The utility model discloses a welding robot manipulator, which comprises a base, a bottom end is provided with a movable roller, wherein the base is fixedly connected with the vertical axis, vertical axis of rotation is arranged on the top of the big arm, arm is hinged with the outer end of the small arm, the outer end of the rocker arm rotation is small the vertical shaft, vertical shaft with a coat coat, the lower end of the vertical shaft is hinged with a gun rack, a torch head mounted gun frame, a clockwork spring balance mechanism is vertical, the spring balance mechanism in the lead wire while the other end is fixed on the lower end of the vertical shaft. The utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model has the advantages that the utility model.
【技术实现步骤摘要】
本技术涉及机械手焊接领域,具体属于焊接机器人用机械手。
技术介绍
采用机械手焊接是焊接自动化的革命性进步,它突破了传统的焊接刚性自动化方式,开拓了一种柔性自动化新方式,使小批量产品的自动化焊接生产成为可能。就目前的示教再现型焊接机械手而言,焊接机械手完成一项焊接任务,只需人给它做一次示教,它即可精确地再现示教的每一步操作,如要机械手去做另一项工作,无须改变任何硬件,只要对它再做一次示教即可。因此,在一条焊接机械手生产线上,可同时自动生产若干种焊件。焊接机械手的主要优点如下:I)易于实现焊接产品质量的稳定和提高,保证其均一性;2)提高生产率,一天可24h连续生产;3)改善工人劳动条件,可在有害环境下长期工作:4)降低对工人操作技术难度的要求;5)缩短产品改型换代的准备周期,减少相应的设备投资;6)可实现小批量产品焊接自动化;7)为焊接柔性生产线提供技术基础。现在广泛应用的焊接机械手都属于第一代六轴工业机械手,它的基本工作原理是示教再现。示教也称导引,即由用户导引机械手,一步步按实际任务操作一遍,机械手在导引过程中自动记忆示教的每个动作的位置、姿态、运动参数、工艺参数等,并自动生成一个连续执行全部操作的程序。完成示教后,只需给机械手一个启动命令,机械手将精确地按示教动作,一步步完成全部操作。这就是示教与再现。实现上述功能的主要工作原理,简述如下:(I)机械手的系统结构一台通用的工业机械手,按其功能划分,一般由3个相互关连的部分组成:机械手总成、控制器、示教系统。机械手总成是机械手的执行机构,它由驱动器、传动机构、机械手臂、关节、末端操作器、以及内部传感器等组 ...
【技术保护点】
焊接机器人用机械手,包括有底座,底座底端安装有移动滚轮,其特征在于:底座上固定连接有竖轴,竖轴顶端转动设置于大摇臂上,大摇臂的外端部铰接有小摇臂,小摇臂的外端部转动设置有立轴,立轴外套装有外套轴,立轴的下端铰接有焊枪架,焊枪架上固定安装有焊枪头,立轴外设置有发条弹簧平衡机构,发条弹簧平衡机构内引出的钢丝另一端固定于立轴的下端。
【技术特征摘要】
【专利技术属性】
技术研发人员:章功国,谢勇,
申请(专利权)人:马鞍山市恒毅机械制造有限公司,
类型:实用新型
国别省市:
还没有人留言评论。发表了对其他浏览者有用的留言会获得科技券。