Height adjustable welding manipulator
Patent Information
- Application Number
- CN202522254887.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-24
- Publication Date
- 2026-09-22
- Estimated Expiration
- 2035-10-24
AI Technical Summary
[0004]本实用新型的主要目的在于提供一种可调节高度的焊接操作机，可以有效解决上述中所提出的现有的部分技术中，单一的粗调机构难以实现焊接的精确定位，操作人员常常需要反复启停设备，通过“试错”的方式逼近目标位置，甚至需要人工进行微调，不仅操作繁琐，劳动强度大，而且最终定位的精准度也难以保证，容易因定位偏差影响焊接质量的问题
本装置通过设计的上下微调组件，上下微调组件和左右微调组件相互配合，通过高度调整机构可以将焊接端移动至大致高度，然后通过上下微调组件和左右微调组件可以对焊接端的上下高度和左右位置进行小幅度调整，从而确定焊接端位置的精准度，粗调机构可快速完成大范围高度调整，大幅缩短非焊接的准备时间，减少反复试错和人工干预，微调组件操作简便，可在焊接过程中快速响应，适应不同工件和复杂工况，在移动程度上有助于提升整体焊接的效率。
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Figure CN224779671U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of welding processing technology, and in particular to a welding manipulator with adjustable height. Background Technology
[0002] As an important type of automated welding equipment, welding manipulators are widely used in the manufacturing industry. Their main function is to clamp and move the welding end (such as a welding torch) to achieve welding at different positions on the workpiece. In order to adapt to workpieces of different sizes and shapes, welding manipulators in the existing technology usually also have height adjustment functions. However, traditional welding manipulators often rely on a single, long-stroke adjustment mechanism for height positioning. Operators need to use this mechanism to slowly move the welding end from the initial position to the precise welding height. This "one-step" adjustment method requires a lot of time for large-scale movement when dealing with workpieces with large height differences, which seriously affects the preparation efficiency of welding operations and prolongs non-welding auxiliary time.
[0003] In some existing technologies, a single coarse adjustment mechanism is insufficient to achieve precise welding positioning. Operators often need to repeatedly start and stop the equipment, approaching the target position through trial and error, and may even need to make manual fine adjustments. This is not only cumbersome and labor-intensive, but also makes it difficult to guarantee the accuracy of the final positioning, which can easily affect the welding quality due to positioning deviations. Utility Model Content
[0004] The main purpose of this utility model is to provide an adjustable height welding manipulator, which can effectively solve the problem that in some existing technologies mentioned above, a single coarse adjustment mechanism is difficult to achieve precise welding positioning. Operators often need to repeatedly start and stop the equipment and approach the target position through trial and error. They may even need to make manual fine adjustments. This is not only cumbersome and labor-intensive, but also makes it difficult to guarantee the accuracy of the final positioning, which can easily affect the welding quality due to positioning deviation.
[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: An adjustable-height welding manipulator includes a welding end, an up-down fine-tuning component mounted on the outer surface of the welding end, a left-right fine-tuning component mounted at the rear end of the up-down fine-tuning component, a support beam mounted at the rear end of the left-right fine-tuning component, a height adjustment mechanism mounted on the rear side of the outer surface of the support beam, and an auxiliary component mounted on the front side of the outer surface of the support beam.
[0006] Preferably, the height adjustment mechanism and the auxiliary components are both mounted on a supporting base plate.
[0007] Preferably, the up-down fine-tuning component includes a fixing seat, which is mounted on the outer surface of the welding end. A slider is mounted on the rear end of the fixing seat, and an electric telescopic rod is mounted on the front side of the top of the slider.
[0008] Preferably, a control box is installed at the top of the electric telescopic rod, a support is installed on the rear side of the bottom of the control box, a slide rail is installed at the bottom of the support, and the slider is slidably connected to the inner surface of the slide rail.
[0009] Preferably, the left and right fine-tuning component includes a second fixed seat, which is installed at the rear end of the slide rail seat. A first movable seat is installed at the rear end of the second fixed seat. A threaded rod is threadedly connected to the inner surface of the first movable seat, and an outer frame is slidably connected to the outer surface of the first movable seat.
[0010] Preferably, a drive box is installed at the right end of the outer frame, the right end of the threaded rod is installed at the output end of the drive box, and a mounting base is installed at the rear end of the outer frame, which is installed at the front end of the supporting beam.
[0011] Preferably, the height adjustment mechanism includes an outer frame two, a movable seat two slidably connected to the inner surface of the outer frame two, a threaded rod two threadedly connected to the inner surface of the movable seat two, the threaded rod two being installed on the inner surface of the outer frame two, a fixing sleeve one being installed at the rear end of the movable seat two, the fixing sleeve one being installed on the rear side of the outer surface of the supporting beam, a bevel gear set being installed at the bottom of the threaded rod two, a rotating shaft being installed on the rear side of the inner surface of the bevel gear set, a motor being installed at the rear end of the rotating shaft, a bearing support being installed on the outer surface of the rotating shaft, and a fixed base being installed at the bottom of the outer frame two.
[0012] Preferably, the auxiliary component includes a second fixing sleeve, which is installed on the front side of the outer surface of the support beam. A spring assembly is installed at the bottom of the second fixing sleeve, and the bottoms of the bearing support, motor, and spring assembly are all installed on the top of the support base plate.
[0013] Compared with the prior art, the present invention has the following beneficial effects: This device utilizes a designed vertical and horizontal fine-tuning component, which works in conjunction with the horizontal fine-tuning component. The height adjustment mechanism moves the welding end to its approximate height, and then the vertical and horizontal fine-tuning components allow for small-scale adjustments to both the vertical and horizontal positions of the welding end, thus ensuring precise positioning. The coarse-adjustment mechanism can quickly complete large-range height adjustments, significantly reducing non-welding preparation time, minimizing trial and error, and reducing manual intervention. The fine-tuning component is easy to operate, responds quickly during welding, and adapts to different workpieces and complex working conditions, contributing to improved overall welding efficiency in terms of mobility. This device incorporates an auxiliary component that provides additional support to the support beam from the bottom when the height adjustment mechanism adjusts the vertical height of the welding end, thereby helping to improve the overall stability of the welding end. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the height adjustment mechanism of this utility model; Figure 3 This is a schematic diagram of the auxiliary component structure of this utility model; Figure 4 This is a partial cross-sectional view of the height adjustment mechanism of this utility model; Figure 5 This is a partial cross-sectional view of the left and right fine-tuning components of this utility model.
[0015] In the diagram: 1. Welding end; 2. Up-down fine-tuning assembly; 201. Fixed seat one; 202. Electric telescopic rod; 203. Control box; 204. Support platform; 205. Slide rail seat; 206. Slider; 3. Left-right fine-tuning assembly; 301. Fixed seat two; 302. Moving seat one; 303. Outer frame one; 304. Drive box; 305. Mounting seat; 306. Threaded rod one; 4. Support beam; 5. Height adjustment mechanism; 501. Outer frame two; 502. Threaded rod two; 503. Moving seat two; 504. Fixed sleeve one; 505. Bevel gear set; 506. Rotating shaft; 507. Motor; 508. Bearing support; 509. Fixed base; 6. Auxiliary assembly; 601. Fixed sleeve two; 602. Spring assembly; 7. Support base plate. Detailed Implementation
[0016] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.
[0017] Example 1, as Figure 1 As shown, an adjustable height welding manipulator includes a welding end 1, an up-down fine adjustment component 2 is installed on the outer surface of the welding end 1, a left-right fine adjustment component 3 is installed at the rear end of the up-down fine adjustment component 2, a support beam 4 is installed at the rear end of the left-right fine adjustment component 3, a height adjustment mechanism 5 is installed on the rear side of the outer surface of the support beam 4, and an auxiliary component 6 is installed on the front side of the outer surface of the support beam 4.
[0018] In this embodiment, the operator first activates the height adjustment mechanism 5 based on the approximate height of the workpiece to be welded. This mechanism drives the support beam 4 and all components installed on it to perform a wide range of vertical lifting and lowering, quickly moving the welding end 1 to the adjacent height area of the target weld. After coarse adjustment, the operator performs fine adjustment using the up-down fine adjustment component 2 and the left-right fine adjustment component 3. The up-down fine adjustment component 2 is activated to make millimeter-level precise corrections to the vertical height of the welding end 1, ensuring that the distance between the welding torch and the workpiece surface meets the welding process requirements. The left-right fine adjustment component 3 is activated to make precise adjustments to the horizontal position of the welding end 1, so that the tip of the welding torch is precisely aligned with the center of the weld. Through fine adjustment, the final precise positioning of the welding end 1 is achieved. After positioning is completed, the welding end 1 begins to perform the welding task. Throughout the welding process, if minor corrections are needed due to workpiece deformation or path deviation, the fine-tuning components can be used to quickly respond and adjust, ensuring the continuity of the welding process and the quality of the weld.
[0019] For details, please refer to Figure 1 and Figure 5 In this embodiment, the height adjustment mechanism 5 and the auxiliary component 6 are both equipped with a support base plate 7 at their bottoms; Further reference Figure 1 and Figure 5 In this embodiment, the up-down fine-tuning component 2 includes a fixed base 201, which is installed on the outer surface of the welding end 1. A slider 206 is installed at the rear end of the fixed base 201. An electric telescopic rod 202 is installed on the front side of the top of the slider 206. A control box 203 is installed on the top of the electric telescopic rod 202. A support platform 204 is installed on the rear side of the bottom of the control box 203. A slide rail seat 205 is installed at the bottom of the support platform 204. The slider 206 is slidably connected to the inner surface of the slide rail seat 205. After receiving the command, the control box 203 controls the electric telescopic rod 202 to perform precise telescopic movements. The top of the electric telescopic rod 202 is fixed, and its telescopic rod drives the bottom fixed seat 201 and slider 206 to move vertically. Since the slider 206 is fixed to the welding end 1 through the fixed seat 201 and is slidably connected to the inner surface of the slide rail seat 205, the movement of the slider 206 will drive the welding end 1 to move smoothly up and down along the guide of the slide rail seat 205. By controlling the telescopic amount of the electric telescopic rod 202, the height of the welding end 1 can be precisely controlled. Further reference Figure 1 and Figure 5In this embodiment, the left and right fine adjustment component 3 includes a second fixed seat 301, which is installed at the rear end of the slide rail seat 205. A first movable seat 302 is installed at the rear end of the second fixed seat 301. A threaded rod 306 is threadedly connected to the inner surface of the first movable seat 302. An outer frame 303 is slidably connected to the outer surface of the first movable seat 302. A drive box 304 is installed at the right end of the outer frame 303. The right end of the threaded rod 306 is installed at the output end of the drive box 304. A mounting seat 305 is installed at the rear end of the outer frame 303. The mounting seat 305 is installed at the front end of the support beam 4. After receiving the command, the drive motor in the drive box 304 drives the threaded rod 306 to rotate. The threaded rod 306 is threadedly connected to the movable seat 302. At the same time, the movable seat 302 is restricted by the outer frame 303 and can only slide horizontally and cannot rotate. Therefore, when the threaded rod 306 rotates, it will drive the movable seat 302 to make precise left and right linear movements along the inner wall of the outer frame 303. Since the movable seat 302 is connected to the slide rail seat 205 through the fixed seat 301, it will drive the entire upper and lower fine adjustment assembly 2 and the welding end 1 to move horizontally synchronously, thereby achieving precise centering of the welding point. The vertical fine-tuning component 2 and the horizontal fine-tuning component 3 work together. The height adjustment mechanism 5 can move the welding end 1 to the approximate height. Then, the vertical fine-tuning component 2 and the horizontal fine-tuning component 3 can make small adjustments to the vertical height and horizontal position of the welding end 1, thereby determining the accuracy of the position of the welding end 1. The coarse adjustment mechanism can quickly complete a large range of height adjustments, greatly shortening the preparation time for non-welding, reducing repeated trial and error and manual intervention. The fine-tuning components are easy to operate, can respond quickly during the welding process, adapt to different workpieces and complex working conditions, and help improve the overall welding efficiency in terms of mobility.
[0020] Example 2: Based on Example 1, this example adds a height adjustment mechanism 5 for coarse adjustment of the vertical height of the welding end 1, and an auxiliary component 6 for supporting and stabilizing components such as the support beam 4. By setting the height adjustment mechanism 5 and the auxiliary component 6, the overall stability of the welding end 1 can be improved.
[0021] For details, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4In this embodiment, the height adjustment mechanism 5 includes an outer frame 501, a movable seat 503 is slidably connected to the inner surface of the outer frame 501, a threaded rod 502 is threadedly connected to the inner surface of the movable seat 503, the threaded rod 502 is installed on the inner surface of the outer frame 501, a fixing sleeve 504 is installed at the rear end of the movable seat 503, the fixing sleeve 504 is installed on the rear side of the outer surface of the support beam 4, a bevel gear set 505 is installed at the bottom of the threaded rod 502, a rotating shaft 506 is installed on the rear side of the inner surface of the bevel gear set 505, a motor 507 is installed at the rear end of the rotating shaft 506, a bearing support 508 is installed on the outer surface of the rotating shaft 506, and a fixed base 509 is installed at the bottom of the outer frame 501. The operator starts the motor 507, which drives the bevel gear set 505 to rotate via the shaft 506. The bevel gear set 505 converts the horizontal rotational motion output by the motor 507 into vertical rotational motion, and transmits it to the threaded rod 502 connected to it. The threaded rod 502 rotates inside the outer frame 501, thereby driving the movable seat 503, which is threaded to it, to make vertical lifting and lowering movements along the inner wall of the outer frame 501. Since the movable seat 2 503 is fixedly connected to the support beam 4 through the fixed sleeve 1 504, the lifting and lowering of the movable seat 2 503 directly drives the entire support beam 4 and all its components to move vertically in sync, thus realizing rapid and wide-range coarse adjustment of the height of the welding end 1. Further reference Figure 1 and Figure 3 In this embodiment, the auxiliary component 6 includes a second fixing sleeve 601, which is installed on the front side of the outer surface of the support beam 4. A spring assembly 602 is installed at the bottom of the second fixing sleeve 601. The bottoms of the bearing support 508, the motor 507 and the spring assembly 602 are all installed on the top of the support base plate 7. When the height adjustment mechanism 5 is coarsely adjusted, the front end of the support beam 4 will generate a cantilever moment, which may cause the equipment to be unstable. The auxiliary component 6 is to provide dynamic support. The fixed sleeve 601 is fixed to the front end of the support beam 4, and the spring component 602 at its bottom always applies an upward elastic support force to the support beam 4. When the height adjustment mechanism 5 drives the support beam 4 to rise or fall, the spring component 602 will compress or extend accordingly, continuously absorbing vibration and balancing the gravity at the cantilever end, thereby effectively preventing the support beam 4 from shaking or tilting during the adjustment process, and significantly improving the overall stability and safety of the equipment. When the height adjustment mechanism 5 adjusts the vertical height of the welding end 1, the auxiliary component 6 can provide auxiliary support to the support beam 4 from the bottom, thereby helping to improve the overall stability of the welding end 1.
[0022] The control box 203 in this solution includes the existing mounting enclosure and electric telescopic pole controller. The controller here can be the Dongyuxiang YMD602, model: YMD602, voltage range: supports 12V / 24V / 36V / 48V, output power: 38W, load capacity 2000N, built-in limit switch, supports stroke control, supports communication with PLC, and is suitable for industrial equipment that requires precise control of the telescopic pole stroke. The drive box 304 in this solution includes a mounting box, a drive motor and a controller as in the prior art. The drive motor and the controller are installed inside the mounting box. The controller here can be a motor controller that is compatible with the drive motor in the prior art, and can control the switching and rotation speed of the drive motor. The bevel gear set 505 in this solution includes a bevel gear assembly and a rotating shaft as in the prior art. The rotating shaft connects the front part of the bevel gear assembly to the threaded rod 502, thereby realizing the conversion of the horizontal rotational force transmitted by the motor 507 into vertical rotation through the rotation of the bevel gear, and transmitting it to the threaded rod 502 through the rotating shaft. In this solution, welding end 1 is the core execution component of the welding manipulator. Its structure typically includes conductive and gas pipe interfaces that provide shielding gas, cooling water, and welding current for the welding process, as well as a welding torch. The welding torch can be an existing technology such as a MIG / MAG welding torch or a TIG welding torch. The manipulator drives the welding end to move as a whole through various adjustment components, precisely aligning the conductive tip of the welding torch with the weld position. At the same time, the welding power supply transmits current through the conductive interface, and the shielding gas is ejected through the gas pipe interface to isolate the air, thereby generating a stable electric arc between the tip of the welding torch and the workpiece, melting the welding wire and the base metal, and finally forming a high-quality weld. Since the above are all very mature products in the prior art, they will not be described in detail in this application.
[0023] It should be noted that the specific installation methods, circuit connection methods, and control methods of the welding end 1, control box 203, drive box 304, and motor 507 used in this utility model are all conventional designs, and will not be described in detail in this utility model.
[0024] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.
Claims
1. A height-adjustable welding manipulator, comprising a welding end (1), characterized in that: The outer surface of the welding end (1) is equipped with an up-down fine adjustment component (2), the rear end of the up-down fine adjustment component (2) is equipped with a left-right fine adjustment component (3), the rear end of the left-right fine adjustment component (3) is equipped with a support beam (4), the rear side of the outer surface of the support beam (4) is equipped with a height adjustment mechanism (5), and the front side of the outer surface of the support beam (4) is equipped with an auxiliary component (6).
2. The height-adjustable welding manipulator according to claim 1, characterized in that: The height adjustment mechanism (5) and the auxiliary component (6) are both mounted on a support base plate (7).
3. The height-adjustable welding manipulator according to claim 1, characterized in that: The up-down fine adjustment component (2) includes a fixed base (201), which is installed on the outer surface of the welding end (1). A slider (206) is installed at the rear end of the fixed base (201), and an electric telescopic rod (202) is installed on the front side of the top of the slider (206).
4. The height-adjustable welding manipulator according to claim 3, characterized in that: The electric telescopic rod (202) is equipped with a control box (203) at the top, and a support platform (204) is installed on the rear side of the bottom of the control box (203). A slide rail seat (205) is installed at the bottom of the support platform (204), and the slider (206) is slidably connected to the inner surface of the slide rail seat (205).
5. The height-adjustable welding manipulator according to claim 4, characterized in that: The left and right fine adjustment component (3) includes a fixed seat two (301), which is installed at the rear end of the slide rail seat (205). A movable seat one (302) is installed at the rear end of the fixed seat two (301). A threaded rod one (306) is threadedly connected to the inner surface of the movable seat one (302), and an outer frame one (303) is slidably connected to the outer surface of the movable seat one (302).
6. The height-adjustable welding manipulator according to claim 5, characterized in that: A drive box (304) is installed on the right end of the outer frame (303), and the right end of the threaded rod (306) is installed at the output end of the drive box (304). A mounting seat (305) is installed at the rear end of the outer frame (303), and the mounting seat (305) is installed at the front end of the support beam (4).
7. The height-adjustable welding manipulator according to claim 2, characterized in that: The height adjustment mechanism (5) includes an outer frame two (501), a movable seat two (503) is slidably connected to the inner surface of the outer frame two (501), a threaded rod two (502) is threadedly connected to the inner surface of the movable seat two (503), the threaded rod two (502) is installed on the inner surface of the outer frame two (501), a fixed sleeve one (504) is installed at the rear end of the movable seat two (503), the fixed sleeve one (504) is installed on the rear side of the outer surface of the supporting beam (4), a bevel gear set (505) is installed at the bottom of the threaded rod two (502), a rotating shaft (506) is installed on the rear side of the inner surface of the bevel gear set (505), a motor (507) is installed at the rear end of the rotating shaft (506), a bearing support (508) is installed on the outer surface of the rotating shaft (506), and a fixed base (509) is installed at the bottom of the outer frame two (501).
8. The height-adjustable welding manipulator according to claim 7, characterized in that: The auxiliary component (6) includes a second fixed sleeve (601), which is installed on the front side of the outer surface of the support beam (4). A spring assembly (602) is installed at the bottom of the second fixed sleeve (601). The bottoms of the bearing support (508), the motor (507) and the spring assembly (602) are all installed on the top of the support base plate (7).