An automatic welding robot arm

Abstract

The invention discloses an automatic welding mechanical arm, which comprises a supporting base of the mechanical arm, a cylinder air belt, a cylinder air belt piercing groove, a welding head of the mechanical arm, a buffer mechanism, a lubricating mechanism and a protection mechanism. The buffer mechanism includes a semicircular arc groove , the semi-circular arc groove is set on the inside of the cylinder air belt through the groove, the inside of the semi-circular arc groove is provided with a semi-circular arc, and both ends of the inner side of the semi-circular arc are fixedly connected with connecting short shafts. The end of the connecting short shaft is fixedly connected with an arc-shaped cushioning piece, and a cylindrical spring groove is opened inside the cylinder air belt through the groove; through the design of the arc-shaped cushioning piece, the clamping and fixing of the cylinder air belt can be realized. At the same time, it can provide cushioning for the cylinder air belt, reducing the bending range of the cylinder air belt when the arm joint of the robot arm rotates, so as to reduce the damage of the cylinder air belt. Through the design of the semi-circular arc, it is convenient to realize two arc buffers. The movement of the sheet in the same direction, through the design of the buffer spring, is convenient to provide buffering effect on the semi-circular arc sheet.

Description

technical field [0001] The invention belongs to the technical field of mechanical arms, and in particular relates to an automatic welding mechanical arm. Background technique [0002] The robotic arm refers to a high-precision, high-speed dispensing robotic arm. The robotic arm is a complex system with multiple inputs and multiple outputs, highly nonlinear, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The manipulator is a complex system with uncertainties such as parameter perturbation, external interference and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to cascade to form the end pose. The robotic arm simulates the movements of human hands and can assist or replace human work, such as production, construc...

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