Articulated arm assembly and arc welding robot

Abstract

The present invention provides an articulated arm assembly and an arc welding robot. The articulated arm assembly includes: a first articulated arm, the first articulated arm having a first through-hole; a second articulated arm, connected to the first articulated arm and swingably disposed relative to the first articulated arm, the second articulated arm being used to connect a welding torch, the second articulated arm having a second through-hole; a support rod connected to the second articulated arm; and a first support sleeve, connected to the support rod and rotatably disposed relative to the support rod, the first support sleeve being positioned between the first through-hole and the second through-hole, so that a welding wire hose can be sequentially passed through the first through-hole, the first support sleeve, and the second through-hole. The articulated arm assembly of the present invention solves the problem of the welding wire hose of arc welding robots in the prior art being easily pulled.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to an articulated arm assembly and an arc welding robot. Background Art

[0002] Arc welding robots are widely used in the industrial robotics field. They typically consist of a six-axis vertical multi-jointed robot that holds a welding torch. Based on how the torch is held, they are categorized into two types: hollow-wrist arc welding robots and non-hollow-wrist arc welding robots. Hollow-wrist arc welding robots have a hollow wrist, with the torch held in the center. Welding wire is typically fed from inside or to the side of the arm. Non-hollow-wrist arc welding robots have a tooling attachment at the end of the wrist, with the torch held in a fixture in front of the wrist. The center of the robot's wrist end is located at a different location from the center of the torch, and the wire is typically fed to the torch from above the robot.

[0003] Compared to non-hollow wrist arc welding robots, hollow wrist arc welding robots offer greater spatial adaptability and can therefore accommodate a wider range of arc welding scenarios. However, because the wire hose of a hollow wrist arc welding robot passes inside or to the side of the robot arm, the hose must be laid out relatively compactly. Unlike non-hollow wrist arc welding robots, the hose cannot be laid with a large radius of curvature above the arm. This makes it prone to pulling on the hose during operation, potentially breaking the wire and hindering work progress and efficiency. Furthermore, during pitch welding, the hose bends near the wrist. A large curvature can cause the wire to bend and break within the hose.

[0004] At present, some robots in the prior art choose to add a fixed constraint structure at the wrist or the end of the arm, but such a setting causes the welding wire hose to be subjected to greater stress near the constraint structure. As the pitch angle of the welding torch increases, the bending stress on the welding wire hose near the constraint structure increases, the service life of the welding wire hose is reduced, and the welding wire is easily broken. Among them, an arc welding robot structure is disclosed in the prior art. The arc welding robot structure is provided with a cable support at the robot wrist, one end of the cable support is fixed at the end wrist, and the annular structure at the other end of the cable support is used to constrain the cable to limit the extension and extension, and block the space so that the cable does not have the freedom to move freely here (the cable mentioned here is the welding wire hose). The arc welding robot structure causes the flexure center of the welding wire hose to move backward, but the backward movement of the flexure center of the welding wire hose can only limit the position of the welding wire hose in space and cannot improve the stress. Moreover, this structural setting makes the welding wire hose between the cable support and the welding torch inflexible, so the welding wire hose on the other side of the cable support will produce greater stress near the cable support, and the greater the pitch angle of the welding torch, the greater the stress, the welding wire is still easy to break and the life of the welding wire hose is short. Summary of the Invention

[0005] The main purpose of the present invention is to provide an articulated arm assembly and an arc welding robot to solve the problem in the prior art that the welding wire hose of the arc welding robot is easily pulled.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided an articulated arm assembly, comprising: a first articulated arm, a first through hole being provided on the first articulated arm; a second articulated arm, connected to the first articulated arm and swingably arranged relative to the first articulated arm, the second articulated arm being used to connect a welding torch, a second through hole being provided on the second articulated arm; a support rod, connected to the second articulated arm; a first support sleeve, connected to the support rod and rotatably arranged relative to the support rod, the first support sleeve being located between the first through hole and the second through hole, so that the welding wire hose is sequentially passed through the first through hole, the first support sleeve and the second through hole.

[0007] Furthermore, the axes of the first supporting sleeve and the second through hole are spaced apart in a first preset direction.

[0008] Furthermore, the axis of the first through hole, the axis of the second through hole and the axis of the first supporting sleeve are all located on a first preset plane; wherein the first preset plane extends along a first preset direction.

[0009] Furthermore, the support rod is a bent rod, which includes a first rod segment and a second rod segment, one end of the first rod segment is connected to the second joint arm, and the other end of the first rod segment is connected to the second rod segment; the second rod segment is located between the first rod segment and the first through hole; wherein the first rod segment and the axis of the second through hole are inclined relative to each other; the second rod segment and the axis of the second through hole are spaced apart in the first preset direction.

[0010] Furthermore, the angle between the first rod segment and the axis of the second through hole is a, and a<90°.

[0011] Furthermore, the articulated arm assembly further includes: a first bearing, the first bearing being arranged on the support rod, a first connecting rod being arranged on the first support sleeve, and the first connecting rod being inserted into the inner ring of the first bearing.

[0012] Furthermore, the articulated arm assembly also includes: a support structure, arranged between the first through hole and the first support sleeve, the support structure includes a second support sleeve, the second support sleeve is connected to the first articulated arm and is rotatably arranged relative to the first articulated arm, and the second support sleeve is used to support the welding wire hose.

[0013] Furthermore, the support structure also includes a second bearing, which is arranged on the first joint arm; a second connecting rod is provided on the second support sleeve, and the second connecting rod is inserted into the inner ring of the second bearing.

[0014] Furthermore, the support structure further includes: a mounting frame, which is arranged on the first articulated arm, and the second bearing is mounted on the mounting frame.

[0015] Furthermore, the articulated arm assembly includes a plurality of support structures, and the plurality of support structures are spaced apart and arranged between the first through hole and the first support sleeve.

[0016] According to another aspect of the present invention, an arc welding robot is provided, comprising an articulated arm assembly and a welding torch, wherein the welding torch is mounted on the second articulated arm of the articulated arm assembly, and a welding wire hose passing through the second through hole of the second articulated arm is connected to the welding torch, wherein the articulated arm assembly is the above-mentioned articulated arm assembly.

[0017] The articulated arm assembly of the present invention includes a first articulated arm and a second articulated arm, the second articulated arm being configured to connect to a welding torch to implement the welding function of the articulated arm assembly, wherein a welding wire hose is sequentially passed through a first through hole of the first articulated arm and a second through hole of the second articulated arm and then reaches the welding torch to provide welding wire to the welding torch. The articulated arm assembly also includes a support rod and a first support sleeve, the first support sleeve being disposed between the first through hole and the second through hole, the welding wire hose passing through the first through hole passing through the first support sleeve and then being disposed within the second through hole, the first support sleeve supporting the welding wire hose; and the support rod is connected to the second articulated arm, the first support sleeve being connected to the support rod and rotatably disposed relative to the support rod, so that when the second articulated arm swings, the support rod and the first support sleeve swing with the second articulated arm, and the first support sleeve having angular adaptability, thereby preventing bending with large stress at the entrance and exit of the first support sleeve, and the welding wire hose is not easily pulled. The welding wire hose can therefore exhibit good shape adaptability, making the bending point more gentle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 A schematic structural diagram of an embodiment of an articulated arm assembly according to the present invention is shown;

[0020] Figure 2 A schematic structural diagram of another embodiment of an articulated arm assembly according to the present invention is shown;

[0021] Figure 3 It shows a schematic structural diagram of the articulated arm assembly according to the present invention after the welding wire hose is installed;

[0022] Figure 4-a A schematic diagram of a conventional articulated arm assembly in a top-down welding state is shown;

[0023] Figure 4-b A schematic diagram of an articulated arm assembly in the prior art in an overhead welding state is shown;

[0024] Figure 4-c A schematic diagram of the articulated arm assembly according to the present invention in a top-down welding state is shown;

[0025] Figure 4-d A schematic diagram of the articulated arm assembly according to the present invention in an overhead welding condition is shown;

[0026] Figure 5 A schematic structural diagram of an arc welding robot according to an embodiment of the present invention is shown;

[0027] Figure 6 shows a front view of an embodiment of an arc welding robot according to the present invention;

[0028] Figure 7 A schematic structural diagram of another embodiment of an arc welding robot according to the present invention is shown;

[0029] Figure 8 Shown Figure 6 A partially enlarged view of an embodiment of an arc welding robot.

[0030] The above drawings include the following reference numerals:

[0031] 10. First articulated arm; 11. First through hole; 20. Second articulated arm; 21. Second through hole; 30. Welding torch; 40. Support rod; 41. First rod segment; 42. Second rod segment; 50. First support sleeve; 60. First bearing; 70. First connecting rod; 80. Support structure; 81. Second support sleeve; 83. Second connecting rod; 84. Mounting bracket; 90. Welding wire hose;

[0032] 1. Base; 2. First rotation joint arm; 3. First pitch joint arm; 4. Second pitch joint arm. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] The present invention provides a joint arm assembly, please refer to Figures 1 to 8 , including: a first articulated arm 10, which is provided with a first through hole 11; a second articulated arm 20, which is connected to the first articulated arm 10 and is swingably arranged relative to the first articulated arm 10, the second articulated arm 20 is used to connect the welding torch 30, and the second articulated arm 20 is provided with a second through hole 21; a support rod 40, which is connected to the second articulated arm 20; a first support sleeve 50, which is connected to the support rod 40 and is rotatably arranged relative to the support rod 40, and the first support sleeve 50 is located between the first through hole 11 and the second through hole 21, so that the welding wire hose 90 is sequentially passed through the first through hole 11, the first support sleeve 50 and the second through hole 21.

[0037] The articulated arm assembly of the present invention includes a first articulated arm 10 and a second articulated arm 20. The second articulated arm 20 is used to connect to a welding torch 30 to realize the welding function of the articulated arm assembly, wherein the welding wire hose 90 is sequentially passed through the first through hole 11 of the first articulated arm 10 and the second through hole 21 of the second articulated arm 20 to reach the welding torch 30 to provide welding wire to the welding torch 30. The articulated arm assembly also includes a support rod 40 and a first support sleeve 50. The first support sleeve 50 is arranged between the first through hole 11 and the second through hole 21. The welding wire hose 90 passing through the first through hole 11 passes through the first support sleeve 50 and is then passed through the second through hole 21. The first support sleeve 50 supports the welding wire hose 90; and the support rod 40 is connected to the second articulated arm 20. The first support sleeve 50 is connected to the support rod 40 and is rotatably arranged relative to the support rod 40. Therefore, when the second articulated arm 20 swings, the support rod 40 and the first support sleeve 50 swing with the second articulated arm 20, and the first support sleeve 50 has angular adaptability, so no bending with large stress will be generated at the entrance and exit of the first support sleeve 50, and the welding wire hose is not easily pulled. Therefore, the welding wire hose can also show good shape adaptability, making the deflection of the bending point smoother.

[0038] Specifically, the first articulated arm 10 performs rotational motion around the R axis; the second articulated arm 20 performs pitching motion around the B axis, that is, the second articulated arm 20 is rotatably arranged around the B axis; and the welding torch 30 performs rotational motion around the T axis.

[0039] Specifically, the first support sleeve 50 is a tubular structure with a diameter slightly larger than the welding wire hose 90 .

[0040] In this embodiment, the first supporting sleeve 50 and the axis of the second through hole 21 are spaced apart in the first preset direction. Specifically, the first preset direction is Figure 4-c and Figure 4-d The up and down directions shown. Figure 4-c and Figure 4-d In the embodiment, the first supporting sleeve 50 is located above the axis of the second through hole 21 .

[0041] In this embodiment, the axis of the first through hole 11, the axis of the second through hole 21 and the axis of the first support sleeve 50 are all located on the first preset plane; wherein the first preset plane extends along the first preset direction. Figure 4-c and Figure 4-d Such an arrangement enables the support rod 40 and the first support sleeve 50 to minimize the deflection of the welding wire hose 90 in other directions or other planes during movement, so that the deflection of the welding wire hose 90 still mainly occurs on the first preset plane.

[0042] Specifically, the axis of the first through hole 11 coincides with the R axis, and the axis of the second through hole 21 coincides with the T axis.

[0043] In this embodiment, the support rod 40 is a bending rod, and the support rod 40 includes a first rod segment 41 and a second rod segment 42. One end of the first rod segment 41 is connected to the second joint arm 20, and the other end of the first rod segment 41 is connected to the second rod segment 42; the second rod segment 42 is located between the first rod segment 41 and the first through hole 11; wherein the first rod segment 41 is inclined to the axis of the second through hole 21; the second rod segment 42 is spaced apart from the axis of the second through hole 21 in the first preset direction.

[0044] Specifically, the purpose of the support rod 40 having a bent shape is to Figure 4-c 、 4-d 6, when the first articulated arm 10 is in a horizontal position, the position of the first support sleeve 50 is higher than the axis of the second through hole 21, so that the welding torch 30 can be in a top welding state, that is, when the first articulated arm 10 rotates downward (as shown in FIG. Figure 4-c As shown in FIG, the first support sleeve 50 can be closer to the bending point of the welding wire hose 90. Since the effect of gravity on the welding wire hose 90 behind the bending point will increase the curvature at the bending point, the support close to the bending point can better improve the degree of deflection of the bending point, increase the curvature at the bending point, and reduce the stress at the bending point. In addition, it can also enable the welding torch 30 to be in the overhead welding state, that is, when the first articulated arm 10 rotates upward (as shown in FIG, Figure 4-dAs shown in the figure, the first support sleeve 50 can be further away from the bending point of the welding wire hose, or at a greater distance from the bending point than in the overhead welding state. In this case, gravity can improve the curvature at the bending point. However, the closer the support position is to the bending point, the less improvement in the degree of deflection at the bending point. Therefore, the first support sleeve 50 should be appropriately moved away when the welding torch 30 is in the overhead welding state. It should be noted that the support rod 40 should have an appropriate bending angle, and the length of the support rod 40 and the distance of the first support sleeve 50 from the axis of the second through hole 21 should be appropriately related to the working range of the first articulated arm 10.

[0045] It should be noted that the support rod 40 can also be of other shapes, but it must always meet the technical feature that when the welding torch 30 is in a horizontal state (as shown in Figures 4-c, 4-d and 6), the first support sleeve 50 is higher than the axis of the second through hole 21, and can realize the technical principle that the first support sleeve 50 is closer to the bending point in the downward welding state than in the overhead welding state.

[0046] Specifically, the support rod 40 and the second articulated arm 20 are integrally formed, i.e., they form a one-piece structure; or the support rod 40 and the second articulated arm 20 are separate structures, with the support rod 40 fixedly mounted on the second articulated arm 20. This arrangement allows the support rod 40 to perform pitch motion synchronously with the second articulated arm 20 while maintaining a certain distance from the first articulated arm 10, i.e., the movement of the support rod 40 is independent of the first articulated arm 10.

[0047] Specifically, the second rod segment 42 is substantially parallel to the axis of the second through hole 21 .

[0048] In this embodiment, if Figure 8 As shown, the angle between the first rod segment 41 and the axis of the second through hole 21 is a, and a<90°.

[0049] In this embodiment, the articulated arm assembly further includes a first bearing 60, which is disposed on the support rod 40. A first connecting rod 70 is disposed on the first support sleeve 50, and the first connecting rod 70 is inserted into the inner ring of the first bearing 60. This arrangement enables the first support sleeve 50 to move along the pitch arc with the first articulated arm 10 and to rotate around the axis of the first bearing 60.

[0050] Specifically, the first bearing 60 can enable the first support sleeve 50 to rotate freely around the axis of the first bearing 60, so the first support sleeve 50 can exhibit appropriate angular adaptability, that is, when the first support sleeve 50 supports the welding wire hose 90 near the bending point, the welding wire hose 90 will show a certain degree of falling at the supporting position due to gravity, but because the welding wire hose 90 behind the bending point has been lifted by the first support sleeve 50 in the height direction, the welding wire hose 90 will drive the first support sleeve 50 to deflect, and produce a line shape that compromises gravity and the supporting force of the first support sleeve 50. The first support sleeve 50 deflects at a compromised appropriate angle, so that no bending with large stress will be generated at the entrance and exit of the first support sleeve 50. The welding wire hose can therefore also exhibit good shape adaptability, making the deflection of the bending point smoother.

[0051] Specifically, the first connecting rod 70 and the first supporting sleeve 50 are integrally formed, that is, the two are an integrated structure; or the first connecting rod 70 and the first supporting sleeve 50 are two structures, and the first connecting rod 70 is fixedly mounted on the first supporting sleeve 50.

[0052] Specifically, the first bearing 60 is disposed on the second rod segment 42 ; further, the first bearing 60 is disposed at an end of the second rod segment 42 away from the first rod segment 41 .

[0053] In another embodiment, Figure 2 As shown, the articulated arm assembly further includes a support structure 80, which is disposed between the first through hole 11 and the first support sleeve 50. The support structure 80 includes a second support sleeve 81, which is connected to the first articulated arm 10 and is rotatably disposed relative to the first articulated arm 10. The second support sleeve 81 is used to support the welding wire hose 90. Since the second support sleeve 81 is added between the first through hole 11 and the first support sleeve 50, when the welding torch 30 is in a horizontal state (such as Figure 6 When the welding wire hose 90 is configured, due to the additional support, it can ensure sufficient margin when it is configured, and can also limit the configuration boundary of the welding wire hose 90, so that it can be arranged in the vertical direction (such as Figure 7 This embodiment is particularly effective when the first articulated arm 10 is long. It distributes the weight of the welding wire hose 90 on one side of the first support sleeve 50, allowing the welding wire hose 90 to exhibit better shape adaptability, while also appropriately reducing the encroachment of the welding wire hose 90 on the vertical boundary space of the first articulated arm 10.

[0054] Specifically, the support structure 80 also includes a second bearing, which is mounted on the first articulated arm 10. A second connecting rod 83 is mounted on the second support sleeve 81 and inserted into the inner race of the second bearing. The second support sleeve 81 rotates about the central axis of the second bearing, also providing angular adaptability. The central axis of the second support sleeve 81, along with the T-axis and R-axis axes, all lie on a first predetermined plane. This minimizes deflection of the welding wire hose 90 in other directions or on other planes, ensuring that deflection of the welding wire hose 90 primarily occurs on the first predetermined plane.

[0055] Specifically, the second connecting rod 83 and the second supporting sleeve 81 are an integrally formed structure or two structures. When the second connecting rod 83 and the second supporting sleeve 81 are two structures, the two are fixedly connected together by welding, threaded connection, clamping, etc.

[0056] Specifically, the support structure 80 further includes a mounting bracket 84 disposed on the first articulated arm 10, and the second bearing is mounted on the mounting bracket 84. The second bearing can be mounted without the mounting bracket 84. Instead, a second bearing mounting hole can be provided on the first articulated arm 10, and the second support sleeve 81 can be mounted on the inner ring of the second bearing.

[0057] Specifically, the mounting bracket 84 is provided with a through hole so as to be fixedly connected to the first articulated arm 10 via a fastener inserted into the through hole. The fastener is a screw or a bolt.

[0058] Specifically, the articulated arm assembly includes a plurality of support structures 80 , which are spaced apart and arranged between the first through hole 11 and the first support sleeve 50 .

[0059] When implementing it specifically, Figure 3 As shown, when the welding torch 30 is horizontal, the welding wire hose 90 should be configured to have a certain margin between the first through hole 11 and the second through hole 21. This is because the simply supported support provided by the first support sleeve 50 allows the welding wire hose 90 to be appropriately and loosely arranged between the first through hole 11 and the first support sleeve 50, and between the first support sleeve 50 and the second through hole 21. This appropriately and loosely arranged arrangement can be understood as preventing the welding wire hose 90 from undergoing significant curvature deflection due to gravity between any two sections, while also ensuring that the welding wire hose 90 exhibits appropriate shape adaptability when supported by the first support sleeve 50. Those skilled in the art will understand that if the deflected position of the welding wire hose 90 between any two sections exceeds or is near the lower boundary of the first articulated arm 10, the welding wire hose 90 has clearly undergone significant curvature deflection.

[0060] In order to make the working principle of the joint arm assembly easier to understand, the following Figure 4-a 、4-b 4-c and 4-d compare the degree of deflection of the welding wire hose 90 during overhead welding and overhead welding with and without the first support sleeve 50, the support rod 40 and the first bearing 60, respectively.

[0061] in, Figure 4-a The middle part shows the bending degree and form of the welding wire hose 90 when the welding torch 30 performs the top welding operation without the first support sleeve 50, the support rod 40 and the first bearing 60. Figure 4-b When the first support sleeve 50, the support rod 40 and the first bearing 60 are not provided, the bending degree and form of the welding wire hose 90 when the welding torch 30 performs overhead welding operation are as follows: Figure 4-c The bending degree and form of the welding wire hose 90 when the welding torch 30 performs the top welding operation when the first support sleeve 50, the support rod 40 and the first bearing 60 are provided. Figure 4-d The bending degree and form of the welding wire hose 90 when the welding torch 30 performs overhead welding when the first support sleeve 50, the support rod 40 and the first bearing 60 are provided.

[0062] like Figure 4-a As shown, when the articulated arm assembly does not have the first support sleeve 50, the support rod 40 and the first bearing 60, the welding wire hose 90 has less margin between the first through hole 11 and the second through hole 21, or the welding wire hose 90 has less part that can be pulled to change the shape of the line when it is bent. Therefore, the welding wire hose 90 will bend upward when the welding torch 30 performs a downward welding action, and the bending curvature is large. The stress at the bending point is high, the welding wire is easily broken, and the life of the welding wire hose 90 is short.

[0063] like Figure 4-b As shown, when the articulated arm assembly does not have the first support sleeve 50, the support rod 40 and the first bearing 60, the welding wire hose 90 has less margin between the first through hole 11 and the second through hole 21, or the welding wire hose 90 has less part that can be pulled to change the shape of the line when it is bent. Therefore, the welding wire hose 90 will bend downward when the welding torch 30 performs an overhead welding action, and the bending curvature is large. The stress at the bending point is high, the welding wire is easily broken, and the life of the welding wire hose is short.

[0064] like Figure 4-c As shown, the articulated arm assembly is Figure 3As shown, when the welding wire hose 90 is positioned horizontally, it has an appropriate margin. When the welding torch 30 performs a downward welding operation, the support rod 40 raises the rear portion of the welding wire hose 90 at the original bend. The first support sleeve 50 supports the welding wire hose 90 behind the bend, which would normally be concave due to gravity. This supports the welding wire hose 90, reducing the curvature of the bend. The first support sleeve 50 adapts to the gravity at both ends and deflects to the appropriate angle. The welding wire hose 90 compromises to a suitable linear shape, demonstrating excellent shape adaptability and avoiding the new bend point and stress concentration area caused by the use of a fixed constraint structure. It is beneficial to place the first support sleeve 50 slightly closer to the bend point. The effect of gravity on the welding wire hose behind the bend point increases the curvature at the bend point. Therefore, support close to the bend point can better improve the degree of deflection at the bend point. If the first support sleeve 50 is too far away, the curvature reduction effect will be reduced.

[0065] like Figure 4-d As shown, the articulated arm assembly is Figure 3 As shown, when the welding wire hose 90 is positioned horizontally, it has an appropriate margin. When the welding torch 30 performs overhead welding, the support rod 40 depresses the rear portion of the welding wire hose 90 at the original bend. The first support sleeve 50 supports the welding wire hose 90 behind the bend. The welding wire hose 90, which was originally stretched due to the stress at the bend, is now supported behind the bend, reducing the curvature of the bend. The first support sleeve 50 adapts to the gravity at both ends and deflects to the appropriate angle. The welding wire hose 90 compromises to a suitable linear shape, demonstrating excellent shape adaptability and avoiding the new bend point and stress concentration area caused by the use of a fixed constraint structure. In this case, it is beneficial to have the first support sleeve 50 slightly farther from the bend point. The effect of gravity will cause the welding wire hose 90 between the first support sleeve 50 and the bend point to exhibit a reduced curvature. If the first support sleeve 50 is too close, the curvature reduction effect will be affected.

[0066] The present invention also provides an arc welding robot, such as Figures 5 to 8 As shown, it includes an articulated arm assembly and a welding torch 30. The welding torch 30 is installed on the second articulated arm 20 of the articulated arm assembly. The welding wire hose 90 passing through the second through hole 21 of the second articulated arm 20 is connected to the welding torch 30. The articulated arm assembly is the articulated arm assembly in the above embodiment.

[0067] Specifically, the arc welding robot is a vertical multi-joint robot. The arc welding robot can be not only a vertical six-joint robot, but also a vertical seven-joint robot or a robot with other numbers of joints.

[0068] In one embodiment, Figure 5As shown, the arc welding robot is a vertical six-jointed robot with six degrees of freedom, with corresponding motion axes indicated at its joints. Specifically, the arc welding robot includes a base 1, a first rotating articulated arm 2, a first pitching articulated arm 3, and a second pitching articulated arm 4. Known components of vertical multi-jointed robots, such as a motor and a reducer, are not explicitly labeled or shown in the figure. The arc welding robot is capable of rotating the first rotating articulated arm 2 and its subsequent assembly components about its axis approximately at the S axis, pitching the first pitching articulated arm 3 and its subsequent assembly components about its axis approximately at the L axis, pitching the second pitching articulated arm 4 and its subsequent assembly components about its axis approximately at the U axis, rotating the first articulated arm 10 and its subsequent assembly components about its axis approximately at the R axis, pitching the second articulated arm 20 and its subsequent assembly components about its axis approximately at the B axis, and rotating the welding torch 30, which is mounted on a reducer (not shown) at the end of the second articulated arm 20 via a flange (not shown), about its axis approximately at the T axis. The first articulated arm 10 is a rotational articulated arm, and the second articulated arm 20 is a pitching articulated arm.

[0069] The present application solves the following technical problems: the welding wire hose is easily pulled; the welding wire hose is subjected to large bending stress and the welding wire is easily broken; the degree and position of stress improvement required for the welding wire hose when it is bent upward or downward are different.

[0070] The beneficial effects of this application are as follows: the welding wire hose of a hollow wrist arc welding robot can have an appropriate margin before reaching the welding torch, and can also reduce the bending stress borne by the welding wire hose. The flexure of the welding wire hose is improved at different positions according to the working position of the welding torch, which can effectively alleviate the problem of easy breakage of the welding wire. In addition, the welding wire hose can exhibit appropriate adaptability at the appropriate position, that is, it will not cause excessive local stress in the welding wire hose due to strong constraints, and can effectively protect the service life of the welding wire hose.

[0071] The first support sleeve 50 of the present application changes the support position of the welding wire hose 90 by propping up or pressing down the welding wire hose 90 at the rear (away from the welding torch 30) where the welding wire hose 90 should originally bend, thereby forcing the original welding wire hose 90 to relax at the position with larger curvature, forming two smaller curvatures. The support rod 40 and the second articulated arm 20 are an integral structure or fixedly connected, so that the support rod 40 can pitch along with the pitch of the second articulated arm 20. The position of the first support sleeve 50 on the support rod 40 is higher than the axis of the second through hole, so that the first support sleeve 50 can provide proximal support and distal support respectively when the second articulated arm 20 pitches. The first support sleeve 50 on the support rod 40 can exhibit appropriate angular adaptability, that is, the first support sleeve 50 can change the deflection angle due to the different masses of the welding wire hoses 90 at both ends, so that the welding wire hose 90 can also exhibit appropriate shape adaptability.

[0072] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0073] The articulated arm assembly of the present invention includes a first articulated arm 10 and a second articulated arm 20. The second articulated arm 20 is used to connect to a welding torch 30 to realize the welding function of the articulated arm assembly, wherein the welding wire hose 90 is sequentially passed through the first through hole 11 of the first articulated arm 10 and the second through hole 21 of the second articulated arm 20 to reach the welding torch 30 to provide welding wire to the welding torch 30. The articulated arm assembly also includes a support rod 40 and a first support sleeve 50. The first support sleeve 50 is arranged between the first through hole 11 and the second through hole 21. The welding wire hose 90 passing through the first through hole 11 passes through the first support sleeve 50 and is then passed through the second through hole 21. The first support sleeve 50 supports the welding wire hose 90; and the support rod 40 is connected to the second articulated arm 20. The first support sleeve 50 is connected to the support rod 40 and is rotatably arranged relative to the support rod 40. Therefore, when the second articulated arm 20 swings, the support rod 40 and the first support sleeve 50 swing with the second articulated arm 20, and the first support sleeve 50 has angular adaptability, so no bending with large stress will be generated at the entrance and exit of the first support sleeve 50, and the welding wire hose is not easily pulled. Therefore, the welding wire hose can also show good shape adaptability, making the deflection of the bending point smoother.

[0074] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0075] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0076] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An articulated arm assembly, characterized in that: include: A first joint arm (10), wherein the first joint arm (10) is provided with a first through hole (11); a second articulated arm (20) connected to the first articulated arm (10) and swingably arranged relative to the first articulated arm (10), the second articulated arm (20) being used to connect to a welding torch (30), and a second through hole (21) being provided on the second articulated arm (20); A support rod (40) connected to the second articulated arm (20); A first support sleeve (50) is connected to the support rod (40) and is rotatably arranged relative to the support rod (40). The first support sleeve (50) is located between the first through hole (11) and the second through hole (21), so that the welding wire hose (90) is sequentially inserted into the first through hole (11), the first support sleeve (50), and the second through hole (21).

2. The articulated arm assembly according to claim 1, wherein: The axis of the first through hole (11), the axis of the second through hole (21), and the axis of the first supporting sleeve (50) are all located on a first preset plane; wherein the first preset plane extends along a first preset direction.

3. The articulated arm assembly according to claim 1, wherein: The support rod (40) is a bent rod, comprising a first rod segment (41) and a second rod segment (42); one end of the first rod segment (41) is connected to the second joint arm (20), and the other end of the first rod segment (41) is connected to the second rod segment (42); the second rod segment (42) is located between the first rod segment (41) and the first through hole (11); The first rod segment (41) and the axis of the second through hole (21) are arranged obliquely.

4. The articulated arm assembly according to claim 3, wherein: The angle between the first rod segment (41) and the axis of the second through hole (21) is a, and a<90°.

5. The articulated arm assembly according to any one of claims 1 to 4, characterized in that: The articulated arm assembly further comprises: A first bearing (60) is provided on the support rod (40), a first connecting rod (70) is provided on the first support sleeve (50), and the first connecting rod (70) is inserted into the inner ring of the first bearing (60).

6. The articulated arm assembly according to any one of claims 1 to 4, characterized in that: The articulated arm assembly further comprises: A support structure (80) is arranged between the first through hole (11) and the first support sleeve (50), the support structure (80) includes a second support sleeve (81), the second support sleeve (81) is connected to the first articulated arm (10) and is rotatably arranged relative to the first articulated arm (10), and the second support sleeve (81) is used to support the welding wire hose (90).

7. The articulated arm assembly according to claim 6, wherein: The support structure (80) further includes a second bearing, which is arranged on the first joint arm (10); a second connecting rod (83) is arranged on the second support sleeve (81), and the second connecting rod (83) is inserted into the inner ring of the second bearing.

8. The articulated arm assembly according to claim 7, wherein: The support structure (80) further comprises: A mounting frame (84) is provided on the first joint arm (10), and the second bearing is mounted on the mounting frame (84).

9. The articulated arm assembly according to claim 6, wherein: The articulated arm assembly comprises a plurality of support structures (80), and the plurality of support structures (80) are arranged at intervals between the first through hole (11) and the first support sleeve (50).

10. An arc welding robot comprising an articulated arm assembly and a welding torch (30), wherein the welding torch (30) is mounted on a second articulated arm (20) of the articulated arm assembly, and a welding wire hose (90) passing through a second through hole (21) of the second articulated arm (20) is connected to the welding torch (30), characterized in that: The articulated arm assembly is the articulated arm assembly according to any one of claims 1 to 9.

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