Mechanical arm structure of welding robot

Abstract

According to the mechanical arm structure of the welding robot, a first motor is fixedly arranged at the upper end of a base, a first rotating shaft connected with a first frame is arranged at the output end of the first motor, a second motor is fixedly arranged at the top end of the first frame, and a second rotating shaft connected with the bottom of a first supporting rod is arranged at the output end of the second motor; a second frame and a third frame are fixedly arranged at the top end of the first supporting rod, a first motor is started to enable the first frame to rotate so that the clamping base can drive the welding equipment to rotate, a second motor is started to enable a second rotating shaft to drive the first supporting rod to rotate, and a third motor is started to enable a driving wheel to drive a driven wheel to rotate. And a fourth motor is further started, a third supporting rod can rotate around a fourth rotating shaft, finally, a telescopic air cylinder is started, a push rod can drive a clamping base to stretch out and draw back, the angle of a mechanical arm structure body can be conveniently adjusted in time according to the welding requirement, and the mechanical arm structure can be conveniently positioned.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a robotic arm structure of a welding robot. Background Technique

[0002] A welding robot is an industrial robot engaged in welding. It is a multi-purpose, reprogrammable automatic control manipulator with three or more programmable axes and is used in the field of industrial automation. To adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be equipped with different tools or end effectors. The welding robot is to install a welding torch or a welding gun on the flange of the last axis of the industrial robot so that it can perform welding, cutting or thermal spraying. Generally, the welding robot controls the position of the welding torch through a robotic arm to perform welding.

[0003] For example, the patent application No. CN203919089U discloses "a robotic arm structure of a five-axis welding robot" and specifically discloses: including the first to fifth joint arms. The first joint arm includes a first joint seat, a first shaft and a first joint part. The second joint arm includes a cross arm, a second shaft and a second joint part. The third joint arm includes an inclined arm, a third shaft and a third joint part. The fourth joint arm includes a vertical arm and a fourth shaft. The fifth joint arm includes a fifth joint part, a fifth shaft and a mounting part. The first joint seat is arranged on the machine base and forms a connecting part with the first shaft. The second joint part is connected to the first joint part and forms the fulcrum of the second joint arm. The second shaft is the fulcrum of the third joint arm. The fourth shaft is hoisted at the lower end of the vertical arm and connected to the fifth joint part. The fifth shaft is arranged in the fifth joint part and a mounting part is also arranged on the side of the fifth shaft. This robotic arm structure solves the technical problems of flexibility, small occupied space and the welding of the robot without dead angles, and achieves good effects of being easy to manufacture, improving the product yield and reducing the cost. However, in the above technology, when the robotic arm structure is used, it is not convenient to timely adjust the angle of the robotic arm structure body according to the welding requirements, and the robotic arm structure is not convenient for positioning. Summary of the Utility Model

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the utility model provides a robotic arm structure of a welding robot.

[0006] (2) Technical Solutions

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a mechanical arm structure of a welding robot, comprising a clamping seat, a base, a first frame, a first support rod, a second support rod and a third support rod, a first motor is fixedly arranged at the upper end of the base, an output end of the first motor is provided with a first rotating shaft connected to the first frame, a second motor is fixedly arranged at the top of the first frame, an output end of the second motor is provided with a second rotating shaft connected to the bottom of the first support rod, a second frame and a third frame are fixedly arranged at the top of the first support rod, a third motor is fixedly arranged at the top of the second frame, an output end of the third motor is provided with a third rotating shaft connected to a driving wheel, a driven wheel is fixedly arranged at the bottom end of the second support rod, a limiting shaft is provided on the top of the third frame that penetrates the driven wheel and is rotatably connected to the driven wheel, the driving wheel is meshed with the driven wheel, a fourth frame is fixedly arranged on the top of the second support rod, a fourth motor is arranged on one side of the fourth frame, an output end of the fourth motor is provided with a fourth rotating shaft connected to the third support rod, a telescopic cylinder is inlaid inside the third support rod, and an output end of the telescopic cylinder is provided with a push rod connected to the clamping seat.

[0008] In order to facilitate the assembly of the first frame, the present invention is improved in that a cavity is provided inside the first frame, the first rotating shaft can be inserted into the cavity, and the first rotating shaft is fixed inside the cavity by bolts.

[0009] In order to facilitate the assembly of the welding gun, the utility model is improved in that a plurality of clamping rods are provided on the clamping seat, and the clamping rods are threadedly connected to the clamping seat.

[0010] Furthermore, the present invention is improved in that a plurality of clamping seats are provided on the outer wall of the clamping seat, and the clamping seat is penetrated by a clamping rod.

[0011] Furthermore, the utility model is improved in that a toggle block is provided at the outer end of the clamping rod.

[0012] Furthermore, an improvement of the utility model is that the first motor, the second motor, the third motor and the fourth motor are all servo motors.

[0013] (III) Beneficial effects

[0014] Compared with the prior art, the utility model provides a mechanical arm structure of a welding robot, which has the following beneficial effects:

[0015] For the robotic arm structure of this welding robot, starting the first motor can rotate the first frame, so that the clamping seat can drive the welding equipment to rotate. Starting the second motor can make the second rotating shaft drive the first support rod to rotate. Starting the third motor can make the driving wheel drive the driven wheel to rotate, so that the second support rod can rotate. Further, starting the fourth motor can make the third support rod rotate around the fourth rotating shaft. Finally, starting the telescopic cylinder can make the push rod drive the clamping seat to expand and contract, which is convenient for timely adjusting the angle of the robotic arm structure body according to welding requirements and makes the robotic arm structure easy to position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0017] Figure 2 For the present utility model Figure 1 is the front view;

[0018] Figure 3 For the present utility model Figure 2 is a partial enlarged structural schematic diagram at A in the present utility model;

[0019] In the figure: 1, clamping seat; 2, clamping rod; 3, base; 4, first motor; 5, first frame; 6, first rotating shaft; 7, first support rod; 8, second motor; 9, third frame; 10, second frame; 11, third motor; 12, driving wheel; 13, second support rod; 14, driven wheel; 15, fourth frame; 16, fourth motor; 17, third support rod; 18, push rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0021] Please refer to Figures 1-3, A robotic arm structure of a welding robot according to the present utility model includes a clamping seat 1, a base 3, a first frame 5, a first support rod 7, a second support rod 13, and a third support rod 17. A first motor 4 is fixedly arranged at the upper end of the base 3. A first rotating shaft 6 connecting the first frame 5 is provided at the output end of the first motor 4. A second motor 8 is fixedly arranged at the top of the first frame 5. A second rotating shaft connecting the bottom of the first support rod 7 is provided at the output end of the second motor 8. A second frame 10 and a third frame 9 are fixedly arranged at the top of the first support rod 7. A third motor 11 is fixedly arranged at the top of the second frame 10. A third rotating shaft connecting the driving wheel 12 is provided at the output end of the third motor 11. A driven wheel 14 is fixedly arranged at the bottom end of the second support rod 13. A limiting shaft passing through the driven wheel 14 and rotatably connected to the driven wheel 14 is provided at the top of the third frame 9. The driving wheel 12 meshes with the driven wheel 14. A fourth frame 15 is fixedly arranged at the top of the second support rod 13. A fourth motor 16 is provided on one side of the fourth frame 15. A fourth rotating shaft connecting the third support rod 17 is provided at the output end of the fourth motor 16. A telescopic cylinder is embedded in the third support rod 17. A push rod 18 connecting the clamping seat 1 is provided at the output end of the telescopic cylinder;

[0022] In this embodiment, the base 3 is fixed at a specified position, and a welding torch or other welding equipment is fixed on the clamping seat 1. Starting the first motor 4 can make the first frame 5 rotate, so that the clamping seat 1 can drive the welding equipment to rotate. Starting the second motor 8 can make the second rotating shaft drive the first support rod 7 to rotate. Starting the third motor 11 can make the driving wheel 12 drive the driven wheel 14 to rotate, so that the second support rod 13 can rotate. Further starting the fourth motor 16 can make the third support rod 17 rotate around the fourth rotating shaft. Finally, starting the telescopic cylinder can make the push rod 18 drive the clamping seat 1 to expand and contract, which is convenient for timely adjusting the angle of the robotic arm structure body according to welding requirements and makes the robotic arm structure easy to position. Here, the first motor 4, the second motor 8, the third motor 11, the fourth motor 16, and the telescopic cylinder can be controlled through a control switch. For the control circuits of the first motor 4, the second motor 8, the third motor 11, the fourth motor 16, and the telescopic cylinder, it is not necessary to describe them in detail and they can be regulated through a PLC.

[0023] In this embodiment, a cavity is provided inside the first frame 5. The first rotating shaft 6 can be inserted into the inside of the cavity, and the first rotating shaft 6 is fixed inside the cavity by bolts. The bolt fixing method can facilitate the assembly of the first frame 5 and the first rotating shaft 6.

[0024] In this embodiment, a plurality of clamping rods 2 are provided on the clamping seat 1, and the clamping rods 2 are threadedly connected to the clamping seat 1. A plurality of clamping seats 1 are provided on the outer wall of the clamping seat 1, and the clamping seat 1 is penetrated by the clamping rods 2. A toggle block is provided at the outer end of the clamping rod 2. The number of the clamping rods 2 is not specified here. By rotating the clamping rods 2, since the clamping rods 2 are threadedly connected to the clamping seat 1, the plurality of clamping rods 2 can clamp and fix the designated welding equipment at the clamping seat 1.

[0025] In this embodiment, the first motor 4 , the second motor 8 , the third motor 11 and the fourth motor 16 may all be servo motors.

[0026] In the description of this article, it should be noted that relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0027] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention.

Claims

1. The robotic arm structure of a welding robot, characterized in that: The invention comprises a clamping seat (1), a base (3), a first frame (5), a first support rod (7), a second support rod (13) and a third support rod (17); a first motor (4) is fixedly arranged at the upper end of the base (3); an output end of the first motor (4) is provided with a first rotating shaft (6) connected to the first frame (5); a second motor (8) is fixedly arranged at the top end of the first frame (5); an output end of the second motor (8) is provided with a second rotating shaft connected to the bottom of the first support rod (7); a second frame (10) and a third frame (9) are fixedly arranged at the top end of the first support rod (7); a third motor (11) is fixedly arranged at the top end of the second frame (10); an output end of the third motor (11) A third rotating shaft connected to a driving wheel (12) is provided, a driven wheel (14) is fixedly arranged at the bottom end of the second support rod (13), a limiting shaft penetrating the driven wheel (14) and rotatably connected to the driven wheel (14) is provided at the top of the third frame (9), the driving wheel (12) is meshed with the driven wheel (14), a fourth frame (15) is fixedly arranged at the top of the second support rod (13), a fourth motor (16) is provided at one side of the fourth frame (15), a fourth rotating shaft connected to the third support rod (17) is provided at the output end of the fourth motor (16), a telescopic cylinder is embedded in the interior of the third support rod (17), and a push rod (18) connected to the clamping seat (1) is provided at the output end of the telescopic cylinder.

2. The robotic arm structure of a welding robot according to claim 1, wherein: A cavity is provided inside the first frame (5), the first rotating shaft (6) can be inserted into the cavity, and the first rotating shaft (6) is fixed inside the cavity by means of bolts.

3. The robotic arm structure of a welding robot according to claim 2, characterized in that: The clamping seat (1) is provided with a plurality of clamping rods (2), and the clamping rods (2) are threadedly connected to the clamping seat (1).

4. The robotic arm structure of a welding robot according to claim 3, characterized in that: A plurality of clamping seats (1) are provided on the outer wall of the clamping seat (1), and the clamping rod (2) penetrates the clamping seat (1).

5. The robotic arm structure of a welding robot according to claim 4, characterized in that: The outer end of the clamping rod (2) is provided with a toggle block.

6. The robotic arm structure of a welding robot according to claim 5, characterized in that: The first motor (4), the second motor (8), the third motor (11) and the fourth motor (16) are all servo motors.

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