Speed reducer shell welding robot

Abstract

The invention discloses a speed reducer shell welding robot, and relates to the technical field of speed reducer production and machining, the speed reducer shell welding robot comprises a mechanical arm and a clamping seat, the clamping seat is fixedly mounted at the top end of the mechanical arm, and an inner support alignment assembly is arranged at the bottom of the clamping seat; through the arrangement of arc-shaped blocks, a lead screw drives a center shaft to rotate in the process that the lead screw is driven by a fixing disc to slide to a speed reducer shell, so that four sliding shafts are diffused under cooperation with first sliding grooves, and the arc-shaped blocks make contact with the inner arc face of an opening of the speed reducer shell; compared with a speed reducer shell welding and clamping robot in the prior art, the speed reducer shell welding and clamping robot has the advantages that the bottom shell and the top shell of the speed reducer shell can be aligned with the two uneven sides, provided with reinforcing ribs, of the bottom shell and the top shell in the clamping process, so that follow-up welding work is facilitated, and meanwhile the welding precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of speed reducer production and processing, and in particular to a speed reducer housing welding robot. Background Art

[0002] Welding is an important step to ensure the structural stability and sealing performance of the reducer housing. The upper and lower parts of the housing are connected into a whole before assembling the internal parts.

[0003] When welding a reducer, it is usually necessary to use a clamp with a robotic arm to place the reducer housing on the welding table, and then use the clamp of the welding table to fix the reducer housing, and then perform the welding operation. Since the two sides of the reducer housing without openings are usually uneven and have reinforcing ribs, they cannot be clamped and fixed directly from these two sides. Therefore, when the reducer housing welding table fixes the reducer housing from the two flat sides with openings, it is necessary to add an additional robot for adjustment, correction and alignment, which increases the problem of adding robots. In addition, metal debris and dust will be attached to the surfaces of the upper and lower parts of the reducer housing during the processing. At the same time, the existing robot cannot clean the reducer housing when clamping it, so a cleaning robot needs to be added for cleaning. Therefore, before welding, in order to ensure the quality of welding and the subsequent installation of sealing rings and bearings, it is also necessary to manually clean the seams, which is not conducive to the efficiency of the reducer housing welding work.

[0004] In order to solve the above problems, the inventor proposed a reducer housing welding robot. Summary of the invention

[0005] In order to solve the above technical problems, a reducer housing welding robot is provided.

[0006] To achieve the above objectives, the present invention can be implemented by the following technical solutions:

[0007] The present invention provides a reducer housing welding robot, comprising: a mechanical arm and a clamping seat, wherein the clamping seat is fixedly mounted on the top of the mechanical arm, and an inner support alignment component is arranged at the bottom of the clamping seat;

[0008] The inner support alignment assembly includes a slider 1 arranged on the top of the clamping seat, and the slider 1 is no less than four, and the slider 1 is a group of two, and the bottoms of the four sliders 1 are respectively fixedly connected with clamp arms, and the clamp arms are a group of two, and one group of clamp arms is fixedly connected with a fixed frame 1, and two fixed frames are respectively provided with fixed disks, and the middle parts of the two fixed disks are rotatably connected with a central axis, and the end of the central axis away from the fixed disk is fixedly connected with a rotating disk, and the rotating disk is annularly equidistantly provided with a slide groove 1, and the slide groove 1 is no less than four, and the four slide grooves 1 are slidably connected with sliding shafts, and the four sliding shafts are fixedly connected with a slider 2 on one side of the four sliding shafts close to the fixed disk, and the fixed disk is fixedly connected with a guide rail on one side of the rotating disk, and the guide rail is no less than four, and the four sliders 2 are fixedly connected with arc blocks on one side away from the guide rail.

[0009] Preferably, the four slide grooves are arc-shaped, and one end of the four slide grooves is gradually away from the central axis.

[0010] Preferably, the four slide grooves 1 are arranged equidistantly in a circle, the four guide rails are arranged equidistantly in a circle, and a motor is installed on each group of slide blocks 1.

[0011] Preferably, a movable rotating component is provided on one side of the fixed disk, and the movable rotating component includes a screw rod 1 fixedly connected to the central axis, and the end of the screw rod 1 away from the fixed disk is fixedly connected to an insertion rod, the fixed frame 1 is provided with a slide groove 2, and a slider 3 is slidably connected in the slide groove 2, and the end of the insertion rod away from the screw rod 1 passes through the slider 3, and a limiting groove 1 is symmetrically provided on the fixed frame 1, and the limiting groove 1 is symmetrically distributed on the upper and lower sides of the slide groove 2, and a limiting block 1 is slidably connected in the limiting groove 1, and the limiting block 1 is fixedly connected to the slider 3, and the two sides of the slider 3 are respectively fixedly connected with connecting rods, and the side of the connecting rod away from the slider 3 is fixedly connected with a nut, and the screw rod 1 is threadedly connected in the nut.

[0012] Preferably, the insert rod is inserted in the middle of the slider three, and the screw rod one forms a limiting fit with the slider three through the insert rod.

[0013] Preferably, a moving assembly is provided on the top of the fixed plate, and the moving assembly includes a connecting plate arranged on the top of the clamping seat, and the connecting plate is at least two, and the two connecting plates are respectively fixedly connected to the two groups of slide blocks 1, and the top of the clamping seat is fixedly installed with a cylinder 1, and the cylinder 1 is at least two, and the movable shafts of the two cylinders 1 are respectively fixedly connected to the two connecting plates, and a group of slide blocks 1 are rotatably connected There is a screw rod 2, and the screw rod 2 is fixedly connected to the motor output shaft on the slide block 1, so as to drive the screw rod 2 to rotate, and the screw rod 2 is threadedly connected to the sliding seat, and the bottom of the sliding seat is fixedly connected to a fixed frame 2, and the fixed frame 2 is fixedly installed with a cylinder 2, and a sliding groove 3 is provided on the fixed frame 2, and the sliding grooves are at least two, and the two sliding grooves 3 are symmetrically arranged on the fixed frame 2, and the two sliding grooves 3 are slidably connected with sliding plates, and the movable shaft of the cylinder 2 is fixedly connected to the sliding plate, and slide blocks 4 are fixedly connected on both sides of the sliding plate, and the bottoms of the two slide blocks 4 are fixedly connected with fixed rods.

[0014] Preferably, a mounting plate is fixedly connected to the bottom of the two fixing rods, and the mounting plate is fixedly connected to the fixing plate.

[0015] Preferably, a rotating cleaning assembly is provided on the side of the fixed disk away from the central axis, and the rotating cleaning assembly includes a rotating cylinder rotatably connected to the fixed disk, a telescopic cylinder is slidably connected in the rotating cylinder, an annular brush is fixedly connected to the side of the telescopic cylinder away from the rotating cylinder, gears are fixedly connected to the outer arc surface of the rotating cylinder at equal intervals, a mounting frame is fixedly installed on the two clamping arms, a rack is fixedly connected to the bottom of the mounting frame, and the gear is meshingly connected to the rack.

[0016] Preferably, a second limiting groove is provided on the rotating cylinder, the second limiting groove is located at the connection between the rotating cylinder and the telescopic cylinder, a second limiting block is slidably connected in the second limiting groove, and the second limiting block is fixedly connected to the telescopic cylinder.

[0017] Preferably, a spring is arranged in the rotating cylinder.

[0018] As described above, the characteristics and advantages of a reducer housing welding robot in the present invention are:

[0019] By setting the arc block, the screw rod drives the central axis to rotate in the process of sliding toward the reducer housing driven by the fixed plate, so that the four sliding shafts spread in cooperation with the slide groove 1, and the arc block contacts the inner arc surface of the reducer housing opening, and in the process of the four arc blocks being stretched, the inner arc surface of the reducer housing opening gradually fits with the circle formed by the four arc blocks. When the two groups of arc blocks are tightened from the two side openings of the reducer housing, the reducer housing top shell is completely aligned with the reducer housing bottom shell. Compared with the reducer housing welding clamping robot in the prior art, the two sides of the reducer housing bottom shell and the top shell with reinforcing ribs and unevenness can be aligned during the clamping process, thereby facilitating subsequent welding work and improving welding accuracy at the same time.

[0020] Through the setting of the clamping arms, the two sets of clamping arms gradually move toward the reducer housing from both sides of the reducer housing, and gradually clamp the bottom shell of the reducer housing. At this time, the top shell of the reducer housing is clamped together with the bottom shell of the reducer housing under the action of gravity. In the process of the two sets of clamping arms gradually approaching the reducer housing and clamping it, the two sets of clamping arms can adapt to reducer housings of different widths and clamp them, and the application range is wider;

[0021] Through the cooperation of the rotating cylinder and the telescopic cylinder, when the fixed plate moves along the direction of the screw rod, the gear drives the rotating cylinder to rotate on the fixed plate, and the rotating cylinder can drive the telescopic cylinder to rotate synchronously, thereby driving the annular brush to rotate. When the annular brush and the fixed plate move along the screw rod as the path, they rotate to achieve a good cleaning effect on the side with the opening of the reducer housing, and clean the seam on this side under the action of movement, so as to facilitate the subsequent installation of the sealing ring and the bearing in the opening of the reducer housing, and at the same time, the screw rod can drive the fixed plate to move to a position aligned with the opening of the reducer housing, so as to facilitate subsequent processing. Compared with the existing reducer housing welding clamping robot, the manual cleaning work of installing the sealing ring and the welding seam is omitted, which is more time-saving and labor-saving.

[0022] Through the cooperation of the clamping arms and the arc plate, after the inner support assembly is opened to align the bottom shell and the top shell of the reducer housing, the reducer housing welding robot can move the aligned reducer housing to the welding table. At this time, the welding table can be operated to weld the two sides that are inconvenient to fix first. After the welding of the two sides is completed, the two sets of clamping arms can be loosened to place the reducer housing on the welding table, and the clamps of the welding table can be used to fix the welded two sides, so as to facilitate the welding of the unwelded seams on both sides, which does not require manual correction and is conducive to improving welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional schematic diagram of the overall structure shown in the present invention;

[0024] Figure 2 It is a three-dimensional schematic diagram of the clamping seat structure shown in the present invention;

[0025] Figure 3 It is a bottom-up stereoscopic schematic diagram of the clamping seat structure shown in the present invention;

[0026] Figure 4 It is a three-dimensional schematic diagram of the rotating disk structure shown in the present invention;

[0027] Figure 5 It is a three-dimensional schematic diagram of the screw rod structure shown in the present invention;

[0028] Figure 6 The present invention shows Figure 2 Enlarged view of point A in the middle;

[0029] Figure 7 It is a three-dimensional schematic diagram of the second structure of the fixing frame shown in the present invention;

[0030] Figure 8 The present invention shows Figure 4 Enlarged view of point B in the middle;

[0031] Fig. 9 It is a three-dimensional schematic diagram of the telescopic tube structure shown in the present invention;

[0032] Fig.10 It is a cross-sectional stereoscopic schematic diagram of the internal structure of the rotating drum shown in the present invention.

[0033] The reference numerals in the drawings of the present invention are: 1. mechanical arm; 2. clamping seat;

[0034] Internal support alignment assembly: 301, slider 1; 302, clamping arm; 303, fixed frame 1; 304, fixed plate; 305, central axis; 306, rotating plate; 307, slide groove 1; 308, slide shaft; 309, slider 2; 310, guide rail; 311, arc block;

[0035] Mobile rotating assembly: 401, screw rod 1; 402, plug rod; 403, slide groove 2; 404, slide block 3; 405, limit groove 1; 406, limit block 1; 407, connecting rod; 408, nut;

[0036] Moving assembly: 501, connecting plate; 502, cylinder 1; 503, screw rod 2; 504, sliding seat; 505, fixed frame 2; 506, cylinder 2; 507, slide groove 3; 508, sliding plate; 509, slider 4; 510, fixed rod; 511, mounting plate;

[0037] Rotating cleaning assembly: 601, rotating cylinder; 602, telescopic cylinder; 603, annular brush; 604, gear; 605, mounting frame; 606, rack; 607, limiting groove 2; 608, limiting block 2; 609, spring. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] See 1~ Fig.10 As shown, an embodiment of the present invention is provided, and a reducer housing welding robot provided will be described in detail below:

[0040] like Figure 1 to Figure 5 As shown, it includes: a reducer housing welding robot, including: a mechanical arm 1 and a clamping seat 2, the clamping seat 2 is fixedly installed on the top of the mechanical arm 1, and the bottom of the clamping seat 2 is provided with an internal support alignment component;

[0041] The inner support alignment component includes a slider 301 arranged on the top of the clamping seat 2, and there are no less than four sliders 301, and the sliders 301 are slidably matched with the notches equidistantly opened on the top of the clamping seat 2, and two sliders 301 form a group, and the bottoms of the four sliders 301 are respectively fixedly connected with clamping arms 302, and two clamping arms 302 form a group, and a group of clamping arms 302 is fixedly connected with a fixed frame 303, and the fixed frame 303 is located on the side of the clamping arm 302 away from the clamping seat 2, and fixed disks 304 are respectively arranged in the two fixed frames 303, and the middle parts of the two fixed disks 304 are rotatably connected with a central axis 305, and the end of the central axis 305 away from the fixed disk 304 is fixedly connected with a rotating disk 306, and the rotating disk 306 is provided with a circular equidistant sliding groove 307, There are no less than four slots 1 307, the four slide slots 1 307 are arc-shaped, and one end of the four slide slots 1 307 is close to the central axis 305, and the other end thereof is away from the central axis 305. The four slide slots 1 307 are slidably connected with slide shafts 308, and the four slide shafts 308 are fixedly connected with sliders 2 309 on one side close to the fixed disk 304, and the fixed disk 304 is fixedly connected with guide rails 310 on one side close to the rotating disk 306. There are no less than four guide rails 310, and the guide rails 310 are arranged corresponding to the sliders 2 309, and the four guide rails 310 are arranged equidistantly in a circle. The four sliders 2 309 are respectively slidably connected in the four guide rails 310, and the four sliders 2 309 are respectively fixedly connected with arc blocks 311 on one side away from the guide rails 310, and the arc blocks 311 are formed into a complete circle after contacting each other.

[0042] Further, such as Figure 1 , Figure 5 and Figure 6As shown, a moving rotating assembly is provided on one side of the fixed disk 304, and the moving rotating assembly includes a screw rod 1 401 fixedly connected to the central axis 305, the screw rod 1 401 is located on the side of the central axis 305 away from the rotating disk 306, and the end of the screw rod 1 401 away from the fixed disk 304 is fixedly connected to the insertion rod 402, and a sliding groove 2 403 is provided on the fixed frame 1 303, and the sliding groove 2 403 is located on the side of the fixed frame 1 303 away from the clamping arm 302, and a sliding block 3 404 is slidably connected in the sliding groove 2 403, and the end of the insertion rod 402 away from the screw rod 1 401 passes through the sliding block 3 404, and a limiting groove 1 405 is symmetrically provided on the fixed frame 1 303, and the limiting groove 1 405 is symmetrically distributed on the sliding groove 2 40 3, the limiting block 1 406 is slidably connected in the limiting groove 1 405, and the limiting block 1 406 is distributed on both sides of the slider 3 404, the limiting block 1 406 is fixedly connected to the slider 3 404, and the slider 3 404 forms a limited sliding fit with the fixed frame 1 303 through the limiting groove 1 405 and the limiting block 1 406, and the two sides of the slider 3 404 are respectively fixedly connected with connecting rods 407, and the connecting rods 407 located on both sides of the slider 3 404 are fixedly connected with a nut 408 on the side away from the slider 3 404, the screw rod 1 401 is threadedly connected in the nut 408, the insertion rod 402 is inserted in the middle of the slider 3 404, and the screw rod 1 401 forms a sliding fit with the slider 3 404 through the insertion rod 402.

[0043] Further, such as Figure 1 , Figure 2 and Figure 7As shown, a moving component is arranged on the top of the fixed disk 304, and the moving component includes a connecting plate 501 arranged on the top of the clamping seat 2, and there are no less than two connecting plates 501, which are symmetrically distributed. The two connecting plates 501 are respectively fixedly connected to the two groups of sliders 301, and a cylinder 502 is fixedly installed on the top of the clamping seat 2. There are no less than two cylinders 502, which are symmetrically distributed. The movable axes of the two cylinders 502 are respectively fixedly connected to the two connecting plates 501, and the output shafts of the two cylinders 502 are staggered. A group of sliders 301 are rotatably connected with screw rods 503, and each group of sliders 301 is respectively installed with a motor, and the output shaft of the motor is fixedly connected to one end of the screw rod 503, thereby driving the screw rod 503 to rotate, and the screw rod 503 is threadedly connected with a sliding rod. The movable seat 504 and the bottom of the sliding seat 504 are fixedly connected with a fixed frame 2 505, a cylinder 2 506 is fixedly installed in the fixed frame 2 505, a slide groove 3 507 is opened on the fixed frame 2 505, and there are no less than two slide grooves 3 507. Two slide grooves 3 507 are symmetrically arranged on the fixed frame 2 505, and sliding plates 508 are slidably connected in the two slide grooves 3 507. The movable shaft of the cylinder 2 506 is fixedly connected to the sliding plate 508, and sliders 4 509 are fixedly connected on both sides of the sliding plate 508. The bottoms of the two sliders 4 509 are fixedly connected with fixed rods 510, and the bottoms of the two fixed rods 510 are fixedly connected with mounting disks 511. The mounting disk 511 is fixedly connected to the fixed disk 304, and the mounting disk 511 is located on the side of the fixed disk 304 close to the screw rod 1 401.

[0044] Further, such as Figure 2 to Figure 4 , Figure 8 to Figure 10 As shown, a rotating cleaning assembly is provided on one side of the fixed disk 304 away from the central axis 305, and the rotating cleaning assembly includes a rotating cylinder 601 rotatably connected to the fixed disk 304, a telescopic cylinder 602 is slidably connected inside the rotating cylinder 601, an annular brush 603 is fixedly connected to the side of the telescopic cylinder 602 away from the rotating cylinder 601, and a gear 604 is fixedly connected to the outer arc surface of the rotating cylinder 601 at an equal distance, and a mounting frame 605 is fixedly installed on the two clamping arms 302, and the mounting frame 605 is located on one side of the clamping arm 302 close to the middle of the clamping seat 2, and a rack 606 is fixedly connected to the bottom of the mounting frame 605 The gear 604 is meshedly connected with the rack 606, and a second limiting groove 607 is provided on the rotating cylinder 601. The second limiting groove 607 is located at the connection between the rotating cylinder 601 and the telescopic cylinder 602. The second limiting block 608 is slidably connected in the second limiting groove 607. The second limiting block 608 is fixedly connected to the telescopic cylinder 602. The telescopic cylinder 602 slides in the second limiting groove 607 through the second limiting block 608, so that the telescopic cylinder 602 rotates synchronously when the rotating cylinder 601 rotates. A spring 609 is arranged in the rotating cylinder 601, and the two ends of the spring 609 are respectively fixedly connected to the rotating cylinder 601 and the telescopic cylinder 602.

[0045] In combination with the above preferred embodiments, the following is the entire working process and working principle of the above embodiments:

[0046] The initial state is:

[0047] The cylinder 1 502 has not retracted, and the slider 1 301 is located near the edge of the clamping seat 2, thereby driving the two sets of clamping arms 302 to be in an open state. The cylinder 2 506 has not retracted, so that the sliding plate 508 is located in the sliding groove 3 507 at one end away from the cylinder 2 506, so that the slider 4 509 on both sides of the sliding plate 508 is located at a position away from the cylinder 2 506. The slider 4 509 drives the fixed plate 304 to a position close to the sliding groove 2 403 through the fixing rod 510 and the mounting plate 511. The screw rod 1 401 has not rotated, so that the central axis 305 has not rotated, the sliding shaft 308 is located at one end of the sliding groove 1 307 close to the central axis 305, the slider 2 309 is located on one side of the guide rail 310 close to the central axis 305, the spring 609 is stretched, so that the telescopic cylinder 602 extends out of the rotating cylinder 601, and the limit block 2 608 is located in the limit groove 2 607 at one end of the telescopic cylinder 602.

[0048] The working status is:

[0049] Clamping the reducer housing: When placing the reducer housing on the welding table, a clamp is needed to transfer it. When the clamping seat 2 moves to the top of the reducer housing to be clamped, the two cylinders 502 are started, and the two connecting plates 501 are driven to slide toward the middle of the clamping seat 2 respectively, so that the cylinder 502 drives the clamping arm 302 to slide toward the middle of the clamping seat 2 through the connecting plate 501 and the slider 301, so that the two sets of clamping arms 302 gradually move from both sides of the reducer housing to the reducer housing, and gradually clamp the bottom shell of the reducer housing. At this time, the top shell of the reducer housing and the bottom shell of the reducer housing are clamped together. In the process of the two sets of clamping arms 302 gradually approaching the reducer housing and clamping it, the two sets of clamping arms 302 can adapt to and clamp reducer housings of different widths, and have a wider range of applications.

[0050] Clean the joints of the reducer housing:

[0051] When the two groups of clamping arms 302 approach the reducer housing and clamp the reducer housing, the sliding seat 504 moves synchronously with the slider 1 301 under the action of the cylinder 1 502, the cylinder 2 506 fixed in the fixed frame 2 505 does not shrink, and the sliding plate 508 does not slide. Therefore, the sliders 4 509 at both ends of the sliding plate 508 move synchronously with the connecting plate 501 toward the reducer housing, so that the slider 4 509 drives the fixed plate 304 to slide toward the middle of the clamping seat 2 through the fixed rod 510 and the mounting plate 511. As a result, the annular brush 603 located on the side of the telescopic cylinder 602 away from the rotating cylinder 601 contacts the side of the reducer housing with the shaft hole, and then the motor drives the screw rod 2 503 to rotate, so that the sliding seat 504 moves under the action of the screw rod 2 503, thereby driving the fixed frame 2 505 at the bottom of the sliding seat 504 to move, and then driving the sliders 4 509 on both sides of the sliding plate 508 to move synchronously, so that the sliders 4 509 drive the fixed plate 304 to move through the fixed rod 510 and the mounting plate 511, and the fixed plate 511 is rotated. In the process of the movement of the second screw rod 503 along the direction of the second screw rod 503, the gear 604 on the outer arc surface of the rotating cylinder 601 and the rack 606 fixed at the bottom of the mounting frame 605 are meshed and connected, and the gear 604 drives the rotating cylinder 601 to rotate on the fixed disk 304, and under the limiting action of the second limiting block 608 and the second limiting groove 607, the rotating cylinder 601 drives the telescopic cylinder 602 to rotate synchronously, thereby driving the annular brush 603 to rotate, and then the annular brush 603 and the fixed disk 304 are connected by the screw rod 503. Rod 2 503 rotates while moving along the path, achieving a good cleaning effect on the side of the reducer housing with the opening, and cleaning the seam on this side under the action of movement, so as to facilitate the subsequent installation of the sealing ring and the bearing in the opening of the reducer housing. At the same time, screw rod 2 503 can drive the fixed plate 304 to move to a position aligned with the opening of the reducer housing, so as to facilitate subsequent processing. Compared with the existing reducer housing welding clamping robot, the manual cleaning work of installing the sealing ring and the welding seam is omitted, which saves time and effort.

[0052] Align the gearbox housing using the internal support:

[0053] When the side of the reducer housing with the opening is cleaned and needs to be processed in the next step, the cylinder 2 506 starts and contracts, driving the sliding plate 508 to slide in the sliding groove 3 507 to one end close to the cylinder 2 506, thereby driving the sliders 4 509 on both sides of the sliding plate 508 to slide close to the cylinder 2 506, and then driving the fixed plate 304 to move closer to the reducer housing under the action of the fixing rod 510 and the mounting plate 511, so that the bristles on the annular brush 603 in contact with the reducer housing are gradually bent, and then the annular brush 603 contacts the reducer housing, and when the fixing plate 304 moves closer to the reducer housing and the reducer housing is clamped and fixed, the annular brush 603 moves closer to the reducer housing, and the annular brush 603 moves closer to the reducer housing. 03 is squeezed and pushes the telescopic cylinder 602 toward the rotating cylinder 601, so that the telescopic cylinder 602 is retracted into the rotating cylinder 601, and the spring 609 is squeezed at the same time. In the process that the fixed disk 304 approaches the reducer housing and the telescopic cylinder 602 is retracted into the rotating cylinder 601, the rotating disk 306 aligned with the opening of the reducer housing is synchronously extended into the opening of the reducer housing, and in the process that the rotating disk 306 enters, the screw rod 401 and the insertion rod 402 fixedly connected to the central axis 305 move synchronously under the drive of the fixed disk 304. At this time, the nut 408 is fixed under the connection between the connecting rod 407 and the slider 3 404, and the fixed disk 304 is fixed between the mounting disk 511 and the fixed rod 510. The screw rod 401 is connected to the fixed plate 304 and cannot rotate, so that in the process of sliding toward the reducer housing driven by the fixed plate 304, the screw rod 401 rotates under the action of the thread of the fixed nut 408, thereby driving the central shaft 305 to rotate. The rotation of the central shaft 305 causes the sliding shaft 308 to slide to the end of the slide groove 1 307 away from the central shaft 305, so that the four sliding shafts 308 spread under the cooperation with the slide groove 1 307, thereby driving the arc block 311 to spread in a straight line around the rotating plate 306 through the limited cooperation of the slider 2 309 and the guide rail 310, so that the arc block 311 contacts the inner arc surface of the opening of the reducer housing, and in the process of the four arc blocks 311 being spread apart In the figure, the inner arc surface of the opening of the reducer housing gradually fits with the circle formed by the four arc blocks 311. In this process, the bottom shell of the reducer housing is fixed by the fixing plate 304. Therefore, the top shell of the reducer housing moves during the process of the arc blocks 311 being stretched open, and the openings of the bottom shell of the reducer are aligned with those of the top shell. When the two groups of arc blocks 311 are tightened from the openings on both sides of the reducer housing, the top shell of the reducer housing is completely aligned with the bottom shell of the reducer. Compared with the reducer housing welding clamping robot in the prior art, the bottom shell of the reducer housing and the uneven sides of the top shell with reinforcing ribs can be aligned during the clamping process, thereby facilitating subsequent welding work and improving welding accuracy.

[0054] Welding the uneven seams on both sides of the reducer housing:

[0055] Since the reducer housing has reinforcing ribs and uneven ends, it is difficult to achieve precise alignment under the action of conventional clamps, which can easily affect the welding accuracy and require manual correction, causing inconvenience. Therefore, after the inner support assembly is opened to align the bottom shell and the top shell of the reducer housing, the reducer housing welding robot can move the aligned reducer housing to the welding table. At this time, the welding table can be operated to weld the two sides that are inconvenient to fix first. After the welding of the two sides is completed, the two sets of clamps 302 can be released to place the reducer housing on the welding table, and the clamps of the welding table can be used to fix the two sides that have been welded, so as to facilitate the welding of the unwelded seams on both sides. This eliminates the need for manual correction and is beneficial to improving welding accuracy.

[0056] The above descriptions are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A reducer housing welding robot, characterized in that: include: A mechanical arm (1) and a clamping seat (2), wherein the clamping seat (2) is fixedly mounted on the top of the mechanical arm (1), and an internal support alignment component is provided at the bottom of the clamping seat (2); The inner support alignment component comprises a slider (301) arranged on the top of the clamping seat (2), the sliders (301) are not less than four, two of the sliders (301) form a group, the bottoms of the four sliders (301) are respectively fixedly connected with clamp arms (302), two of the clamp arms (302) form a group, one group of the clamp arms (302) is fixedly connected with a fixed frame (303), two of the fixed frames (303) are respectively provided with fixed disks (304), the middle parts of the two fixed disks (304) are rotatably connected with a central axis (305), and the central axis (305) is away from the fixed disk (304). One end is fixedly connected to a rotating disk (306), and the rotating disk (306) is provided with slide grooves (307) in an annular manner and equidistantly, and the number of the slide grooves (307) is not less than four, and slide shafts (308) are slidably connected in the four slide grooves (307), and a sliding block (309) is fixedly connected to one side of the four sliding shafts (308) close to the fixed disk (304), and a guide rail (310) is fixedly connected to one side of the fixed disk (304) close to the rotating disk (306), and the number of the guide rails (310) is not less than four, and an arc block (311) is fixedly connected to one side of the four sliding blocks (309) away from the guide rail (310).

2. A reducer housing welding robot according to claim 1, characterized in that: The four slide grooves (307) are arc-shaped, and one end of the four slide grooves (307) gradually moves away from the central axis (305).

3. A reducer housing welding robot according to claim 2, characterized in that: The four slide grooves (307) are arranged in a circle with equal spacing, the four guide rails (310) are arranged in a circle with equal spacing, and a motor is installed on each group of sliders (301).

4. A reducer housing welding robot according to claim 1, characterized in that: A movable rotating assembly is provided on one side of the fixed disk (304), and the movable rotating assembly includes a screw rod (401) fixedly connected to the central axis (305), and an end of the screw rod (401) away from the fixed disk (304) is fixedly connected to an insertion rod (402), and a sliding groove (403) is provided on the fixed frame (303), and a sliding block (404) is slidably connected in the sliding groove (403), and an end of the insertion rod (402) away from the screw rod (401) passes through the sliding block (404), and the fixed frame (303) A limiting groove (405) is symmetrically provided on the upper side, and the limiting groove (405) is symmetrically distributed on the upper and lower sides of the sliding groove (403). A limiting block (406) is slidably connected in the limiting groove (405), and the limiting block (406) is fixedly connected to the sliding block (404). The two sides of the sliding block (404) are respectively fixedly connected with connecting rods (407), and the side of the connecting rod (407) away from the sliding block (404) is fixedly connected with a nut (408), and the screw rod (401) is threadedly connected in the nut (408).

5. A reducer housing welding robot according to claim 4, characterized in that: The insertion rod (402) is inserted in the middle of the slider three (404), and the screw rod one (401) forms a limiting fit with the slider three (404) through the insertion rod (402).

6. The reducer housing welding robot according to claim 1, characterized in that: A moving assembly is arranged on the top of the fixed disk (304), and the moving assembly includes a connecting plate (501) arranged on the top of the clamping seat (2), and there are at least two connecting plates (501), and the two connecting plates (501) are respectively fixedly connected to the two groups of sliders (301). A cylinder (502) is fixedly installed on the top of the clamping seat (2), and there are at least two cylinders (502), and the movable shafts of the two cylinders (502) are respectively fixedly connected to the two connecting plates (501). A screw rod (503) is rotatably connected between a group of sliders (301), and the screw rod (503) is fixedly connected to the motor output shaft on the slider (301) for driving the screw rod (503) to rotate. The screw rod (503) A sliding seat (504) is threadedly connected on the upper surface of the fixing frame (503), a fixing frame (505) is fixedly connected to the bottom of the sliding seat (504), a cylinder (506) is fixedly installed in the fixing frame (505), a sliding groove (507) is provided on the fixing frame (505), there are no less than two sliding grooves (507), two sliding grooves (507) are symmetrically arranged on the fixing frame (505), sliding plates (508) are slidably connected in the two sliding grooves (507), the movable shaft of the cylinder (506) is fixedly connected to the sliding plate (508), sliding blocks (509) are fixedly connected on both sides of the sliding plate (508), and the bottoms of the two sliding blocks (509) are fixedly connected to fixing rods (510).

7. A reducer housing welding robot according to claim 6, characterized in that: The bottoms of the two fixing rods (510) are fixedly connected with a mounting plate (511), and the mounting plate (511) is fixedly connected to the fixing plate (304).

8. The reducer housing welding robot according to claim 1, characterized in that: A rotating cleaning assembly is provided on a side of the fixed disk (304) away from the central axis (305), and the rotating cleaning assembly comprises a rotating cylinder (601) rotatably connected to the fixed disk (304), a telescopic cylinder (602) is slidably connected inside the rotating cylinder (601), an annular brush (603) is fixedly connected on a side of the telescopic cylinder (602) away from the rotating cylinder (601), a gear (604) is fixedly connected to the outer arc surface of the rotating cylinder (601) in an equidistant manner, a mounting frame (605) is fixedly mounted on the two clamping arms (302), a rack (606) is fixedly connected to the bottom of the mounting frame (605), and the gear (604) is meshingly connected to the rack (606).

9. A reducer housing welding robot according to claim 8, characterized in that: The rotating cylinder (601) is provided with a second limiting groove (607), the second limiting groove (607) is located at the connection between the rotating cylinder (601) and the telescopic cylinder (602), a second limiting block (608) is slidably connected in the second limiting groove (607), and the second limiting block (608) is fixedly connected to the telescopic cylinder (602).

10. A reducer housing welding robot according to claim 9, characterized in that: A spring (609) is arranged inside the rotating cylinder (601).

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