Anti-shaking device for end effector of arm of welding robot

Abstract

The invention relates to the technical field of automatic welding equipment, and discloses a welding robot arm end effector anti-shaking device which comprises a device connecting plate, two connecting plates are fixedly connected to one side of the device connecting plate, and first damping connecting plates are fixedly connected to the ends, away from the device connecting plate, of the connecting plates. A damping assembly is arranged on the first damping connecting plate, a first rotating connecting piece is arranged on the damping assembly, a connecting assembly plate is hinged to one end of the first rotating connecting piece, a welding wire clamping shell is fixedly connected to one end of the connecting assembly plate, and a circular cavity is formed in the side, away from the connecting assembly plate, of the welding wire clamping shell; a welding wire clamping assembly is arranged in an inner cavity of the circular cavity, an anti-shaking assembly is arranged on the upper side face of the extending frame, a buffering assembly is arranged on the side, away from the connecting plate, of the device connecting plate, the device integrates multi-stage damping, efficient anti-shaking, easy maintenance and repair and flexible clamping, and the welding precision and stability are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic welding equipment, in particular to an anti-shake device for an end effector of a welding robot arm. Background Art

[0002] A welding robot is an automated device that uses advanced computer control technology, sensor technology, and artificial intelligence technology. It is a mechatronic robot that can replace welding technicians, efficiently and accurately complete various welding tasks, and improve welding production efficiency. In the field of automated welding, welding robots have become an indispensable part of modern manufacturing with their high efficiency, precision, and repeatability. Especially in high-precision welding tasks, the stability of the end effector of the welding robot arm is directly related to the quality of the welded joint, production efficiency, and overall manufacturing cost.

[0003] The vibration and jitter generated during welding have a great impact on the welding quality. Traditional welding devices often lack effective shock absorption and anti-shake mechanisms, which causes the welding wire to easily deviate, shake or even fall off during welding, seriously affecting the welding accuracy and stability. This not only increases the difficulty of welding operations, but may also lead to a decline in the quality of welded joints and even cause safety hazards. For this reason, the present invention proposes an anti-shake device for the end effector of a welding robot arm. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an anti-shake device for an end effector of a welding robot arm, which solves the above-mentioned problems.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an anti-shake device for an end effector of a welding robot arm, comprising a device connecting plate, one side of the device connecting plate is fixedly connected to two connecting plates, the ends of the two connecting plates away from the device connecting plate are fixedly connected to a first shock-absorbing connecting plate, and shock-absorbing components are arranged on the two first shock-absorbing connecting plates, a rotating connecting piece 1 is arranged on the shock-absorbing component, one end of the rotating connecting piece 1 is hingedly connected to a connecting group plate, an end of the connecting group plate away from the rotating connecting piece 1 is fixedly connected to a welding wire clamping shell, a circular cavity is provided on the side of the welding wire clamping shell away from the connecting group plate, a welding wire clamping assembly is arranged in the inner cavity of the circular cavity, both sides of the first shock-absorbing connecting plate are fixedly connected to an extension frame, an anti-shake component is arranged on the upper side surface of the extension frame corresponding to the end away from the first shock-absorbing connecting plate, and a buffer component is arranged on the side of the device connecting plate away from the connecting plate.

[0006] Preferably, the buffer assembly includes a fixing groove, a shock-absorbing rubber pad and a shock-absorbing guard plate. Fixing grooves are provided at the four corners of the side of the device connecting plate away from the connecting plate. Shock-absorbing rubber pads are movably embedded in the four fixing grooves. The side of the device connecting plate away from the connecting plate is fixedly connected to a shock-absorbing guard plate, and the integrated protrusion on the shock-absorbing guard plate is provided with multiple equidistantly distributed buffer air bags.

[0007] Preferably, the shock absorbing assembly includes a buffer plate, a second shock absorbing connecting plate, a vibration transmission plug rod, a vibration buffer sleeve and a shock absorbing spring, the upper and lower ends of the opposite sides of the two first shock absorbing connecting plates are rotatably connected with buffer plates, the two groups of buffer plates are arranged in parallel, and the ends of the two groups of buffer plates away from the first shock absorbing connecting plates are rotatably connected with the second shock absorbing connecting plates, the side surfaces of the two buffer plates at the upper ends are hinged with a vibration transmission plug rod, and the side surfaces of the two buffer plates at the lower ends are hinged with a vibration buffer sleeve, the vibration transmission plug rod is movably inserted in the vibration buffer sleeve, and the side surface of the vibration buffer sleeve is movably sleeved with a shock absorbing spring, one end of the shock absorbing spring is fixedly connected to the side surface of the vibration buffer sleeve, and the other end of the shock absorbing spring is fixedly connected to the vibration transmission plug rod.

[0008] Preferably, the anti-shake assembly includes a rotating seat, an anti-shake strut, a spring connecting kit and an expansion spring. The upper side surface of the extension frame is fixedly connected to one end away from the first shock-absorbing connecting plate with two symmetrically arranged rotating seats. The two rotating seats are rotatably connected with anti-shake struts. The opposite surfaces of the two anti-shake struts are fixedly connected with spring connecting kits. The two spring connecting kits are located on the same horizontal line. Expansion springs are movably sleeved on the sides of the two spring connecting kits. The two ends of the expansion spring are fixed on the two spring connecting kits.

[0009] Preferably, the anti-shake assembly also includes an anti-shake connecting rod, a hinge, a movable plug rod, a shake transmission sleeve, a back plate and a restoring spring. The two anti-shake support rods are rotatably connected to the anti-shake connecting rod at one end away from the rotating seat. The free ends of the two anti-shake connecting rods are hinged with a hinge. The upper side surface of the hinge is fixedly connected with a movable plug rod. The upper end of the side surface of the movable plug rod is movably sleeved with a shake transmission sleeve. The top of the movable plug rod is fixedly connected with a back plate in the inner cavity of the shake transmission sleeve. The upper and lower sides of the back plate are fixedly connected with restoring springs. The ends of the two restoring springs away from the back plate are respectively fixed on the upper and lower inner walls of the shake transmission sleeve.

[0010] Preferably, the welding wire clamping assembly includes a rotating connection member 1, a rotating connection member 2 and a protective shell, the second shock-absorbing connecting plate is fixedly connected to the rotating connection member 1 on the side away from the first shock-absorbing connecting plate, the rotating connection member 1 is hinged to the end away from the second shock-absorbing connecting plate, the free end of the rotating connection member 2 is fixedly connected to the protective shell, and the bottom of the protective shell is hinged to the top of the vibration transmission sleeve.

[0011] Preferably, the welding wire clamping assembly also includes a clamping knob, a driving gear, a follower gear, a welding wire clamping plate and a bidirectional threaded screw. Two clamping knobs are rotatably inserted on the upper side of the protective shell, and a driving cavity is opened in the inner cavity of the protective shell below the clamping knob. The lower ends of the clamping knobs extend into the driving cavity of the protective shell and are fixedly connected with the driving gear. The two ends of the bottom inner wall of the driving cavity are rotatably connected with bidirectional threaded screws, and the upper ends of the bidirectional threaded screws are fixedly connected with follower gears in the corresponding driving cavities. Two welding wire clamping plates symmetrically distributed up and down are threadedly connected in the inner cavities of the welding wire clamping plates on the sides of the two bidirectional threaded screws.

[0012] Preferably, a V-shaped groove is provided on the side surface of the welding wire clamping plate, and soft pads are fixedly connected to the inner walls on both sides of the V-shaped groove.

[0013] Compared with the prior art, the present invention provides an anti-shake device for the end effector of a welding robot arm, which has the following beneficial effects: Compared with traditional welding devices, the anti-shake device of the end effector of the welding robot arm integrates a multi-stage shock absorption system, including a buffer plate, a second shock absorption connecting plate, a vibration transmission rod, a vibration buffer sleeve and a shock absorption spring. It can effectively absorb and disperse the vibration energy generated during the welding process, ensure the smoothness of the welding process, and greatly reduce the deviation, shaking and even falling of the welding wire caused by vibration, thereby significantly improving the accuracy and stability of welding, making the quality of the welding joint more reliable, and reducing the scrap rate caused by unstable welding.

[0014] When the anti-shake device of the end effector of the welding robot arm generates jitter during the welding process, the above-mentioned components can work together to quickly absorb and disperse the jitter energy, so that the end effector of the welding robot arm remains stable. This innovative design effectively solves the problem of the shortcomings of traditional welding devices in dealing with jitter, ensures stable performance in high-precision welding tasks, and further improves welding quality and production efficiency.

[0015] The anti-shake device of the welding robot arm end effector is designed with shock absorbing components, anti-shake components and welding wire clamping components for easy daily maintenance and overhaul. It can maintain more stable performance during long-term use, reduce downtime caused by equipment failure, and reduce maintenance costs.

[0016] The anti-shake device of the end effector of the welding robot arm can be flexibly adjusted according to the specifications and materials of the welding wire, ensuring that the welding wire is subjected to uniform pressure during the welding process, avoiding damage to the welding wire caused by excessive local pressure, which not only improves the welding quality but also reduces the loss rate of the welding wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of the connecting plate of the device in the present invention; Figure 3 It is a structural schematic diagram of the shock absorbing assembly in the present invention; Figure 4 It is a schematic diagram of the structure of the vibration transmission plug rod and the vibration buffer sleeve in the present invention; Figure 5 It is a schematic diagram of the structure of the protective shell in the present invention; Figure 6 It is a schematic diagram of the structure of the anti-shake component in the present invention; Figure 7 It is a structural schematic diagram of the welding wire clamping assembly in the present invention; Figure 8 It is a structural schematic diagram of the welding wire clamping plate in the present invention.

[0018] In the figure: 1. Device connecting plate; 2. Connecting plate; 3. First shock-absorbing connecting plate; 4. Extension frame; 5. Shock-absorbing assembly; 6. Rotating connecting piece 1; 7. Connecting plate; 8. Wire clamping shell; 9. Anti-shake assembly; 10. Fixing groove; 11. Shock-absorbing rubber pad; 12. Shock-absorbing guard plate; 13. Clamping knob; 14. Buffer plate; 15. Second shock-absorbing connecting plate; 16. Vibration transmission plug rod; 17. Vibration buffer sleeve; 18. Shock-absorbing spring ; 19. Soft pad; 20. Rotating connector 2; 21. Protective shell; 22. Circular cavity; 23. Rotating seat; 24. Anti-shake support rod; 25. Anti-shake connecting rod; 26. Articulated part; 27. Spring connection kit; 28. Expansion spring; 29. ​​Movable plug rod; 30. Shake transmission sleeve; 31. Back plate; 32. Restoring spring; 33. Driving gear; 34. Follower gear; 35. Wire clamping plate; 36. Bidirectional threaded screw. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-8 , a welding robot arm end effector anti-shake device comprises a device connecting plate 1, one side of the device connecting plate 1 is fixedly connected to two connecting plates 2, the two connecting plates 2 are fixedly connected to a first shock-absorbing connecting plate 3 at one end away from the device connecting plate 1, and the two first shock-absorbing connecting plates 3 are provided with a shock-absorbing assembly 5, and a rotating connecting piece 6 is provided on the shock-absorbing assembly 5, and a connecting group plate 7 is hinged at one end of the rotating connecting piece 6, and a welding wire clamping shell 8 is fixedly connected to the end of the connecting group plate 7 away from the rotating connecting piece 6, and a circular cavity 22 is provided on the side of the welding wire clamping shell 8 away from the connecting group plate 7, and a welding wire clamping assembly is arranged in the inner cavity of the circular cavity 22, and an extension frame 4 is fixedly connected to both sides of the first shock-absorbing connecting plate 3, and an anti-shake assembly 9 is arranged on the upper side surface of the extension frame 4 corresponding to the end away from the first shock-absorbing connecting plate 3, and a buffer assembly is arranged on the side of the device connecting plate 1 away from the connecting plate 2.

[0021] Furthermore, the buffer assembly includes a fixing groove 10, a shock-absorbing rubber pad 11 and a shock-absorbing guard plate 12. The fixing grooves 10 are opened at the four corners of the side of the device connecting plate 1 away from the connecting plate 2. The shock-absorbing rubber pads 11 are movably embedded in the four fixing grooves 10. The side of the device connecting plate 1 away from the connecting plate 2 is fixedly connected to the shock-absorbing guard plate 12. The integrated protrusion on the shock-absorbing guard plate 12 has multiple equidistantly distributed buffer air bags. The shock-absorbing rubber pad 11 is made of a rubber material with high elasticity and good shock-absorbing performance. When impacted by external force, it can effectively absorb and buffer part of the impact force through its own elastic deformation. These buffer air bags are made of high-strength and wear-resistant rubber material, and are filled with an appropriate amount of gas. When the device is vibrated or impacted, the buffer air bags can further disperse and buffer the impact force according to the principle of air pressure change, and work together with the shock-absorbing rubber pad 11, which greatly reduces the influence of external vibration on the overall stability of the device and provides a more stable operating environment for welding operations.

[0022] Furthermore, the shock absorbing assembly 5 includes a buffer plate 14, a second shock absorbing connecting plate 15, a vibration transmission plug rod 16, a vibration buffer sleeve 17 and a shock absorbing spring 18. The upper and lower ends of the two first shock absorbing connecting plates 3 on opposite sides are rotatably connected with the buffer plates 14. The two groups of buffer plates 14 are arranged in parallel. The ends of the two groups of buffer plates 14 away from the first shock absorbing connecting plate 3 are rotatably connected with the second shock absorbing connecting plate 15. The sides of the two buffer plates 14 at the upper end are hinged with the vibration transmission plug rod 16, and the sides of the two buffer plates 14 at the lower end are hinged with the vibration buffer sleeve 17. The vibration transmission plug rod 16 is movably inserted in the vibration buffer sleeve 17, and the side of the vibration buffer sleeve 17 is movably sleeved with the shock absorbing spring 18. One end of the shock absorbing spring 18 is fixedly connected to the side of the vibration buffer sleeve 17, and the other end of the shock absorbing spring 18 is fixedly connected to the vibration transmission plug rod 16. When external vibration is transmitted, the buffer plate 14 first senses and transmits the vibration, and the vibration is transmitted through the vibration transmission plug rod 16. The relative movement with the vibration buffer sleeve 17 causes the shock absorbing spring 18 to expand and contract, thereby converting the vibration energy into the elastic potential energy of the spring and gradually consuming it, achieving a multi-level shock absorbing effect and effectively ensuring the smooth operation of the equipment during the welding process.

[0023] Furthermore, the anti-shake assembly 9 includes a rotating seat 23, an anti-shake support rod 24, a spring connecting kit 27 and an expansion spring 28. The upper side surface of the extension frame 4 is fixedly connected to one end away from the first shock-absorbing connecting plate 3 with two symmetrically arranged rotating seats 23. The two rotating seats 23 are rotatably connected with the anti-shake support rods 24. The spring connecting kits 27 are fixedly connected to the opposite surfaces of the two anti-shake support rods 24. The two spring connecting kits 27 are located on the same horizontal line. The expansion springs 28 are movably sleeved on the sides of the two spring connecting kits 27. The two ends of the expansion spring 28 are fixed on the two spring connecting kits 27. Precision bearing structures are installed on the two rotating seats 23, so that the anti-shake support rods 24 can be flexibly rotatably connected thereon. The expansion springs 28 are tightly movably sleeved on the sides of the two spring connecting kits 27. The two ends of the expansion spring 28 are firmly fixed to the two spring connecting kits 27 through special connecting buckles. When the anti-shake support rod 24 is subjected to external force and generates relative movement, the expansion spring 28 can respond quickly, absorb and offset part of the shaking energy through its own elastic expansion and contraction, maintain the stability of the overall structure, and reduce the shaking interference during the welding process.

[0024] Furthermore, the anti-shake assembly 9 also includes an anti-shake link 25, a hinge 26, a movable plug rod 29, a shake transmission sleeve 30, a back plate 31 and a restoring spring 32. The two anti-shake support rods 24 are rotatably connected to the anti-shake link 25 at one end away from the rotating seat 23. The free ends of the two anti-shake links 25 are hinged to the hinge 26. The upper side of the hinge 26 is fixedly connected to the movable plug rod 29. The upper end of the side of the movable plug rod 29 is movably sleeved with the shake transmission sleeve 30. The top of the movable plug rod 29 is fixedly connected to the back plate 31 in the inner cavity of the shake transmission sleeve 30. The upper and lower sides of the back plate 31 are fixedly connected to the restoring springs 32. The ends of the two restoring springs 32 away from the back plate 31 are respectively fixed on the upper and lower inner walls of the shake transmission sleeve 30. When external vibration is transmitted to the shake transmission sleeve 30, the shake transmission sleeve 30 A downward movement tendency is generated, squeezing the restoring spring 32, and at the same time driving the movable plug rod 29 to move, and then the anti-shake link 25 is actuated through the hinge 26, pulling the anti-shake support rod 24, and finally transmitting the shaking energy to the expansion spring 28 for absorption and conversion. The restoring spring 32 prompts each component to quickly return to the initial state after the shaking is weakened, thereby effectively suppressing the welding shaking.

[0025] Furthermore, the welding wire clamping assembly includes a rotating connection member 16, a rotating connection member 20 and a protective shell 21. The second shock-absorbing connecting plate 15 is fixedly connected to the rotating connection member 16 on the side away from the first shock-absorbing connecting plate 3. The rotating connection member 16 is hinged to the rotating connection member 20 at one end away from the second shock-absorbing connecting plate 15. The free end of the rotating connection member 20 is fixedly connected to the protective shell 21. The bottom of the protective shell 21 is hinged to the top of the vibration transmission sleeve 30.

[0026] Furthermore, the welding wire clamping assembly also includes a clamping knob 13, a driving gear 33, a follower gear 34, a welding wire clamping plate 35 and a bidirectional threaded screw 36. Two clamping knobs 13 are rotatably plugged into the upper side surface of the protective shell 21, and a driving cavity is opened in the inner cavity of the protective shell 21 corresponding to the lower part of the clamping knob 13. The lower ends of the clamping knobs 13 extend to the driving cavity of the protective shell 21 and are fixedly connected to the driving cavity of the protective shell 21. Two ends of the inner wall of the bottom side of the driving cavity are rotatably connected to the bidirectional threaded screw 36, and the upper ends of the bidirectional threaded screw 36 are fixedly connected to the driving cavity corresponding to the follower gear 34. Two welding wire clamping plates 35 symmetrically distributed up and down are threadedly connected in the inner cavity of the welding wire clamping plate 35 on the side surfaces of the two bidirectional threaded screws 36. The upper side surface of the protective shell 21 is rotatably plugged with two clamping knobs 13 through a high-precision bearing structure, and the operator can easily rotate it. When the clamping knob 13 is rotated, the driving gear 33 The follower gear 34 is driven to rotate, and then the bidirectional threaded screw 36 is driven to rotate, so that the two welding wire clamping plates 35 move smoothly in opposite directions, realizing the precise clamping and releasing operation of the welding wire, and effectively improving the convenience and reliability of the welding operation.

[0027] Furthermore, a V-shaped groove is provided on the upper side of the welding wire clamping plate 35, and soft pads 19 are fixedly connected to the inner walls on both sides of the V-shaped groove. The soft pads 19 are made of rubber or silicone material with a high friction coefficient, good elastic recovery ability and wear resistance. It can not only increase the friction with the surface of the welding wire to ensure that the welding wire will not easily move or slip during the welding process, but also effectively buffer the clamping force to avoid scratches, indentations and other damages to the welding wire due to rigid contact, thereby ensuring the integrity of the welding wire and the stability of the welding quality, extending the service life of the welding wire and improving the reliability and accuracy of the welding operation.

[0028] Working principle: In this device, the shock absorbing assembly 5 is arranged on the first shock absorbing connecting plate 3, and is composed of a buffer plate 14, a second shock absorbing connecting plate 15, a vibration transmission plug rod 16, a vibration buffer sleeve 17 and a shock absorbing spring 18, forming a multi-stage shock absorbing system. When external vibration is transmitted, the vibration is first transmitted to the second shock absorbing connecting plate 15 through the buffer plate 14, and then through the cooperation of the vibration transmission plug rod 16 and the vibration buffer sleeve 17, as well as the elastic effect of the shock absorbing spring 18, the vibration energy is effectively absorbed and dispersed to ensure the stability of the welding process.

[0029] At the same time, the external vibration will be transmitted to the bottom of the anti-shake component 9 through the extension frame 4, and some of the vibration not absorbed by the shock absorbing component will be transmitted to the top of the anti-shake component 9 through the protective shell 21. When the vibration received from the top is transmitted to the shake transmission sleeve 30, the shake transmission sleeve 30 tends to move downward and press the return spring 32 downward. At the same time, the pressure is transmitted to the movable plug rod 29 through the return spring 32, so that the hinge 26 drives the two anti-shake connecting rods 25 to tilt downward. While the anti-shake connecting rod 25 tilts downward, it will pull the anti-shake support rods 24 at both ends inward. While pulling the anti-shake support rod 24 inward, the effect of the shake is transmitted to the expansion spring 28 through the spring connection kit 27 and absorbed as elastic potential energy. Subsequently, through the cooperation of the movable plug rod 29 and the shake transmission sleeve 30, as well as the action of the abutment plate 31 and the return spring 32, it quickly returns to the initial state, effectively suppressing the shake phenomenon during welding.

[0030] When the device is used to clamp the welding wire, first, the operator rotates the clamping knob 13 to transfer the rotational force to the driving gear 33 connected thereto. The driving gear 33 serves as a power source, and its rotational movement drives the follower gear 34 to start rotating through gear meshing. The rotation of the follower gear 34 further drives the rotation of the bidirectional threaded screw 36. The two thread grooves will respectively drive the two welding wire clamping plates 35 matched therewith to move in opposite directions. This design allows the operator to control the opening and closing of the two clamping plates at the same time by simply rotating a knob, thereby achieving the clamping and release of the welding wire. The welding wire clamping plate 35 is designed to precisely match the thread groove of the bidirectional threaded screw 36, ensuring that the clamping plate can move smoothly along the V-shaped groove when the screw rotates. The design of the V-shaped groove not only provides stable support for the welding wire, but also enables the welding wire to disperse the pressure more evenly through the inclined surfaces on both sides thereof when subjected to the clamping force, thereby avoiding the welding wire damage caused by excessive local pressure.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An anti-shake device for an end effector of a welding robot arm, comprising a device connecting plate (1), characterized in that: One side of the device connecting plate (1) is fixedly connected to two connecting plates (2); the ends of the two connecting plates (2) away from the device connecting plate (1) are fixedly connected to a first shock-absorbing connecting plate (3); the two first shock-absorbing connecting plates (3) are provided with shock-absorbing components (5); the shock-absorbing components (5) are provided with a rotating connecting member (6); one end of the rotating connecting member (6) is hinged to a connecting group plate (7); the end of the connecting group plate (7) away from the rotating connecting member (6) is fixedly connected to a welding wire clamping shell (8); a circular cavity (22) is provided on the side of the welding wire clamping shell (8) away from the connecting group plate (7); a welding wire clamping component is provided in the inner cavity of the circular cavity (22); both sides of the first shock-absorbing connecting plate (3) are fixedly connected to an extension frame (4); an anti-shake component (9) is provided on the upper side surface of the extension frame (4) corresponding to the end away from the first shock-absorbing connecting plate (3); and a buffer component is provided on the side of the device connecting plate (1) away from the connecting plate (2).

2. The anti-shake device for the end effector of a welding robot arm according to claim 1, characterized in that: The buffer component comprises a fixing groove (10), a shock-absorbing rubber pad (11) and a shock-absorbing protective plate (12); the fixing grooves (10) are provided at four corners of a side of the device connecting plate (1) away from the connecting plate (2); shock-absorbing rubber pads (11) are movably embedded in the four fixing grooves (10); the side of the device connecting plate (1) away from the connecting plate (2) is fixedly connected to the shock-absorbing protective plate (12); and the integrated protrusion on the shock-absorbing protective plate (12) is provided with a plurality of equidistantly distributed buffer airbags.

3. The anti-shake device for the end effector of a welding robot arm according to claim 1, characterized in that: The shock absorbing assembly (5) comprises a buffer plate (14), a second shock absorbing connecting plate (15), a vibration transmission plug rod (16), a vibration buffer sleeve (17) and a shock absorbing spring (18); the upper and lower ends of the two first shock absorbing connecting plates (3) on opposite sides are both rotatably connected to the buffer plates (14); the two groups of the buffer plates (14) are arranged in parallel; the ends of the two groups of the buffer plates (14) away from the first shock absorbing connecting plates (3) are both rotatably connected to the second shock absorbing connecting plates (15); the side ends of the two upper buffer plates (14) are A vibration transmission plug rod (16) is hinged on the surface, and a vibration buffer sleeve (17) is hinged on the side of the two buffer plates (14) at the lower end. The vibration transmission plug rod (16) is movably inserted in the vibration buffer sleeve (17), and a shock absorbing spring (18) is movably sleeved on the side of the vibration buffer sleeve (17). One end of the shock absorbing spring (18) is fixedly connected to the side of the vibration buffer sleeve (17), and the other end of the shock absorbing spring (18) is fixedly connected to the vibration transmission plug rod (16).

4. The anti-shake device for the end effector of a welding robot arm according to claim 1, characterized in that: The anti-shake component (9) comprises a rotating seat (23), an anti-shake support rod (24), a spring connection kit (27) and an expansion spring (28); one end of the upper side surface of the extension frame (4) away from the first shock-absorbing connecting plate (3) is fixedly connected to two symmetrically arranged rotating seats (23); the two rotating seats (23) are both rotatably connected to the anti-shake support rod (24); the spring connection kit (27) is fixedly connected to the opposite surfaces of the two anti-shake support rods (24); the two spring connection kits (27) are located on the same horizontal line; the expansion spring (28) is movably sleeved on the side surfaces of the two spring connection kits (27); and the two ends of the expansion spring (28) are fixed to the two spring connection kits (27).

5. The anti-shake device for the end effector of a welding robot arm according to claim 4, characterized in that: The anti-shake assembly (9) further comprises an anti-shake connecting rod (25), a hinge (26), a movable plug rod (29), a shake transmission sleeve (30), a stop plate (31) and a return spring (32); one end of the two anti-shake support rods (24) away from the rotating seat (23) is rotatably connected to the anti-shake connecting rod (25); the free ends of the two anti-shake connecting rods (25) are hinged to the hinge (26); the upper side of the hinge (26) is fixedly connected to the movable An insert rod (29), the upper end of the side of the movable insert rod (29) is movably sleeved with a shaking transmission sleeve (30), the top of the movable insert rod (29) is fixedly connected with a support plate (31) in the inner cavity of the shaking transmission sleeve (30), the upper and lower sides of the support plate (31) are fixedly connected with restoring springs (32), and the ends of the two restoring springs (32) away from the support plate (31) are respectively fixed on the upper and lower inner walls of the shaking transmission sleeve (30).

6. The anti-shake device for the end effector of a welding robot arm according to claim 3, characterized in that: The welding wire clamping assembly comprises a rotating connection member 1 (6), a rotating connection member 2 (20) and a protective shell (21); the second shock-absorbing connecting plate (15) is fixedly connected to the rotating connection member 1 (6) at one side away from the first shock-absorbing connecting plate (3); the rotating connection member 1 (6) is hingedly connected to the rotating connection member 2 (20) at one end away from the second shock-absorbing connecting plate (15); the free end of the rotating connection member 2 (20) is fixedly connected to the protective shell (21); and the bottom of the protective shell (21) is hingedly connected to the top of the shaking transmission sleeve (30).

7. The anti-shake device for the end effector of a welding robot arm according to claim 6, characterized in that: The welding wire clamping assembly further comprises a clamping knob (13), a driving gear (33), a follower gear (34), a welding wire clamping plate (35) and a bidirectional threaded screw (36); two clamping knobs (13) are rotatably plugged into the upper side surface of the protective shell (21); a driving cavity is provided in the inner cavity of the protective shell (21) corresponding to the lower side of the clamping knob (13); the lower ends of the clamping knobs (13) extend into the driving cavity of the protective shell (21) and are fixedly connected to the driving gear (33); two ends of the inner wall of the bottom side of the driving cavity are rotatably connected to the bidirectional threaded screw (36); the upper ends of the bidirectional threaded screw (36) are fixedly connected to the corresponding driving cavity; two welding wire clamping plates (35) symmetrically distributed up and down are threadedly connected in the inner cavity of the welding wire clamping plate (35) on the side surfaces of the two bidirectional threaded screws (36).

8. The anti-shake device for the end effector of a welding robot arm according to claim 7, characterized in that: A V-shaped groove is provided on the upper side of the welding wire clamping plate (35), and soft pads (19) are fixedly connected to the inner walls on both sides of the V-shaped groove.

Images