shaft 13. The threaded shaft 13 is threadedly connected to the threaded sleeve 12;

[0036] Specifically, as Figure 1 and Figure 3As shown, before welding, start the second servo motor 20 to drive the threaded shaft 13 to rotate. When the threaded shaft 13 rotates, it drives the connecting plate 14 to move through the threaded sleeve 12. The connecting plate 14 then drives the welding mechanism at the top to move to the welding station through the connecting table 9. In this way, after completing the welding of a set of structural parts, the welding mechanism can be quickly moved to other stations. Moving between multiple stations can save the time consumed by loading and unloading, thereby improving the welding efficiency and realizing the quick movement of the device between stations.

[0037] Working principle: When the present utility model is in use, before welding, start the second servo motor 20 to drive the threaded shaft 13 to rotate. When the threaded shaft 13 rotates, it drives the connecting plate 14 to move through the threaded sleeve 12. The connecting plate 14 then drives the welding mechanism at the top to move to the welding station through the connecting table 9. In this way, after completing the welding of a set of structural parts, the welding mechanism can be quickly moved to other stations. Moving between multiple stations can save the time consumed by loading and unloading, thereby improving the welding efficiency. Then start the hydraulic rod 23 inside the support cylinder 1. The hydraulic rod 23 can push the lifting platform 21 to rise. While the lifting platform 21 drives the connecting frame 5 to rise through the connecting block 24, it also drives the robotic arm 8 at its bottom to rise. Adjust the robotic arm 8 to an appropriate height according to the welding requirements to complete the welding work. And the limit post 25 inside the support cylinder 1 can limit the lifting platform 21 through the limit sleeve 22 to ensure the stability of the connecting frame 5 during lifting and welding. When welding, start the first servo motor 6 to drive a set of threaded rods 7 to rotate. At the same time, the sprocket 16 on one side of the threaded rod 7 drives two sets of threaded rods 7 to rotate synchronously through the transmission chain 17. The threaded rod 7 drives the mounting table 4 to move through the threaded hole 19. The mounting table 4 drives the robotic arm 8 at the bottom to move, and it can be quickly moved to the designated welding position without moving the workpiece, so as to improve the welding efficiency.

Claims

1. The cantilever four-axis welding manipulator for precision structural parts processing, including a support cylinder (1), is characterized in that: One end of the support cylinder (1) is provided with a connection frame (5). A robotic arm (8) is provided at the bottom end of the connection frame (5). A welding torch (15) is fixedly connected to one side of the robotic arm (8). The center line of the connection frame (5) and the center line of the support cylinder (1) are in the same vertical plane. An elevating mechanism for adjusting the height is arranged inside the support cylinder (1). The elevating mechanism includes an elevating platform (21). The elevating platform (21) is arranged inside the support cylinder (1). A hydraulic rod (23) is fixedly connected to the bottom end inside the support cylinder (1). Limiting sleeves (22) are fixedly connected to both sides of the elevating platform (21). Limiting columns (25) are fixedly connected to both sides inside the support cylinder (1). A connection block (24) is fixedly connected to one end of the elevating platform (21). An elevating groove (2) is formed at the top of one end of the support cylinder (1).

2. The cantilever four-axis welding manipulator for machining precision structural parts according to claim 1, characterized in that: The connection block (24) passes through the elevating groove (2) and is fixedly connected to the connection frame (5). The limiting column (25) is slidably connected to the limiting sleeve (22).

3. The cantilever four-axis welding manipulator for machining precision structural parts according to claim 1, characterized in that: The output end of the hydraulic rod (23) is fixedly connected to the elevating platform (21). The connection block (24) is slidably connected to the elevating groove (2).

4. The cantilever four-axis welding manipulator for machining precision structural parts according to claim 1, wherein: An installation platform (4) is arranged inside the connection frame (5). The installation platform (4) is movably connected to the robotic arm (8). Threaded holes (19) are formed at both ends on one side of the installation platform (4). Threaded rods (7) are movably connected to both ends inside the connection frame (5). A first servo motor (6) is fixedly connected to one end on one side of the connection frame (5). A fixed cover (18) is fixedly connected to the other side of the connection frame (5). The threaded rod (7) passes through one side of the connection frame (5) and extends into the inside of the fixed cover (18) and is fixedly connected to a sprocket (16). A transmission chain (17) is movably connected to the outside of the sprocket (16). A control motor (3) is fixedly connected to the top end of the installation platform (4).

5. The cantilever type four-axis welding manipulator for machining precision structural parts according to claim 4, wherein: The output end of the control motor (3) passes through the installation platform (4) and is fixedly connected to the robotic arm (8). The threaded rod (7) is threadedly connected to the threaded hole (19).

6. The cantilever four-axis welding manipulator for machining precision structural parts according to claim 4, wherein: The output end of the first servo motor (6) passes through one side of the connection frame (5) and is fixedly connected to the threaded rod (7). The center line of the threaded rod (7) and the center line of the sprocket (16) are in the same horizontal plane.

7. The cantilever four-axis welding manipulator for machining precision structural parts according to claim 1, wherein: A connection platform (9) is fixedly connected to the bottom end of the support cylinder (1). Connecting plates (14) are fixedly connected to both ends at the bottom of the connection platform (9). Threaded sleeves (12) are fixedly connected to the inside of the connecting plates (14). An installation groove (10) is movably connected to the bottom end of the connection platform (9). A bottom plate (11) is fixedly connected to the bottom end of the installation groove (10). A threaded shaft (13) is movably connected to the inside of the installation groove (10). A second servo motor (20) is fixedly connected to one end of the installation groove (10).

8. The cantilever four-axis welding manipulator for machining precision structural parts according to claim 7, characterized in that: The output end of the second servo motor (20) passes through one end of the installation groove (10) and is fixedly connected to the threaded shaft (13). The threaded shaft (13) is threadedly connected to the threaded sleeve (12).

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