A reducer housing welding robot

Abstract

The present invention discloses a welding robot for a speed reducer housing, which relates to the technical field of speed reducer production and processing, and includes a robotic arm and a clamping seat. The clamping seat is fixedly installed at the top of the robotic arm, and an inner support alignment assembly is arranged at the bottom of the clamping seat; through the arrangement of the arc-shaped blocks, when the lead screw slides towards the speed reducer housing driven by the fixed disk, the central shaft is driven to rotate, so that the four sliding shafts expand in cooperation with the first sliding groove, and the arc-shaped blocks contact the inner arc surface of the opening of the speed reducer housing. When the two groups of arc-shaped blocks are tightened from both sides of the opening of the speed reducer housing, the top shell of the speed reducer housing is completely aligned with the bottom shell of the speed reducer. Compared with the existing welding and clamping robot for the speed reducer housing, during the clamping process, the uneven sides with reinforcing ribs of the bottom shell and the top shell of the speed reducer housing can be aligned, which facilitates the subsequent welding work and improves the welding accuracy at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of the production and processing of speed reducers, and more particularly to a welding robot for a speed reducer housing. Background Art

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

[0003] When welding a speed reducer, it is usually necessary to use a fixture with a robotic arm to place the speed reducer housing on the welding table. Subsequently, the fixture on the welding table is used to fix the speed reducer housing, and then the welding operation is carried out. Since the two sides of the speed reducer housing without openings are usually uneven and have ribs, they cannot be directly clamped and fixed from these two sides. Therefore, when the speed reducer housing welding table fixes the speed reducer housing from the two sides with openings and flat surfaces, it is necessary to additionally increase a robotic arm for adjustment, calibration, and alignment, which further increases the problem of the increase of the robotic arm. Moreover, metal debris and dust will adhere to the surfaces of the upper and lower parts of the speed reducer housing during the processing. At the same time, the existing robotic arm cannot clean the speed reducer housing when clamping it, so it is also necessary to increase a cleaning robotic arm for cleaning. Therefore, in order to ensure the welding quality and the subsequent installation of the sealing ring and bearing, it is also necessary to manually clean the seams before welding, which is not conducive to the efficiency of the speed reducer housing welding work.

[0004] To solve the above problems, the inventor has proposed a welding robot for a speed reducer housing. Summary of the Invention

[0005] To solve the above technical problems, a welding robot for a speed reducer housing is provided.

[0006] To achieve the above object, the present invention can adopt the following technical solutions:

[0007] The present invention provides a welding robot for a speed reducer housing, including: a robotic arm and a clamping seat. The clamping seat is fixedly installed at the top of the robotic arm, and an inner support alignment component is arranged at the bottom of the clamping seat;

[0008] The inner support alignment component includes a first slider arranged on the top of the clamping seat. There are no less than four first sliders, and two of the first sliders form a group. The bottoms of the four first sliders are respectively fixedly connected with clamping arms. Two clamping arms form a group. A first fixed frame is fixedly connected to a group of the clamping arms. Fixed disks are respectively arranged in the two first fixed frames. A central shaft is rotatably connected to the middle parts of the two fixed disks. One end of the central shaft away from the fixed disk is fixedly connected with a rotating disk. A first chute is annularly and equidistantly formed in the rotating disk. There are no less than four first chutes. A sliding shaft is slidably connected in the four first chutes. A second slider is fixedly connected to the side of the four sliding shafts close to the fixed disk. A guide rail is fixedly connected to the side of the fixed disk close to the rotating disk. There are no less than four guide rails. Arc-shaped blocks are respectively fixedly connected to the sides of the four second sliders away from the guide rails.

[0009] Preferably, the four first chutes are arc-shaped, and one end of each of the four first chutes gradually moves away from the central shaft.

[0010] Preferably, the four first chutes are arranged in a circular and equidistant manner, the four guide rails are arranged in a circular and equidistant manner, and a motor is installed on each group of the first sliders.

[0011] Preferably, a moving and rotating component is arranged on one side of the fixed disk. The moving and rotating component includes a first lead screw fixedly connected with the central shaft. One end of the first lead screw away from the fixed disk is fixedly connected with an insertion rod. A second chute is formed in the first fixed frame. A third slider is slidably connected in the second chute. The end of the insertion rod away from the first lead screw passes through the third slider. First limit grooves are symmetrically formed in the first fixed frame. The first limit grooves are symmetrically distributed on the upper and lower sides of the second chute. A first limit block is slidably connected in the first limit groove. The first limit block is fixedly connected with the third slider. Connecting rods are respectively fixedly connected to both sides of the third slider. A lead screw nut is fixedly connected to the side of the connecting rod away from the third slider. The first lead screw is threadedly connected in the lead screw nut.

[0012] Preferably, the insertion rod is inserted in the middle of the third slider, and the first lead screw and the third slider form a limit fit through the insertion rod.

[0013] Preferably, a moving component is provided on the top of the fixed disk. The moving component includes a connecting plate provided on the top of the clamping seat. There are no less than two connecting plates. The two connecting plates are respectively fixedly connected to two groups of first sliders. A first cylinder is fixedly installed on the top of the clamping seat. There are no less than two first cylinders. The moving shafts of the two first cylinders are respectively fixedly connected to the two connecting plates. A second lead screw is rotatably connected between a group of first sliders. The second lead screw is fixedly connected to the output shaft of the motor on the first slider and is used to drive the second lead screw to rotate. A sliding seat is threadedly connected to the second lead screw. A second fixed frame is fixedly connected to the bottom of the sliding seat. A second cylinder is fixedly installed in the second fixed frame. A third chute is provided on the second fixed frame. There are no less than two third chutes. The two third chutes are symmetrically arranged on the second fixed frame respectively. A sliding plate is slidably connected in the two third chutes. The moving shaft of the second cylinder is fixedly connected to the sliding plate. Sliders four are fixedly connected to both sides of the sliding plate. Fixing rods are fixedly connected to the bottoms of the two sliders four.

[0014] Preferably, mounting disks are fixedly connected to the bottoms of the two fixing rods. The mounting disks are fixedly connected to the fixed disk.

[0015] Preferably, a rotating cleaning component is provided on one side of the fixed disk away from the central axis. The rotating cleaning component 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 one 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 in a ring shape. Mounting frames are fixedly installed on the two clamping arms. A rack is fixedly connected to the bottom of the mounting frame. The gear is meshed with 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. The second limiting block is fixedly connected to the telescopic cylinder.

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

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

[0019] Through the setting of the arc-shaped blocks, when the lead screw slides towards the reducer housing driven by the fixed disk, it drives the central shaft to rotate, causing the four sliding shafts to expand in cooperation with the first chute. The arc-shaped blocks contact the inner arc surface of the opening of the reducer housing, and during the process of the four arc-shaped blocks expanding, the inner arc surface of the opening of the reducer housing gradually fits the circle formed by the four arc-shaped blocks. When the two groups of arc-shaped blocks are tightened from the two 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 housing. Compared with the existing reducer housing welding and clamping robot, during the clamping process, the uneven sides of the bottom shell and the top shell of the reducer housing with reinforcing ribs can be aligned, facilitating subsequent welding work and improving the welding accuracy at the same time;

[0020] Through the setting of the clamping arms, the two groups of clamping arms gradually move towards 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 lifted together with the bottom shell of the reducer housing under the action of gravity. During the process of the two groups of clamping arms gradually approaching the reducer housing and clamping it, the two groups of clamping arms can adapt to reducer housings of different widths and perform clamping, with a wider application range;

[0021] Through the cooperation of the rotating cylinder and the telescopic cylinder, during the process of the fixed disk moving along the direction of the lead screw, the gear drives the rotating cylinder to rotate on the fixed disk, and the rotating cylinder can drive the telescopic cylinder to rotate synchronously, thereby driving the annular brush to rotate. While the annular brush and the fixed disk move along the path of the lead screw and rotate at the same time, a good cleaning effect on the side of the reducer housing with openings is achieved, and the seams on this side are cleaned under the moving action, facilitating the subsequent installation of the sealing ring and bearing inside the opening of the reducer housing. At the same time, the lead screw can drive the fixed disk to move to a position aligned with the opening of the reducer housing for subsequent processing. Compared with the existing reducer housing welding and clamping robot, the manual cleaning work for installing the sealing ring and welding the seams is omitted, which is more time-saving and labor-saving;

[0022] Through the cooperation of the clamping arms and the arc-shaped plates, after the inner support assembly expands 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 is operated to weld the two inconveniently fixed sides first. After the welding of these two sides is completed, the two groups of clamping arms can be loosened to place the reducer housing on the welding table, and the fixture on the welding table is used to fix the welded two sides, facilitating the welding of the seams on the two un-welded sides. Without manual calibration, it is beneficial to improve the welding accuracy at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0025] Figure 3 It is a bottom-up perspective three-dimensional 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 lead screw structure shown in the present invention;

[0028] Figure 6 shown in the present invention Figure 2 Enlarged view at position A in;

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

[0030] Figure 8 shown in the present invention Figure 4 Enlarged view at position B in;

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

[0032] Figure 10 It is a sectional three-dimensional schematic diagram of the internal structure of the rotating cylinder shown in the present invention.

[0033] Among them, the reference numerals in the present invention are: 1, robotic arm; 2, clamping seat;

[0034] Inner support alignment component: 301, slider one; 302, clamping arm; 303, fixed frame one; 304, fixed disk; 305, central axis; 306, rotating disk; 307, chute one; 308, sliding shaft; 309, slider two; 310, guide rail; 311, arc block;

[0035] Moving and rotating component: 401, lead screw one; 402, inserting rod; 403, chute two; 404, slider three; 405, limiting groove one; 406, limiting block one; 407, connecting rod; 408, nut.

[0036] Moving component: 501, connecting plate; 502, cylinder one; 503, lead screw two; 504, sliding seat; 505, fixed frame two; 506, cylinder two; 507, chute three; 508, sliding plate; 509, slider four; 510, fixed rod; 511, mounting disk;

[0037] Rotating and cleaning component: 601, rotating cylinder; 602, telescopic cylinder; 603, annular brush; 604, gear; 605, mounting bracket; 606, rack; 607, limiting groove two; 608, limiting block two; 609, spring. Detailed implementation manners

[0038] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] Refer to Figures 1 to Figure 10 As shown, for the embodiments provided by the present invention, a welding robot for a reducer housing will be elaborated in detail below:

[0040] As Figures 1 to 5 shown, it includes: a welding robot for a reducer housing, including: a robotic arm 1 and a clamping seat 2. The clamping seat 2 is fixedly installed at the top of the robotic arm 1, and an inner support alignment component is provided at the bottom of the clamping seat 2;

[0041] The inner support alignment component includes a first slider 301 provided on the top of the clamping seat 2. There are no less than four first sliders 301, and the first sliders 301 are slidably matched with the notches equally spaced on the top of the clamping seat 2. Two first sliders 301 form a group. The bottoms of the four first sliders 301 are respectively fixedly connected with clamping arms 302. Two clamping arms 302 form a group. A first fixed frame 303 is fixedly connected to a group of clamping arms 302. The first fixed frame 303 is located on the side of the clamping arm 302 away from the clamping seat 2. Fixed disks 304 are respectively arranged in the two first fixed frames 303. A central shaft 305 is rotatably connected to the middle of the two fixed disks 304. One end of the central shaft 305 away from the fixed disk 304 is fixedly connected with a rotating disk 306. A first sliding groove 307 is annularly and equally spaced on the rotating disk 306. There are no less than four first sliding grooves 307. The four first sliding grooves 307 are arc-shaped, and one end of the four first sliding grooves 307 is close to the central shaft 305, and the other end is far from the central shaft 305. Four sliding shafts 308 are slidably connected in the four first sliding grooves 307. A second slider 309 is fixedly connected to the side of the four sliding shafts 308 close to the fixed disk 304. A guide rail 310 is fixedly connected to the side of the fixed disk 304 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 second sliders 309. The four guide rails 310 are circularly and equally spaced. The four second sliders 309 are respectively slidably connected in the four guide rails 310. Arc-shaped blocks 311 are respectively fixedly connected to the sides of the four second sliders 309 away from the guide rails 310, and the arc-shaped blocks 311 are a complete circle after contacting each other.

[0042] Furthermore, as Figure 1 、 Figure 5 and Figure 6As shown in the figure, a moving and rotating component is provided on one side of the fixed disk 304. The moving and rotating component includes a first lead screw 401 fixedly connected to the central shaft 305. The first lead screw 401 is located on the side of the central shaft 305 away from the rotating disk 306. One end of the first lead screw 401 away from the fixed disk 304 is fixedly connected to a plug rod 402. A second chute 403 is formed in the first fixed frame 303, and the second chute 403 is located on the side of the first fixed frame 303 away from the clamping arm 302. A third slider 404 is slidably connected in the second chute 403. One end of the plug rod 402 away from the first lead screw 401 passes through the third slider 404. First limiting grooves 405 are symmetrically formed in the first fixed frame 303. The first limiting grooves 405 are symmetrically distributed on the upper and lower sides of the second chute 403. First limiting blocks 406 are slidably connected in the first limiting grooves 405, and the first limiting blocks 406 are distributed on both sides of the third slider 404. The first limiting blocks 406 are fixedly connected to the third slider 404. The third slider 404 forms a limiting sliding fit with the first fixed frame 303 through the first limiting grooves 405 and the first limiting blocks 406. Connecting rods 407 are fixedly connected to both sides of the third slider 404 respectively. One side of the connecting rods 407 located on both sides of the third slider 404 away from the third slider 404 is fixedly connected to a nut 408. The first lead screw 401 is threadedly connected in the nut 408. The plug rod 402 is inserted in the middle of the third slider 404. The first lead screw 401 forms a sliding fit with the third slider 404 through the plug rod 402.

[0043] Further, as Figure 1 、 Figure 2 and Figure 7As shown in the figure, a moving component is arranged on the top of the fixed disk 304. The moving component includes a connecting plate 501 arranged on the top of the clamping seat 2. There are no less than two connecting plates 501, and they are symmetrically distributed. The two connecting plates 501 are respectively fixedly connected with two groups of first sliders 301. A first air cylinder 502 is fixedly installed on the top of the clamping seat 2. There are no less than two first air cylinders 502, and they are symmetrically distributed. The moving shafts of the two first air cylinders 502 are respectively fixedly connected with the two connecting plates 501, and the output shafts of the two first air cylinders 502 are arranged in a staggered manner. A second lead screw 503 is rotatably connected between a group of first sliders 301. Motors are respectively installed on each group of first sliders 301. The output shaft of the motor is fixedly connected with one end of the second lead screw 503 to drive the second lead screw 503 to rotate. A sliding seat 504 is threadedly connected to the second lead screw 503. A second fixed frame 505 is fixedly connected to the bottom of the sliding seat 504. A second air cylinder 506 is fixedly installed in the second fixed frame 505. A third chute 507 is opened on the second fixed frame 505. There are no less than two third chutes 507, and the two third chutes 507 are respectively symmetrically arranged on the second fixed frame 505. A sliding plate 508 is slidably connected in the two third chutes 507. The moving shaft of the second air cylinder 506 is fixedly connected with the sliding plate 508. Sliding blocks four 509 are fixedly connected to both sides of the sliding plate 508. Fixing rods 510 are fixedly connected to the bottoms of the two sliding blocks four 509. The bottoms of the two fixing rods 510 are fixedly connected with a mounting plate 511. The mounting plate 511 is fixedly connected with the fixed disk 304. The mounting plate 511 is located on one side of the fixed disk 304 close to the first lead screw 401.

[0044] Further, as Figures 2 to 4 、 Figures 8 to 10 shown in the figure, a rotary cleaning component is arranged on one side of the fixed disk 304 away from the central axis 305. The rotary cleaning component includes a rotating cylinder 601 rotatably connected to the fixed disk 304. A telescopic cylinder 602 is slidably connected in the rotating cylinder 601. An annular brush 603 is fixedly connected to one side of the telescopic cylinder 602 away from the rotating cylinder 601. Gear wheels 604 are fixedly connected to the outer arc surface of the rotating cylinder 601 at equal intervals in a circular shape. An installation frame 605 is fixedly installed on the two clamping arms 302. The installation frame 605 is located on one side of the clamping arm 302 close to the middle of the clamping seat 2. A rack 606 is fixedly connected to the bottom of the installation frame 605. The gear wheel 604 is meshed with the rack 606. A second limiting groove 607 is opened 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. A second limiting block 608 is slidably connected in the second limiting groove 607. The second limiting block 608 is fixedly connected with the telescopic cylinder 602. The telescopic cylinder 602 is limited to slide in the second limiting groove 607 through the second limiting block 608, so that when the rotating cylinder 601 rotates, the telescopic cylinder 602 rotates synchronously. A spring 609 is arranged in the rotating cylinder 601. Both ends of the spring 609 are respectively fixedly connected with the rotating cylinder 601 and the telescopic cylinder 602.

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

[0046] The initial state is as follows:

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

[0048] The working state is as follows:

[0049] Pick up the reducer housing: When placing the reducer housing on the welding table, a fixture is needed for transfer. When the clamping seat 2 moves above the reducer housing to be picked up, at this time, the two cylinders 1 502 are started, respectively driving the two connecting plates 501 to slide towards the middle of the clamping seat 2, so that the cylinder 1 502 drives the clamping arms 302 to slide towards the middle of the clamping seat 2 through the connecting plate 501 and the slider 1 301, so that the two groups of clamping arms 302 gradually move towards 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 and the bottom shell of the reducer housing are picked up together. During the process that the two groups of clamping arms 302 gradually approach the reducer housing and pick it up, the two groups of clamping arms 302 can adapt to reducer housings of different widths and pick them up, with a wider application range.

[0050] Clean the joint of the reducer housing:

[0051] After the two groups of clamping arms 302 approach the reducer housing and clamp the reducer housing, since the sliding seat 504 moves synchronously with the slider 301 under the action of the first cylinder 502, the second cylinder 506 fixedly installed in the second fixed frame 505 does not contract and the sliding plate 508 does not slide. Therefore, the fourth sliders 509 at both ends of the sliding plate 508 move synchronously with the connecting plate 501 towards the reducer housing, so that the fourth sliders 509 drive the fixed plate 304 to slide towards the middle of the clamping seat 2 through the fixed rod 510 and the mounting disc 511, so that the annular brush 603 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. Subsequently, the motor drives the second screw rod 503 to rotate, so that the sliding seat 504 moves under the action of the second screw rod 503, thereby driving the second fixed frame 505 at the bottom of the sliding seat 504 to move, and further driving the fourth sliders 509 on both sides of the sliding plate 508 to move synchronously, so that the fourth sliders 509 drive the fixed plate 304 to move through the fixed rod 510 and the mounting disc 511. During the process of the fixed plate 304 moving 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 to the bottom of the mounting bracket 605 are meshed and connected, and the gear 604 drives the rotating cylinder 601 to rotate on the fixed plate 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 further rotating while the annular brush 603 and the fixed plate 304 move along the path of the second screw rod 503, achieving a good cleaning effect on the side of the reducer housing with the opening, and cleaning the seam on this side under the moving action, 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, the second screw rod 503 can drive the fixed plate 304 to move to a position aligned with the opening of the reducer housing, so as to facilitate the subsequent processing. Compared with the existing reducer housing welding and clamping robot, the manual cleaning work of installing the sealing ring and welding the seam is omitted, which is more time-saving and labor-saving.

[0052] Align the reducer housing through internal bracing:

[0053] When the cleaning of the side of the reducer housing with openings is completed and the next step of processing is required, the second cylinder 506 starts and contracts, driving the sliding plate 508 to slide towards one end close to the second cylinder 506 in the third chute 507, thereby driving the slider fours 509 on both sides of the sliding plate 508 to slide towards the second cylinder 506. Further, under the action of the fixed rod 510 and the mounting plate 511, the fixed disk 304 is driven to approach the reducer housing further, causing the bristles on the annular brush 603 in contact with the reducer housing to gradually bend. Subsequently, the annular brush 603 contacts the reducer housing, and when the fixed disk 304 approaches the reducer housing further and the reducer housing is clamped and fixed, the annular brush 603 is subjected to a squeezing action, pushing the telescopic cylinder 602 towards the rotating cylinder 601, causing the telescopic cylinder 602 to retract into the rotating cylinder 601 and simultaneously compressing the compression spring 609. During the process of the fixed disk 304 approaching the reducer housing and the telescopic cylinder 602 retracting into the rotating cylinder 601, the rotating disk 306 aligned with the opening of the reducer housing synchronously extends into the opening of the reducer housing. And during the process of the rotating disk 306 entering, the first lead screw 401 fixedly connected to the central shaft 305 and the insertion rod 402 move synchronously under the drive of the fixed disk 304. At this time, the lead screw nut 408 is fixed due to the connection of the connecting rod 407 and the slider three 404, and the fixed disk 304 cannot rotate due to the connection of the mounting plate 511 and the fixed rod 510. Thus, when the first lead screw 401 slides towards the reducer housing under the drive of the fixed disk 304, the first lead screw 401 rotates under the thread action with the fixed lead screw nut 408, thereby driving the central shaft 305 to rotate. The rotation of the central shaft 305 causes the sliding shaft 308 to slide towards one end far from the central shaft 305 in the first chute 307, causing the four sliding shafts 308 to spread in cooperation with the first chute 307. Thus, through the limit cooperation of the slider two 309 and the guide rail 310, the arc-shaped block 311 is driven to linearly spread around the rotating disk 306, causing the arc-shaped block 311 to contact the inner arc surface of the opening of the reducer housing. And during the process of the four arc-shaped blocks 311 spreading, the inner arc surface of the opening of the reducer housing gradually fits with the circle formed by the four arc-shaped blocks 311. During this process, since the bottom shell of the reducer housing is fixed under the action of the fixed disk 304, the top shell of the reducer housing moves during the process of the arc-shaped blocks 311 spreading, and the openings of the bottom shell and the top shell of the reducer are aligned. When the two sets of arc-shaped blocks 311 are tightened from the two side openings of the reducer housing, the top shell of the reducer housing is completely aligned with the bottom shell of the reducer housing. Compared with the reducer housing welding and clamping robot in the prior art, during the clamping process, the uneven sides with reinforcing ribs of the bottom shell and the top shell of the reducer housing can be aligned, facilitating subsequent welding work and improving the welding accuracy at the same time.

[0054] Weld the uneven side seams of the reducer housing:

[0055] Since the housing of the speed reducer has reinforcing ribs and the uneven ends are difficult to achieve precise alignment under the action of conventional jigs, it is easy to affect the welding precision and manual correction is required, which brings inconvenience. Therefore, after the inner support assembly is expanded to align the bottom shell and the top shell of the speed reducer housing, the speed reducer housing welding robot can move the aligned speed reducer housing to the welding table. At this time, the welding table is operated to first weld the two sides that are not easy to fix. After the welding of these two sides is completed, the two sets of clamping arms 302 are loosened and the speed reducer housing is placed on the welding table, and the fixture of the welding table is used to fix the welded two sides, so as to facilitate the welding of the seams on the two sides that have not been welded. Without manual correction, it is beneficial to improve the welding precision.

[0056] The above are only the embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A welding robot for a speed reducer housing, characterized in that, Including: A robotic arm (1) and a clamping seat (2), the clamping seat (2) is fixedly installed at the top of the robotic arm (1), and an inner support alignment component is arranged at the bottom of the clamping seat (2); The inner support alignment component includes a first slider (301) arranged at the top of the clamping seat (2), there are four first sliders (301), two of the first sliders (301) are in a group, the bottoms of the four first sliders (301) are respectively fixedly connected with clamping arms (302), two of the clamping arms (302) are in a group, a first fixed frame (303) is fixedly connected to a group of the clamping arms (302), fixing disks (304) are respectively arranged in the two first fixed frames (303), a central shaft (305) is rotatably connected to the middle of the two fixing disks (304), one end of the central shaft (305) away from the fixing disk (304) is fixedly connected with a rotating disk (306), a first chute (307) is annularly and equidistantly arranged on the rotating disk (306), there are four first chutes (307), sliding shafts (308) are slidably connected in the four first chutes (307), a second slider (309) is fixedly connected to the side of the four sliding shafts (308) close to the fixing disk (304), a guide rail (310) is fixedly connected to the side of the fixing disk (304) close to the rotating disk (306), there are four guide rails (310), and arc-shaped blocks (311) are respectively fixedly connected to the sides of the four second sliders (309) away from the guide rail (310); A moving component is arranged at the top of the fixing disk (304), the moving component includes connecting plates (501) arranged at the top of the clamping seat (2), there are two connecting plates (501), the two connecting plates (501) are respectively fixedly connected with two groups of first sliders (301), a first air cylinder (502) is fixedly installed at the top of the clamping seat (2), there are two first air cylinders (502), the movable shafts of the two first air cylinders (502) are respectively fixedly connected with the two connecting plates (501), a second lead screw (503) is rotatably connected between a group of the first sliders (301), the second lead screw (503) is fixedly connected with the output shaft of the motor on the first slider (301) for driving the second lead screw (503) to rotate, a sliding seat (504) is threadedly connected to the second lead screw (503), a second fixed frame (505) is fixedly connected to the bottom of the sliding seat (504), a second air cylinder (506) is fixedly installed in the second fixed frame (505), a third chute (507) is arranged on the second fixed frame (505), there are two third chutes (507), the two third chutes (507) are respectively symmetrically arranged on the second fixed frame (505), a sliding plate (508) is slidably connected in the two third chutes (507), the movable shaft of the second air cylinder (506) is fixedly connected with the sliding plate (508), slider fours (509) are fixedly connected to both sides of the sliding plate (508), and fixed rods (510) are fixedly connected to the bottoms of the two slider fours (509).

2. The welding robot for a speed reducer housing according to claim 1, wherein The four first chutes (307) are arc-shaped, and one end of the four first chutes (307) gradually moves away from the central axis (305).

3. The welding robot for a speed reducer housing according to claim 2, wherein The four first chutes (307) are arranged in a circular and equidistant manner, the four guide rails (310) are arranged in a circular and equidistant manner, and a motor is installed on each first slider (301).

4. A reducer housing welding robot according to claim 1, characterized in that, A moving and rotating assembly is provided on one side of the fixed disk (304). The moving and rotating assembly includes a first lead screw (401) fixedly connected to the central axis (305). One end of the first lead screw (401) far from the fixed disk (304) is fixedly connected with a plug rod (402). A second chute (403) is formed on the fixed frame one (303). A third slider (404) is slidably connected in the second chute (403). One end of the plug rod (402) far from the first lead screw (401) passes through the third slider (404). Limiting grooves one (405) are symmetrically formed on the fixed frame one (303). The limiting grooves one (405) are symmetrically distributed on the upper and lower sides of the second chute (403). A first limiting block (406) is slidably connected in the limiting groove one (405). The first limiting block (406) is fixedly connected with the third slider (404). Connecting rods (407) are respectively fixedly connected to both sides of the third slider (404). A nut (408) is fixedly connected to one side of the connecting rod (407) far from the third slider (404). The first lead screw (401) is in threaded connection with the nut (408).

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

6. A welding robot for a speed reducer housing according to claim 1, characterized in that, The bottom of the two fixing rods (510) is fixedly connected with a mounting disk (511), and the mounting disk (511) is fixedly connected with the fixed disk (304).

7. A welding robot for a reducer housing according to claim 1, characterized in that A rotating and cleaning assembly is provided on one side of the fixed disk (304) far from the central axis (305). The rotating and cleaning assembly includes a rotating cylinder (601) rotatably connected to the fixed disk (304). A telescopic cylinder (602) is slidably connected in the rotating cylinder (601). An annular brush (603) is fixedly connected to one side of the telescopic cylinder (602) far from the rotating cylinder (601). A gear (604) is fixedly connected to the outer arc surface of the rotating cylinder (601). Mounting frames (605) are fixedly installed on the two clamping arms (302). A rack (606) is fixedly connected to the bottom of the mounting frame (605). The gear (604) is meshed with the rack (606).

8. A reducer housing welding robot according to claim 7, characterized in that, A limiting groove two (607) is formed on the rotating cylinder (601). The limiting groove two (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 limiting groove two (607). The second limiting block (608) is fixedly connected with the telescopic cylinder (602).

9. A speed reducer housing welding robot according to claim 8, characterized in that, A spring (609) is arranged in the rotating cylinder (601).

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