A shock absorbing device for welding industrial robot arm

Abstract

The invention relates to the technical field of welding industrial robots, and discloses a shock absorbing device for a welding industrial robot arm, comprising a base, a mechanical base, a mechanical arm and an end effector. A second spring in a shock absorbing cylinder at the top cooperates with a shock absorbing column of the mechanical base to effectively cope with the arm weight, dynamic load and ground vibration borne by the base, and prevent the vibration from being transmitted to the mechanical arm and affecting the welding accuracy. The second spring releases energy through deformation conversion during vibration, so that the mechanical base and the arm are shock-absorbing. When shock absorption is not required, they can be tightly connected through top bolts and other components and absorb energy with the help of friction rubber. When shock absorption is not required for the connection of the end effector, the fixing rod is removed, and the first spring absorbs shock at the connection between the mechanical arm and the rotating connection block to prevent inaccurate welding position due to trajectory deviation of the mechanical arm. When shock absorption is not required, the fixing rod is used for limiting and fixing, and the friction plate on the connecting column can absorb vibration impact, so as to ensure efficient and accurate welding operation and stable operation of the equipment.

Description

Technical Field

[0001] The invention relates to the technical field of welding industrial robots, in particular to a shock absorbing device for a welding industrial robot arm. Background Art

[0002] A welding robot is an industrial robot engaged in welding. An industrial robot is a multi-purpose, reprogrammable automatic control operating machine with three or more programmable axes. It is used in the field of industrial automation. In order to adapt to different uses, the mechanical interface of the robot's last axis is usually a connecting flange, which can be connected to different tools or end effectors. A welding robot is an industrial robot with a welding tongs or welding gun connected to the end axis flange, so that it can perform welding, cutting or thermal spraying. Other welding processes are used for welding operations. It has high precision and automation and is widely used in automobile manufacturing, shipbuilding, aviation manufacturing and other industries.

[0003] In a complex industrial environment, a robot arm may be subjected to impact forces of different directions and intensities. Traditional shock-absorbing devices may only be good at dealing with vibrations in a single direction, and are insufficient in handling composite vibrations in multiple directions. In addition, the structure of traditional shock-absorbing devices may be bulky, and a larger shock-absorbing structure will take up valuable space, which may limit the range of motion of the robot arm or interfere with other components. The complex mechanical structure leads to high maintenance costs and difficulties. The present invention utilizes multiple parts to reduce the shock of the industrial robot arm while it is working. The base bears the weight of the entire arm, the weight of the end effector, and various dynamic loads generated during operation. At the same time, the base will also be subjected to vibrations from the ground, which may come from the ground Its own vibration, so multiple springs are installed between the base and the mechanical pad, and the friction rubber plays a role of buffering and shock absorption when falling, thereby reducing the interference of vibration on the welding path, reducing the deviation of the welding path, improving the straightness and uniformity of the weld, ensuring high-quality welding joints, and providing friction plates and multiple springs at the connection part of the end effector to improve the positioning accuracy of the end effector. The shock absorption of the spring helps to more accurately position tools such as welding guns during welding, and it can accurately align with the welding part. For some scenes with extremely high requirements on welding accuracy, it can effectively avoid welding defects caused by inaccurate positioning and improve the overall quality and reliability of the product. For this reason, the present invention proposes a shock absorbing device for a welding industrial robot arm. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a shock absorbing device for a welding industrial robot arm, which solves the above-mentioned problems.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a shock absorbing device for a welding industrial robot arm, comprising a base, a mechanical base, a mechanical arm and an end effector, the top end of the base is fixedly connected to a sliding shell, the bottom end of the mechanical base is fixedly connected to a mechanical pad, the mechanical pad is installed inside the sliding shell and above the top end of the base, the mechanical pad is fixedly connected to the base with a plurality of top bolts and nuts, the top end of the mechanical base is connected to the mechanical arm, a plurality of shock absorbing columns are fixed on the back of the shock absorbing plate, a first spring is sleeved on the shock absorbing column, wherein the first spring and the ends of the shock absorbing column are slidably installed on the right end face of the mechanical arm, the end of the rotating connecting block passes through the shock absorbing plate and is plugged and installed at the right end center axis of the mechanical arm, the shock absorbing plate is fixed to the right end of the mechanical arm by using a plurality of fixing rods, and the end effector is rotatably installed on the rotating connecting block.

[0006] Preferably, four central axis symmetrical and cylindrical shock-absorbing cylinders are fixed to the top of the base and the inside of the sliding shell, the interior of the shock-absorbing cylinder is a hollow structure, and a second spring is installed inside the shock-absorbing cylinder, and a rectangular mechanical pad is fixed to the bottom end of the mechanical base, and four central axis symmetrical shock-absorbing columns are fixed to the bottom end of the mechanical pad, and the end of the shock-absorbing column is slidably installed in the interior of the shock-absorbing cylinder, and the top of the second spring fits with the bottom end surface of the shock-absorbing column.

[0007] Preferably, four lower friction rubbers with a central axis symmetrically in a rectangular shape are fixed on the top end surface of the base, and four upper friction rubbers with a central axis symmetrically are fixed on the bottom end surface of the mechanical pad. When the mechanical pad slides down, the lower friction rubbers fit in with the end surfaces of the upper friction rubbers.

[0008] Preferably, four central axis-symmetrical and cylindrical top threaded rods are fixed to the top of the base and the inside of the sliding shell, and the inside of the top threaded rods is provided with internal threads, and circular top holes are provided above the top threaded rods and on the sliding shell, and the top holes pass through the bottom end surface of the sliding shell.

[0009] Preferably, the mechanical pad is provided with four movable holes which are symmetrically arranged in a circular shape with the central axis, the movable holes pass through the two end faces of the mechanical pad, a polygonal nut groove is provided inside the movable hole, a nut is snap-fitted inside the nut groove, the mechanical pad is installed inside the sliding shell, the end of the top bolt passes through the top hole and corresponds to the nut thread inside the nut groove, wherein the end of the top bolt is fixedly connected to the internal thread inside the top thread rod.

[0010] Preferably, a mechanical arm is rotatably connected to the top of the mechanical base, and symmetrical and cylindrical shock-absorbing circular grooves are provided on both sides of the right end face of the mechanical arm. Mutually symmetrical shock-absorbing columns are fixed on both sides of the back side of the shock-absorbing plate, and a circular spacer is fixed on the end of the shock-absorbing column. A first spring is sleeved and installed on the shock-absorbing column. The spacer at the end of the shock-absorbing column and the first spring are installed inside the shock-absorbing circular groove.

[0011] Preferably, mutually symmetrical rectangular plug-in plates are fixed to both end surfaces of the shock-absorbing plate, and the plug-in plates are distributed toward the back of the shock-absorbing plate, and a plurality of evenly distributed circular limiting holes 2 are provided on the plug-in plates; mutually symmetrical rectangular protective plates 2 are fixed to the right end surface of the robot arm, and mutually symmetrical matching blocks are fixed between the two axially symmetrical protective plates 2, and sliding grooves are provided inside the matching blocks, and a plurality of evenly distributed circular limiting holes 1 are provided on the sliding grooves; a protective plate 1 is fixed at the top and bottom between the mutually symmetrical protective plates 2.

[0012] Preferably, the end of the plug-in board is plug-fitted and connected to the sliding groove inside the matching block, and a plurality of fixing rods are respectively corresponding to the limiting hole 1 and the limiting hole 2 on the sliding groove to limit and fix.

[0013] Preferably, a cylindrical connecting cylinder is fixed at the central axis of the right end face of the robot arm, a matching hole in the shape of a circular ring is opened on the shock absorbing plate, a cylindrical connecting column is fixed on the back of the rotating connecting block, the connecting cylinder, the matching hole and the connecting column (28) are concentric, and the matching hole is located in the middle, the connecting column passes through the matching hole, and the connecting column is matched and connected with the connecting cylinder.

[0014] Preferably, a friction plate in the form of a ring is fixed to the cylindrical surface of the connecting column on the back of the rotating connecting block, wherein the shock-absorbing plate is located between the friction plate and the back of the rotating connecting block for friction fit, and the rotating connecting block is fixed with mutually symmetrical rotating connecting plates, which are provided with rotating holes, and the end of the end actuator is rotatably connected corresponding to the rotating holes.

[0015] Compared with the prior art, the present invention provides a shock absorbing device for a welding industrial robot arm, which has the following beneficial effects:

[0016] 1. The shock absorbing device for the welding industrial robot arm, when the welding industrial robot arm is used, the base is fixed on the mounting platform, wherein the shock absorbing cylinder on the top of the base is installed with a second spring inside, and a plurality of shock absorbing columns are fixed on the bottom end surface of the mechanical pad at the bottom end of the mechanical base, the shock absorbing column one is installed inside the shock absorbing cylinder and the top of the second spring is in contact with the bottom end surface of the shock absorbing column one, when the base is fixed on the mounting platform, the base must bear the weight of the entire arm and various dynamic loads generated during work and vibrations from the ground, and at the same time, the vibrations will be transmitted to the mechanical arm through the base, and when the end effector performs welding work, due to the action of inertia force, the base will also be subjected to reaction force and vibrate, so the vibration This causes errors in welding and inaccurate welding positions of the end effector at one end of the robotic arm, affecting the normal operation of each component. Due to the presence of the second spring, the impact force generated by the vibration will cause the spring to elastically deform, and the energy generated by the vibration will begin to be converted and released. When the vibration force disappears or weakens, the second spring will try to restore its original shape and length based on its own elastic restoring force. In this process, the elastic potential energy stored in the second spring will gradually be converted into other forms of energy. Part of it may be dissipated in the surrounding environment in the form of heat energy, and the other part will push the robotic arm back to a relatively stable equilibrium position, thereby effectively reducing shock to the mechanical base and the robotic arm.

[0017] 2. The shock absorbing device for the welding industrial robot arm, if the mechanical base and the mechanical arm do not need shock absorption, multiple top bolts are used to respectively correspond to the top threaded rod threads of the base top and the sliding shell, so that the mechanical pad at the bottom of the mechanical base and the top threaded rod component at the top of the base can be tightly connected together to provide a firm fixing effect. At the same time, the ability of the lower friction rubber and the upper friction rubber to absorb shock can be used to effectively reduce vibration and shock during equipment operation, thereby protecting other components from damage. At the same time, by adjusting the tightness of the top bolts and nuts and the top threaded rods, precise positioning between components can be achieved to ensure the accuracy of the connection between the base and the mechanical pad.

[0018] 3. The shock absorbing device for the welding industrial robot arm, when the end effector vibrates during the welding process, no matter it is caused by the welding process itself or by the deviation of the robot arm's motion trajectory or the change of acceleration, the vibration will be transmitted to the connection part of the end effector. When the end effector needs to be damped, all the fixing rods are removed to loosen the shock absorbing column 2. At the same time, multiple first springs are used to dampen the connection part between the robot arm and the rotating connecting block to prevent the end effector from having inaccurate welding position due to the large motion trajectory of the robot arm during the welding process, resulting in unsatisfactory welding products. If the end effector does not need to be damped, the fixing rods are used to limit and fix the limit holes 1 and 2 respectively. A friction plate is fixed on the connecting column to facilitate the rotation of the rotating connecting block. The friction plate can absorb the vibration and impact generated during the movement, and reduce the resonance and fatigue of the end effector and its connecting parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the present invention;

[0021] Figure 3 for Figure 2 A local enlarged schematic diagram of the A in FIG.

[0022] Figure 4 It is a schematic diagram of the connection structure between the base and the mechanical base in the present invention;

[0023] Figure 5 It is a schematic diagram of the connection structure between the base and the mechanical base in the present invention;

[0024] Figure 6 is a schematic diagram of a cross-section of a base structure in the present invention;

[0025] Figure 7 It is a schematic diagram of the connection structure between the mechanical base and the mechanical pad in the present invention;

[0026] Figure 8 is a schematic diagram of a cross-section of the structure of the robotic arm in the present invention;

[0027] Fig. 9 It is a schematic diagram of the rotating connection block structure in the present invention;

[0028] Fig.10 It is a schematic diagram of the shock absorbing plate structure in the present invention.

[0029] In the figure: 1. base; 2. sliding shell; 3. mechanical base; 4. mechanical arm; 5. rotating connection block; 6. end effector; 7. shock absorbing plate; 8. first spring; 9. fixing rod; 10. top bolt; 11. nut; 12. second spring; 13. top hole; 14. top threaded rod; 15. lower friction rubber; 16. shock absorbing cylinder; 17. mechanical pad; 18. moving hole; 19. nut groove; 20. upper friction rubber; 21. shock absorbing column one; 22. shock absorbing circular groove; 23. protective plate one; 24. protective plate two; 25. matching block; 26. limit hole one; 27. connecting cylinder; 28. connecting column; 29. ​​friction plate; 30. rotating hole; 31. shock absorbing column two; 32. matching hole; 33. plug-in board; 34. limit hole two. DETAILED DESCRIPTION

[0030] 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.

[0031] See also Figure 1-10 A shock absorbing device for a welding industrial robot arm comprises a base 1, a mechanical base 3, a mechanical arm 4 and an end effector 6, the top of the base 1 is fixedly connected with a sliding shell 2, the bottom of the mechanical base 3 is fixedly connected with a mechanical pad 17, the mechanical pad 17 is installed inside the sliding shell 2 and above the top of the base 1, the mechanical pad 17 is threadedly fixedly connected to the base 1 with a plurality of top bolts 10 and nuts 11, the top of the mechanical base 3 is connected with a mechanical arm 4, a plurality of shock absorbing columns 31 are fixed on the back of the shock absorbing plate 7, a first spring 8 is sleeved on the shock absorbing column 31, wherein the first spring 8 and the end of the shock absorbing column 31 are slidably installed on the right end surface of the mechanical arm 4, the end of the rotating connecting block 5 passes through the shock absorbing plate 7 and is plugged and installed at the right end center axis of the mechanical arm 4, the shock absorbing plate 7 is fixed to the right end of the mechanical arm 4 by a plurality of fixing rods 9, and the end effector 6 is rotatably installed on the rotating connecting block 5.

[0032] Furthermore, four central axis symmetrical and cylindrical shock-absorbing cylinders 16 are fixed to the top of the base 1 and the inside of the sliding shell 2. The interior of the shock-absorbing cylinder 16 is a hollow structure, and a second spring 12 is installed inside the shock-absorbing cylinder 16. A rectangular mechanical pad 17 is fixed to the bottom end of the mechanical base 3. Four central axis symmetrical shock-absorbing columns 21 are fixed to the bottom end of the mechanical pad 17. The end of the shock-absorbing column 21 is slidably installed in the interior of the shock-absorbing cylinder 16, and the top of the second spring 12 fits with the bottom end surface of the shock-absorbing column 21. The cooperation between the shock-absorbing column 21 and the second spring 12 can effectively absorb impact and vibration, thereby reducing the force that causes structural damage.

[0033] Furthermore, four lower friction rubbers 15 with a central axis symmetrical in a rectangular shape are fixed to the top end surface of the base 1, and four upper friction rubbers 20 with a central axis symmetrical are fixed to the bottom end surface of the mechanical pad 17. When the mechanical pad 17 slides down, the end surfaces of the lower friction rubbers 15 and the upper friction rubbers 20 fit together, which can effectively absorb and mitigate vibrations from machine operation or external impacts, and avoid damage caused by pressure generated between internal parts of the equipment.

[0034] Furthermore, four central axis symmetrical and cylindrical top threaded rods 14 are fixed to the top of the base 1 and the inside of the sliding shell 2, and the top threaded rods 14 are provided with internal threads. Circular top holes 13 are provided above the top threaded rods 14 and on the sliding shell 2, and the top holes 13 pass through the bottom end surface of the sliding shell 2.

[0035] Furthermore, the mechanical pad 17 is provided with four movable holes 18 which are symmetrically arranged in a circular shape along the central axis. The movable holes 18 pass through the two end surfaces of the mechanical pad 17. A polygonal nut groove 19 is provided inside the movable hole 18. The nut 11 is snap-fitted inside the nut groove 19. The mechanical pad 17 is installed inside the sliding shell 2. The end of the top bolt 10 passes through the top hole 13 and is threadedly engaged with the nut 11 inside the corresponding nut groove 19. The end of the top bolt 10 is fixedly connected with the internal thread of the top threaded rod 14. The top bolt 10 cooperates with the nut 11 and the top threaded rod 14 respectively to provide a high-strength connection, thereby ensuring a stable connection between the components and avoiding loosening due to vibration or external force.

[0036] Furthermore, a mechanical arm 4 is rotatably connected to the top of the mechanical base 3, and symmetrical and cylindrical shock-absorbing circular grooves 22 are provided on both sides of the right end face of the mechanical arm 4. Symmetrical shock-absorbing columns 31 are fixed on both sides of the back side of the shock-absorbing plate 7, and a circular spacer is fixed on the end of the shock-absorbing column 31. A first spring 8 is sleeved and installed on the shock-absorbing column 31, wherein the spacer at the end of the shock-absorbing column 31 and the first spring 8 are installed inside the shock-absorbing circular groove 22. The combination of the shock-absorbing plate 7 and the first spring 8 can effectively absorb and dissipate vibration energy, thereby reducing the vibration transmitted to the end actuator 6 and improving the positioning accuracy during welding.

[0037] Furthermore, mutually symmetrical rectangular plug-in plates 33 are fixed on both end surfaces of the shock-absorbing plate 7, and the plug-in plates 33 are distributed toward the back of the shock-absorbing plate 7. A plurality of evenly distributed circular limiting holes 34 are provided on the plug-in plates 33. Mutually symmetrical rectangular protective plates 24 are fixed on the right end surface of the robot arm 4. Mutually symmetrical matching blocks 25 are fixed between the two axially symmetrical protective plates 24. A sliding groove is provided inside the matching block 25. A plurality of evenly distributed circular limiting holes 26 are provided on the sliding groove. A protective plate 23 is fixed to the top and bottom ends between the mutually symmetrical protective plates 24.

[0038] Furthermore, the end of the plug-in board 33 is plugged and connected to the sliding groove inside the matching block 25, and a plurality of fixing rods 9 are used to limit and fix the limiting holes 1 26 and 2 34 on the sliding groove respectively.

[0039] Furthermore, a cylindrical connecting tube 27 is fixed at the central axis of the right end face of the robot arm 4, a circular matching hole 32 is opened on the shock-absorbing plate 7, and a cylindrical connecting column 28 is fixed on the back of the rotating connecting block 5. The connecting tube 27, the matching hole 32 and the connecting column 28 are concentric, and the matching hole 32 is located in the middle. The connecting column 28 passes through the matching hole 32, and the connecting column 28 is matched and connected with the connecting tube 27.

[0040] Furthermore, a friction plate 29 in the form of a ring is fixed to the cylindrical surface of the connecting column 28 on the back of the rotating connecting block 5, wherein the shock-absorbing plate 7 is located between the friction plate 29 and the back of the rotating connecting block 5 for friction fit, and the rotating connecting block 5 is fixed with mutually symmetrical rotating connecting plates, on which rotating connecting plates are provided rotating holes 30, and the end of the end actuator 6 is rotationally connected corresponding to the rotating holes 30, and the friction fit can generate sufficient friction force to prevent the connecting parts from relative sliding or displacement during use, thereby ensuring the rotation of the rotating connecting block 5.

[0041] Working principle: When using the welding industrial robot arm, the base 1 is fixed on the mounting platform, wherein the second spring 12 is installed inside the shock-absorbing cylinder 16 on the top of the base 1, and a plurality of shock-absorbing columns 21 are fixed on the bottom end surface of the mechanical pad 17 at the bottom end of the mechanical base 3. The shock-absorbing column 21 is installed inside the shock-absorbing cylinder 16 and the top of the second spring 12 fits with the bottom end surface of the shock-absorbing column 21. When the base 1 is fixed on the mounting platform, the base 1 must bear the weight of the entire arm and various dynamic loads generated during work and vibrations from the ground. At the same time, the vibrations will be transmitted to the mechanical arm 4 through the base 1. When the end effector 6 performs welding work, due to the action of inertia, the base 1 will also be subjected to reaction force and vibrate, so it is affected The vibration causes the end effector 6 at one end of the robot arm 4 to make mistakes during welding and the welding position is inaccurate, affecting the normal operation of each component. Due to the existence of the second spring 12, the impact force generated by the vibration will cause the spring to undergo elastic deformation, and the energy generated by the vibration will begin to be converted and released. When the vibration force disappears or weakens, the second spring 12 will try to restore its original shape and length based on its own elastic restoring force. In this process, the elastic potential energy stored in the second spring 12 will gradually be converted into other forms of energy, part of which may be dissipated in the surrounding environment in the form of heat energy, and the other part will push the robot arm 4 back to a relatively stable equilibrium position, thereby effectively protecting the mechanical base 3 and the robot arm 4. Effective shock absorption, if the mechanical base 3 and the mechanical arm 4 do not need shock absorption, a plurality of top bolts 10 are used to respectively correspond to the top of the base 1 and the top threaded rod 14 inside the sliding shell 2, so that the mechanical pad 17 at the bottom of the mechanical base 3 and the top threaded rod 14 at the top of the base 1 can be tightly connected together to provide a firm fixing effect. At the same time, the fit of the lower friction rubber 15 and the upper friction rubber 20 can absorb the impact, which can effectively reduce the vibration and impact during the operation of the equipment, thereby protecting other components from damage. At the same time, by adjusting the tightness of the top bolts 10, the nuts 11 and the top threaded rod 14, the precise positioning between the components can be achieved to ensure the connection between the base 1 and the mechanical pad 17 Accuracy. When the end effector 6 vibrates during the welding process, whether it is caused by the welding process itself or by the deviation of the movement trajectory of the robot arm 4 or the change of acceleration, these vibrations will be transmitted to the connection part of the end effector 6. When the end effector 6 needs to be damped, some fixing rods 9 are removed to loosen the shock absorbing column 2 31. At the same time, multiple first springs 8 are used to dampen the connection part between the robot arm 4 and the rotating connection block 5 to prevent the end effector 6 from causing inaccurate welding position due to the large movement trajectory of the robot arm 4 during welding, resulting in unfavorable welding products. If the end effector 6 does not need to be damped, the fixing rods 9 are used to limit and fix the corresponding limit holes 1 26 and the limit holes 2 34 respectively.A friction plate 29 is fixed on the connecting column 28 to facilitate the rotation of the connecting block 5, wherein the friction plate 29 can absorb the vibration and impact generated during the movement, and reduce the resonance and fatigue of the end effector 6 and its connecting parts.

[0042] 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. A shock absorbing device for a welding industrial robot arm, comprising a base (1), a mechanical base (3), a mechanical arm (4) and an end effector (6), characterized in that: The top of the base (1) is fixedly connected to a sliding shell (2), the bottom of the mechanical base (3) is fixedly connected to a mechanical pad (17), the mechanical pad (17) is installed inside the sliding shell (2) and above the top of the base (1), the mechanical pad (17) and the base (1) are threadedly fixedly connected by cooperating with a plurality of top bolts (10) and nuts (11), the top of the mechanical base (3) is connected to a mechanical arm (4), a plurality of shock absorbing columns (31) are fixed on the back of the shock absorbing plate (7), a first spring (8) is sleeved on the shock absorbing column (31), wherein the first spring (8) and the ends of the shock absorbing column (31) are slidably installed on the right end surface of the mechanical arm (4), the end of the rotating connecting block (5) passes through the shock absorbing plate (7) and is plugged and installed at the right end center axis of the mechanical arm (4), the shock absorbing plate (7) is fixed to the right end of the mechanical arm (4) by using a plurality of fixing rods (9), and an end actuator (6) is rotatably installed on the rotating connecting block (5).

2. A shock absorbing device for a welding industrial robot arm according to claim 1, characterized in that: Four central axis symmetrical and cylindrical shock-absorbing cylinders (16) are fixed on the top of the base (1) and inside the sliding shell (2); the interior of the shock-absorbing cylinder (16) is a hollow structure, and a second spring (12) is installed inside the shock-absorbing cylinder (16); a rectangular mechanical pad (17) is fixed on the bottom of the mechanical base (3); four central axis symmetrical shock-absorbing columns (21) are fixed on the bottom of the mechanical pad (17); the end of the shock-absorbing column (21) is slidably installed inside the shock-absorbing cylinder (16), and the top of the second spring (12) fits in a close fit with the bottom end surface of the shock-absorbing column (21).

3. A shock absorbing device for a welding industrial robot arm according to claim 2, characterized in that: Four central axis-symmetrical and rectangular lower friction rubbers (15) are fixed to the top end surface of the base (1), and four central axis-symmetrical upper friction rubbers (20) are fixed to the bottom end surface of the mechanical pad (17). When the mechanical pad (17) slides down, the end surfaces of the lower friction rubbers (15) and the upper friction rubbers (20) fit in place.

4. A shock absorbing device for a welding industrial robot arm according to claim 3, characterized in that: Four centrally axially symmetrical and cylindrical top threaded rods (14) are fixed to the top of the base (1) and the inside of the sliding shell (2), and internal threads are provided inside the top threaded rods (14). Circular top holes (13) are provided above the top threaded rods (14) and on the sliding shell (2), and the top holes (13) penetrate the bottom end surface of the sliding shell (2).

5. A shock absorbing device for a welding industrial robot arm according to claim 4, characterized in that: The mechanical pad (17) is provided with four circular movable holes (18) symmetrically centered on the central axis. The movable holes (18) penetrate the two end surfaces of the mechanical pad (17). A polygonal nut groove (19) is provided inside the movable hole (18). A nut (11) is snap-fitted inside the nut groove (19). The mechanical pad (17) is installed inside the sliding shell (2). The end of the top bolt (10) passes through the top hole (13) and is threadedly matched with the nut (11) inside the nut groove (19). The end of the top bolt (10) is fixedly connected with the internal internal thread of the top threaded rod (14).

6. The shock absorbing device for a welding industrial robot arm according to claim 1, characterized in that: A mechanical arm (4) is rotatably connected to the top of the mechanical base (3), and the right end surface of the mechanical arm (4) is provided with symmetrical and cylindrical shock-absorbing circular grooves (22). The back side of the shock-absorbing plate (7) is fixed with symmetrical shock-absorbing columns (31) on both sides, and a circular ring-shaped partition is fixed to the end of the shock-absorbing column (31). A first spring (8) is sleeved and installed on the shock-absorbing column (31), wherein the partition at the end of the shock-absorbing column (31) and the first spring (8) are installed inside the shock-absorbing circular groove (22).

7. A shock absorbing device for a welding industrial robot arm according to claim 6, characterized in that: The damping plate (7) is fixed with mutually symmetrical rectangular plug-in plates (33) on both end surfaces, and the plug-in plates (33) are arranged toward the back of the damping plate (7). The plug-in plates (33) are provided with a plurality of equally distributed circular limiting holes (34). The right end surface of the mechanical arm (4) is fixed with mutually symmetrical rectangular protective plates (24). A mutually symmetrical matching block (25) is fixed between the two axisymmetric protective plates (24). A sliding groove is arranged inside the matching block (25). A plurality of equally distributed circular limiting holes (26) are arranged on the sliding groove. A protective plate (23) is fixed at the top and bottom between the mutually symmetrical protective plates (24).

8. A shock absorbing device for a welding industrial robot arm according to claim 7, characterized in that: The end of the plug board (33) is plugged and connected to the sliding groove inside the matching block (25), and is fixed in position by using a plurality of fixing rods (9) corresponding to the first limiting hole (26) and the second limiting hole (34) on the sliding groove.

9. A shock absorbing device for a welding industrial robot arm according to claim 8, characterized in that: A cylindrical connecting cylinder (27) is fixed at the central axis of the right end face of the mechanical arm (4); a matching hole (32) in the form of a circular ring is provided on the damping plate (7); a cylindrical connecting column (28) is fixed on the back of the rotating connecting block (5); the connecting cylinder (27), the matching hole (32) and the connecting column (28) are concentric, and the matching hole (32) is located in the middle; the connecting column (28) passes through the matching hole (32), and the connecting column (28) is matched and connected with the connecting cylinder (27).

10. A shock absorbing device for a welding industrial robot arm according to claim 9, characterized in that: A friction plate (29) in the form of an annular ring is fixed on the cylindrical surface of the connecting column (28) on the back of the rotating connecting block (5), wherein the damping plate (7) is located between the friction plate (29) and the back of the rotating connecting block (5) for frictional engagement, and the rotating connecting block (5) is fixed with mutually symmetrical rotating connecting plates, which are provided with rotating holes (30), and the end of the end effector (6) is rotatably connected to the rotating hole (30).

Images